A steel casting deformation detection device

Abstract

The invention relates to the technical field of steel casting detection, and specifically discloses a steel casting deformation detection device, comprising a frame, a feeding conveyor belt is movably installed on the frame, a feeding mechanical arm is fixedly installed on the frame, a stand is fixedly installed on the frame, an industrial camera is fixedly installed on the stand, a laser scanner 1 is slidably installed on the stand, a laser scanner 2 is slidably installed on the frame, a circulating feeding detection mechanism is arranged on the frame, and an auxiliary mechanism for adjusting direction is arranged on the frame; the laser scanner 1 and the laser scanner 2 of the invention cooperate with the circulating feeding detection mechanism and the auxiliary mechanism for adjusting direction to realize laser scanning operations of steel castings at multiple angles and on the front and back sides, obtain dimension data of the steel castings through analysis by an analysis system, compare the dimension data of the steel castings with the dimension data of pre-measured standard parts, finally obtain the deformation result of the steel castings, and improve the overall detection and subsequent processing efficiency.

Description

Technical Field

[0001] The invention relates to the technical field of steel casting detection, and in particular to a steel casting deformation detection device. Background Art

[0002] Steel castings are steel parts produced by casting process. Steel castings usually have high strength, good toughness and corrosion resistance, and can adapt to underwater environment. Common ship steel castings include shaft systems, connectors, fasteners, etc. In order to ensure the safety and stability of steel castings during use, deformation detection is usually required during the production of steel castings. When performing deformation detection of steel castings, a laser scanner is usually used to scan the steel castings to obtain their size information;

[0003] Laser scanners are based on 3D laser scanning technology. They use the principle of laser ranging and record the 3D coordinates, reflectivity, texture and other information of a large number of dense points on the surface of the object to be measured. They can quickly reconstruct the 3D model of the object to be measured and various drawing data such as lines, surfaces and bodies. When steel castings are deformed, the laser scanner is used to scan multiple surfaces of the steel castings and the dimensional data of the multiple surfaces are obtained through analysis. The deformation of the steel castings can be obtained by comparing the dimensional data with the dimensional data of the standard parts. In the production and inspection process of steel castings, a manual handheld laser scanner is usually used to slowly move on the upper side of the surface to be inspected of the steel casting to obtain the data of the surface to be inspected. The manual handheld laser scanner may be jittered during the scanning process, resulting in data deviation. At the same time, when scanning multiple surfaces of the steel castings, not only is it necessary to manually handhold the laser scanner to scan stably, but it is also necessary to manually flip the steel castings many times. When performing deformation inspection of batch steel castings, the overall inspection efficiency is low. Summary of the invention

[0004] The purpose of the present invention is to solve the shortcomings in the prior art and to propose a steel casting deformation detection device.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] A steel casting deformation detection device comprises a frame, a feeding conveyor belt is movably mounted on the frame, a feeding mechanical arm is fixedly mounted on the frame, a vertical frame is fixedly mounted on the frame, an industrial camera is fixedly mounted on the vertical frame, a first laser scanner is slidably mounted on the vertical frame, a second laser scanner is slidably mounted on the frame, a circulating feeding detection mechanism is arranged on the frame, and a direction adjustment auxiliary mechanism is arranged on the frame;

[0007] The cyclic feeding detection mechanism comprises a first feeding seat, which is movably mounted on a frame, on which a second feeding seat is movably mounted, and on which clamping claws are movably mounted;

[0008] The direction adjustment auxiliary mechanism comprises a moving seat, which is movably mounted on a frame, and a rotating seat, a mounting frame and a top seat are movably mounted on the upper side of the moving seat.

[0009] Preferably, a qualified product conveyor belt is movably installed on the frame, a defective product transmission belt is movably installed on the frame, a recovery box is arranged on one side of the defective product transmission belt, and the recovery box is fixedly installed on the frame.

[0010] Preferably, two recovery doors are rotatably mounted on the recovery box, an auxiliary material storage assembly is provided on the recovery box, and a material dividing mechanism is provided on the frame.

[0011] Preferably, the auxiliary material storage assembly includes a guide plate, which is rotatably installed inside the recycling box, and movable plates are movably installed on both sides of the recycling box, and a linkage shaft rod is movably installed on the movable plate, the linkage shaft rod is rotatably connected to the movable plate, and one end of the linkage shaft rod is movably connected to the guide plate.

[0012] Preferably, the material dividing mechanism comprises a mounting frame, the mounting frame is fixedly mounted on a side of the frame corresponding to the recycling box, an intercepting plate is rotatably mounted on the mounting frame, and a pushing plate is movably mounted on the mounting frame.

[0013] Preferably, the cyclic feeding detection mechanism also includes two groups of bases, which are respectively fixedly mounted on the bottom of the first feeding seat and the second feeding seat, and guide rails are fixedly mounted on both sides of the frame, and two first movable blocks are movably mounted on the guide rails, and a lifting seat is movably mounted on the first movable block, and two second movable blocks are movably mounted on the guide rails.

[0014] Preferably, the cyclic feeding detection mechanism also includes a first connecting shaft, the first connecting shaft is fixedly mounted on the lifting seat, the first connecting shaft is slidably connected to the guide rail, a first connecting frame is movably mounted on the first connecting shaft, first extension plates are fixedly mounted on both sides of the first feeding seat, a second connecting shaft is fixedly mounted on the second movable block, the second connecting shaft is slidably connected to the guide rail, a second connecting frame is movably mounted on the second connecting shaft, and a second extension plate is fixedly mounted on the second feeding seat.

[0015] Preferably, the direction adjustment auxiliary mechanism also includes a first worm gear, the first worm gear is rotatably mounted on the moving seat, the second worm gear is rotatably mounted on the moving seat, the first movable gear is rotatably mounted on the moving seat, the first movable gear and the first worm gear are meshed with each other, the second movable gear is rotatably mounted on the moving seat, the second movable gear and the second worm gear are meshed with each other, a driving sleeve is fixedly mounted on the driving shaft, the driving shaft is fixedly mounted on the first movable gear, the driving shaft passes through the interior of the driving sleeve and extends upward to the interior of the rotating seat, the driving shaft is rotatably mounted inside the driving sleeve, a second bevel gear is rotatably mounted inside the rotating seat, the second bevel gear is fixedly connected to the driving shaft, the first bevel gear is rotatably mounted on the rotating seat, and the first bevel gear and the second bevel gear are meshed with each other.

[0016] Preferably, the rotating seat is fixedly mounted on the driving sleeve, a rotating shaft is fixedly mounted on the first bevel gear, the rotating shaft is rotatably mounted inside the rotating seat, the mounting frame is fixedly mounted on the rotating shaft, and the top seat is movably mounted on the mounting frame.

[0017] Preferably, the direction adjustment auxiliary mechanism also includes a connecting guide plate, three connecting guide plates are movably mounted on the top seat, a movable gear ring is rotatably mounted on the frame, a driving gear is rotatably mounted on the frame, the driving gear and the movable gear ring are meshed with each other, and two adjustment shafts are symmetrically and movably mounted on the inner side of the movable gear ring, and one end of the adjustment shaft is movably connected to the movable seat.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] The present invention is provided with a cyclic feeding detection mechanism. When the steel casting is deformed, the steel casting is transported by a feeding conveyor belt, and the feeding robot arm grabs the steel casting to the detection area. The cyclic feeding detection mechanism can perform pre-positioning detection on the steel casting. The industrial camera on the stand can capture and collect the placement image of the steel casting from one side of the installation surface, and match and compare the features in the captured image with the features in the pre-collected standard placement position image of the steel casting, so as to reflect whether there is a deviation in the placement position of the steel casting. If there is a deviation, the system prompts, and the position of the steel casting is manually fine-tuned. If there is no deviation, the subsequent laser scanning operation of the steel casting is performed. The laser scanner 1 and the laser scanner 2 cooperate with the cyclic feeding detection mechanism. The material detection mechanism and the direction adjustment auxiliary mechanism can realize laser scanning operations at multiple angles and on the front and back of steel castings. Laser scanning is performed on laser scanner one and laser scanner two. The data information of dense points on multiple surfaces of the steel castings is scanned by laser. The dimensional data of the steel castings is analyzed by the analysis system, and the dimensional data of the steel castings is compared with the dimensional data of the pre-measured standard parts to finally obtain the deformation results of the steel castings. At the same time, the direction adjustment auxiliary mechanism can cooperate with the subsequent steel casting classification and unloading operations. When classifying steel castings, the steel castings are classified into qualified products and unqualified products. The unqualified products can be further divided into repairable unqualified steel castings and scrapped steel castings, thereby improving the overall detection and subsequent processing efficiency.

[0020] The present invention is provided with a cyclic feeding detection mechanism. When the steel casting is subjected to deformation detection, the feeding robot arm grabs the steel casting and places it on the top seat, the clamping claw can clamp and fix the steel casting, and the laser scanner 1 slowly moves on the upper side of the steel casting to perform laser scanning operation to obtain data information on the scanning surface. When the opposite surface of the steel casting needs to be laser scanned, the first movable block and the second movable block on both sides are controlled to move to the middle position. At the same time, during the movement of the first movable block, the lifting seat is controlled to descend to drive the first loading seat to descend. The first loading seat and the second loading seat slide along the trajectory of the guide rail, and the second loading seat is laterally moved to a scanning and detection area on the lower side of the laser scanner. At the same time, the first loading seat is displaced from the lower side of the second loading seat to the upper laser scanning area of ​​the laser scanner 2. The laser scanner 2 can perform laser scanning and detection on the reverse side of the steel casting on the first loading seat. Synchronously, the second loading seat is exchanged to the lower side area of ​​the laser scanner for a second feeding. Synchronous feeding can be achieved while laser scanning and detection are being performed, thereby improving the overall detection efficiency.

[0021] The present invention is provided with a direction adjustment auxiliary mechanism. When the laser scanner performs multi-side laser scanning on a pair of steel castings, the first worm and the second worm rotate and cooperate with the first movable gear, the drive shaft, the second movable gear, the drive sleeve, the first bevel gear and the second bevel gear to drive the top seat to flexibly adjust and switch to different angles to perform laser scanning operations on multiple sides of the steel casting, and ensure that the multiple sides of the steel casting are always within the scanning area when the laser scanning is performed on the multiple sides of the steel casting. At the same time, when the laser scanning is performed on the bottom surface of the steel casting, the top seat is unlocked with the first loading seat, and the unlocked first loading seat and the second loading seat are exchanged. Then, the laser scanning can be performed. The second scanner performs laser scanning on the bottom surface of the steel casting clamped on the first loading seat. After the entire surface of the steel casting is scanned, based on the data information of numerous points on multiple surfaces of the scanned steel casting, the dimensional data of the steel casting is obtained through analysis by the analysis system and compared with the dimensional data of the standard part to obtain the deformation. At the same time, the exchanged second loading seat can perform the loading and subsequent scanning and detection operations of the second steel casting. When the deformation of the steel casting is detected, stable scanning of multiple surfaces of the steel casting can be achieved. There is no need to manually flip the steel casting during scanning, and laser scanning of two groups of steel castings can be performed simultaneously, thereby improving the detection accuracy and efficiency.

[0022] The present invention is provided with a direction adjustment auxiliary mechanism. After the deformation detection is completed, the top seat can be switched to adjust to the corresponding qualified product conveyor belt and the unqualified product transmission belt according to the deformation result, and the connecting guide plate can be used to guide the detected steel castings to slide to the qualified product conveyor belt side or the unqualified product transmission belt side, so as to automatically classify and unload the detected steel castings. When unloading the unqualified steel castings, the intercepting plate and the pushing plate in the dividing mechanism can be used to perform secondary classification of the unqualified steel castings into repairable unqualified steel castings and scrapped steel castings, thereby improving the subsequent work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is a schematic diagram of the structure of a steel casting deformation detection device proposed by the present invention;

[0024] Figure 2 This is a schematic diagram of the installation of a recovery box in a steel casting deformation detection device proposed by the present invention;

[0025] Figure 3 This is a schematic diagram of the installation of a qualified product conveyor belt and a failed product conveyor belt in a steel casting deformation detection device proposed by the present invention;

[0026] Figure 4 This is a structural schematic diagram of a material dividing mechanism in a steel casting deformation detection device proposed by the present invention;

[0027] Figure 5 for Figure 4The enlarged schematic diagram of point A in the middle;

[0028] Figure 6 This is a schematic diagram of the installation of a cyclic feeding detection mechanism in a steel casting deformation detection device proposed by the present invention;

[0029] Figure 7 This is a schematic diagram of the installation of an auxiliary adjustment mechanism in a steel casting deformation detection device proposed by the present invention;

[0030] Figure 8 It is a structural schematic diagram of a cyclic feeding detection mechanism in a steel casting deformation detection device proposed by the present invention;

[0031] Fig. 9 for Figure 8 The enlarged schematic diagram of point B in the middle;

[0032] Fig.10 for Figure 8 The enlarged schematic diagram of the center C;

[0033] Fig.11 This is a schematic diagram of the installation of a base in a steel casting deformation detection device proposed by the present invention;

[0034] Fig.12 It is a structural schematic diagram of a direction adjustment auxiliary mechanism in a steel casting deformation detection device proposed by the present invention;

[0035] Figure 13 Fig.12 Enlarged schematic diagram of point D in the middle.

[0036] In the figure: 1. rack; 11. feeding conveyor belt; 12. qualified product conveyor belt; 13. stand; 131. industrial camera; 14. laser scanner 1; 15. laser scanner 2; 16. unqualified product transmission belt; 17. feeding robot arm; 18. recycling box; 181. recycling door; 182. guide plate; 183. movable plate; 184. linkage shaft; 2. material distribution mechanism; 21. installation frame; 22. push plate; 23. interception plate; 3. circulating feeding detection mechanism; 31. first feeding seat; 311. first extension plate; 312. first connecting frame; 313. first connecting shaft; 314. lifting seat; 32. clamping claw; 33 , second feeding seat; 331, second extension plate; 332, second connecting frame; 333, second connecting shaft; 34, guide rail; 341, first movable block; 342, second movable block; 35, base; 4, adjustment auxiliary mechanism; 41, top seat; 411, connecting guide plate; 412, mounting frame; 42, movable gear ring; 421, driving gear; 422, adjustment shaft; 43, moving seat; 431, first worm; 432, second worm; 433, first movable gear; 434, driving shaft; 435, second movable gear; 436, driving sleeve; 44, rotating seat; 441, first bevel gear; 442, second bevel gear. DETAILED DESCRIPTION

[0037] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0038] Reference Figure 1-13A steel casting deformation detection device comprises a frame 1, a feeding conveyor belt 11 is movably mounted on the frame 1, a qualified product conveyor belt 12 is movably mounted on the frame 1, a failed product conveyor belt 16 is movably mounted on the frame 1, a feeding mechanical arm 17 is fixedly mounted on the frame 1, and the feeding mechanical arm 17 can automatically grab and feed the steel casting to be detected, a stand 13 is fixedly mounted on the frame 1, and an industrial camera 131 is fixedly mounted on the stand 13, when the feeding mechanical arm 17 grabs the steel casting to the detection area, the industrial camera 131 can shoot and collect the placement image of the steel casting from one side of the installation surface (the image of the standard placement position of the steel casting has been shot and collected before the detection), and the image of the workpiece is processed by the processing system after the image is collected. Preprocessing and feature (such as edge contour or key point, etc.) extraction operations, and then matching and comparing the features in the captured image with the features in the pre-collected standard placement position image of the steel casting, so as to reflect whether there is a deviation in the placement position of the steel casting. If there is a deviation, the system prompts, and the position of the steel casting is manually fine-tuned. If there is no deviation, the next step is performed. A laser scanner 14 is slidably installed on the stand 13. The laser scanner 14 is slidably installed on the stand 13 through a screw drive. When the steel casting is placed in place in the detection area, the laser scanner 14 starts to slide. The laser scanner 14 scans from the position directly above the steel casting, and uses the principle of laser ranging to obtain many on the scanning surface of the steel casting. The three-dimensional coordinate information of the point is obtained, and the analysis system processes the three-dimensional coordinate information of multiple surfaces of the steel casting collected by scanning to obtain the geometric relationship of the scanning surface of the steel casting and calculate the size data of the steel casting, and then compares the obtained steel casting size data with the size data of the standard part measured in advance, and finally obtains the deformation result of the steel casting. A laser scanner 2 15 is slidably installed on the frame 1, and the laser scanner 2 15 is slidably installed on the stand 13 through a screw drive. The laser scanner 2 15 can scan the steel casting from the side opposite to the laser scanner 1 14. During the inspection, the steel casting can be scanned from the opposite side without turning it over. A recycling box 18 is set on one side of the unqualified product transmission belt 16, and the recycling box 18 is used to collect the reported Waste steel castings, a recycling box 18 is fixedly installed on the frame 1, and two recycling doors 181 are rotatably installed on the recycling box 18. The recycling box 18 is provided with an auxiliary storage component, which can assist in the storage of scrapped steel castings. The frame 1 is provided with a material separation mechanism 2, which can cooperate with the secondary classification of unqualified steel castings. Unqualified steel castings can be divided into repairable unqualified steel castings and scrapped steel castings. The frame 1 is provided with a circulating feeding detection mechanism 3, which can cooperate with the laser scanner 2 15 to scan the steel castings from the opposite side of the laser scanner 1 14, and realize uninterrupted feeding while scanning the steel castings from the opposite side. The frame 1 is provided with an auxiliary adjustment mechanism 4,The direction adjustment auxiliary mechanism 4 can realize flexible switching of angles when performing laser scanning on steel castings so as to realize laser scanning operations on multiple surfaces of steel castings, and can also cooperate with the classification unloading operations after subsequent deformation detection of steel castings; by providing a cyclic feeding detection mechanism 3, when performing deformation detection of steel castings, the steel castings are conveyed by the feeding conveyor belt 11, and the feeding robot arm 17 grabs the steel castings to the detection area, and the cyclic feeding detection mechanism 3 can perform pre-positioning detection on the steel castings, and the industrial camera 131 on the stand 13 can capture and collect the placement image of the steel casting from one side of the installation surface, and match and compare the features in the captured image with the features in the pre-collected standard placement position image of the steel casting, so as to reflect whether there is a deviation in the placement position of the steel casting. If there is a deviation, the system prompts that the position of the steel casting is manually fine-tuned at this time. If there is no deviation, Then, the subsequent laser scanning operation of the steel casting is carried out. The laser scanner 14 and the laser scanner 2 15 cooperate with the circulating feeding detection mechanism 3 and the auxiliary mechanism 4 to realize the laser scanning operation of the steel casting at multiple angles and on the front and back sides. The laser scanning is carried out on the laser scanner 14 and the laser scanner 2 15. The data information of the dense points on multiple surfaces of the steel casting is scanned by laser. The size data of the steel casting is obtained through the analysis system analysis. The size data of the steel casting is compared with the size data of the pre-measured standard parts, and finally the deformation result of the steel casting is obtained. At the same time, the auxiliary mechanism 4 can cooperate with the subsequent steel casting classification and unloading operation. When the steel castings are classified, the steel castings are classified into qualified products and unqualified products. The unqualified products can be further divided into repairable unqualified steel castings and scrapped steel castings, thereby improving the overall detection and subsequent processing efficiency.

[0039] As a technical optimization solution of a steel casting deformation detection device of the present invention, the auxiliary material storage component includes a guide plate 182, which is rotatably installed inside the recovery box 18, and movable plates 183 are movably installed on both sides of the recovery box 18. The movable plate 183 is driven by a hydraulic telescopic rod, and the hydraulic telescopic rod is electrically connected to the external controller. A linkage shaft rod 184 is movably installed on the movable plate 183, and the linkage shaft rod 184 is rotatably connected to the movable plate 183, and one end of the linkage shaft rod 184 is movably connected to the guide plate 182; by setting An auxiliary material storage component is provided. When the scrapped steel castings enter the recycling box 18 for collection, the steel castings slide into the recycling box 18. Synchronously, the hydraulic telescopic rod is controlled to drive the movable plate 183 to move upward. The movable plate 183 rises to drive the linkage shaft 184 to rotate. The linkage shaft 184 rotates and drives the rotatable guide plate 182 to rotate and tilt to move the steel castings accumulated thereon to the side away from the defective product transmission belt 16, so as to avoid the steel castings entering the recycling box 18 from being concentrated on the side close to the defective product transmission belt 16.

[0040] As a technical optimization solution of a steel casting deformation detection device of the present invention, the material distribution mechanism 2 includes a mounting frame 21, which is fixedly mounted on the frame 1 on one side of the corresponding recycling box 18, and an interception plate 23 is rotatably mounted on the mounting frame 21. The interception plate 23 is driven to rotate by two gears that are meshed with each other, one of which is fixedly connected to the interception plate 23, and the other gear is driven to rotate by a servo motor, and the servo motor is electrically connected to the external controller, and a push plate 22 is movably mounted on the mounting frame 21. The push plate 22 is driven by a hydraulic telescopic rod, and the hydraulic telescopic rod is electrically connected to the external controller. By setting up a material sorting mechanism 2, unqualified products are transmitted through the unqualified product transmission belt 16 after detection. Unqualified products can be divided into repairable unqualified steel castings and scrapped steel castings. The repairable unqualified steel castings are transmitted to the secondary processing area through the unqualified product transmission belt 16 for repair processing. When the scrapped steel castings are transmitted to the installation frame 21 through the unqualified product transmission belt 16, the servo motor starts to drive the interception plate 23 to rotate to intercept the scrapped steel castings. At the same time, the hydraulic telescopic rod drives the push plate 22 to push the steel castings to slide to the side of the recovery box 18 for collection, so as to carry out secondary classification of the unqualified steel castings.

[0041] As a technical optimization solution of a steel casting deformation detection device of the present invention, the circulating feeding detection mechanism 3 includes a first feeding seat 31, the first feeding seat 31 is movably mounted on the frame 1, and the second feeding seat 33 is movably mounted on the frame 1. The bottom of the first feeding seat 31 and the second feeding seat 33 are both fixedly mounted with a base 35, and the first feeding seat 31 and the second feeding seat 33 are both movably mounted with a clamping jaw 32. The clamping jaw 32 can be flexibly adjusted according to the size and shape of the steel casting. Before detection, the position of the clamping jaw 32 is adjusted according to the size and shape of the steel casting. During detection, the steel casting is placed on the first feeding seat 31 and the detection area on the second loading seat 33, the industrial camera 131 can capture the placement image of the steel casting from one side of the installation surface, match and compare the features in the captured image with the features in the pre-collected standard placement position image of the steel casting, so as to reflect whether there is a deviation in the placement position of the steel casting. If there is a deviation, the system prompts that the position of the steel casting is manually fine-tuned. Guide rails 34 are fixedly installed on both sides of the frame 1, and two first movable blocks 341 are movably installed on the guide rails 34. The first movable block 341 is driven by a hydraulic telescopic rod, and the hydraulic telescopic rod is connected to the first movable block 341. The first movable block 341 is electrically connected to the external controller, a lifting seat 314 is movably installed on the first movable block 341, the lifting seat 314 is driven by an electric cylinder, the electric cylinder is electrically connected to the external controller, a first connecting shaft 313 is fixedly installed on the lifting seat 314, the first connecting shaft 313 is slidably connected to the guide rail 34, a first connecting frame 312 is movably installed on the first connecting shaft 313, the first connecting frame 312 is driven by an electric telescopic rod, the electric telescopic rod is electrically connected to the external controller, and first extension plates 311 are fixedly installed on both sides of the first loading seat 31, and the first extension plates 311 can be fixed with the first connecting frame 312 Two second movable blocks 342 are movably mounted on the guide rail 34, and the second movable blocks 342 are driven by a hydraulic telescopic rod, and the hydraulic telescopic rod is electrically connected to the external controller. A second connecting shaft 333 is fixedly mounted on the second movable block 342, and the second connecting shaft 333 is slidably connected to the guide rail 34. A second connecting frame 332 is movably mounted on the second connecting shaft 333, and the second connecting frame 332 is driven by an electric telescopic rod, and the electric telescopic rod is electrically connected to the external controller. A second extension plate 331 is fixedly mounted on the second loading seat 33, and the second extension plate 331 can be clamped and fixed with the second connecting frame 332;By providing a cyclic feeding detection mechanism 3, when the steel casting is subjected to deformation detection, the feeding robot arm 17 grabs the steel casting and places it on the top seat 41, the clamping claw 32 can clamp and fix the steel casting, and the laser scanner 14 slowly moves on the upper side of the steel casting to perform laser scanning operation to obtain data information on the scanning surface. When it is necessary to perform laser scanning on the opposite side of the steel casting, the first movable block 341 and the second movable block 342 on both sides are controlled to move to the middle position. At the same time, during the movement of the first movable block 341, the lifting seat 314 is controlled to descend to drive the first feeding seat 31 to descend, and the second movable block 342 is controlled to move to the middle position. The first loading seat 31 and the second loading seat 33 slide along the track of the guide rail 34, and the second loading seat 33 moves horizontally to the scanning and detection area on the lower side of the laser scanner 14. At the same time, the first loading seat 31 is displaced from the lower side of the second loading seat 33 to the upper laser scanning area of ​​the laser scanner 2 15. The laser scanner 2 15 can perform laser scanning and detection on the reverse side of the steel casting on the first loading seat 31. At the same time, the second loading seat 33 is exchanged to the lower area of ​​the laser scanner 14 for the second loading. Synchronous loading can be achieved while laser scanning and detection are being performed, thereby improving the overall detection efficiency. ;

[0042] As a technical optimization solution of a steel casting deformation detection device of the present invention, the adjustment auxiliary mechanism 4 includes a moving seat 43, the moving seat 43 is movably mounted on the frame 1, and a first worm 431 is rotatably mounted on the moving seat 43, the first worm 431 is driven by a servo motor, and the servo motor is electrically connected to the external controller, and a second worm 432 is rotatably mounted on the moving seat 43, the second worm 432 is driven by a servo motor, and the servo motor is electrically connected to the external controller, and a first movable gear 433 is rotatably mounted on the moving seat 43, and the first movable gear 433 is connected to the first worm 43 1 meshes with each other, a second movable gear 435 is rotatably mounted on the movable seat 43, the second movable gear 435 meshes with the second worm 432, a driving sleeve 436 is fixedly mounted on the driving shaft 434, the rotating seat 44 is fixedly mounted on the driving sleeve 436, a driving shaft 434 is fixedly mounted on the first movable gear 433, the driving shaft 434 penetrates the interior of the driving sleeve 436 and extends upward to the interior of the rotating seat 44, the driving shaft 434 is rotatably mounted inside the driving sleeve 436, the interior of the rotating seat 44 is rotatably mounted with a second bevel gear 442, the second bevel gear 442 is rotatably mounted on the interior of the rotating seat 44, The gear 442 is fixedly connected to the driving shaft 434, a first bevel gear 441 is rotatably mounted on the rotating seat 44, the first bevel gear 441 and the second bevel gear 442 are meshed with each other, a rotating shaft is fixedly mounted on the first bevel gear 441, the rotating shaft is rotatably mounted inside the rotating seat 44, a mounting frame 412 is fixedly mounted on the rotating shaft, a top seat 41 is movably mounted on the mounting frame 412, the top seat 41 is driven by a hydraulic telescopic rod, the hydraulic telescopic rod is electrically connected to the external controller, three connecting guide plates 411 are movably mounted on the top seat 41, the connecting guide plates 411 are driven by an electric telescopic rod, and the electric The movable telescopic rod is electrically connected to the external controller, the connecting guide plate 411 can be fixedly connected to the base 35, a movable gear ring 42 is rotatably installed on the frame 1, a driving gear 421 is rotatably installed on the frame 1, the driving gear 421 and the movable gear ring 42 are meshed with each other, the driving gear 421 is driven by a servo motor, the servo motor is electrically connected to the external controller, two adjustment shafts 422 are symmetrically and movably installed on the inner side of the movable gear ring 42, the adjustment shaft 422 is driven by a hydraulic telescopic rod, the hydraulic telescopic rod is electrically connected to the external controller, and one end of the adjustment shaft 422 is movably connected to the moving seat 43;By providing a direction adjustment auxiliary mechanism 4, when the laser scanner 14 performs multi-side laser scanning on the steel casting, the first worm 431 and the second worm 432 rotate and cooperate with the first movable gear 433, the drive shaft 434, the second movable gear 435, the drive sleeve 436, the first bevel gear 441 and the second bevel gear 442 to drive the top seat 41 to flexibly adjust and switch to different angles to perform laser scanning operations on multiple sides of the steel casting, and ensure that the steel casting is always in the scanning area when the multiple sides are laser scanned. At the same time, when the bottom surface of the steel casting is laser scanned, the top seat 41 is unlocked with the first loading seat 31, and the unlocked first loading seat 31 and the second loading seat 33 are exchanged, the laser scanner 2 15 can be used to perform laser scanning on the bottom surface of the steel casting clamped on the first loading seat 31. After the entire surface of the steel casting is scanned, based on the scan The data information of many points on multiple surfaces of the steel casting is analyzed by the analysis system to obtain the size data of the steel casting and compare it with the size data of the standard part to obtain the deformation. At the same time, the second loading seat 33 after the exchange can load the second steel casting and perform subsequent scanning and detection operations. When the steel casting is subjected to deformation detection, the multi-faceted stable scanning of the steel casting can be realized. During scanning, there is no need to manually flip the steel casting, and the two groups of steel casting laser scanning can be performed synchronously, which improves the detection accuracy and detection efficiency. At the same time, after the deformation detection is completed, the top seat 41 can be switched to the corresponding qualified product conveyor belt 12 and the unqualified product conveyor belt 16 according to the deformation result, and the connecting guide plate 411 is used to guide the detected steel casting to slide to the qualified product conveyor belt 12 side or the unqualified product conveyor belt 16 side, so as to automatically classify and unload the detected steel castings, thereby improving the overall detection efficiency. ;

[0043] When the present invention is used, before detection, the dimension data of the standard steel casting parts are input into the analysis system. During detection, the steel casting is placed on the feeding conveyor belt 11 for transmission. The steel casting is transmitted to the detection area via the feeding conveyor belt 11. The feeding robot arm 17 grabs the steel casting and places it on the top seat 41. At this time, the top seat 41 and the base 35 on the first feeding seat 31 are locked by connecting the guide plate 411. The industrial camera 131 captures and collects the placement image of the steel casting, and matches and compares the features in the captured image with the features in the pre-collected standard placement position image of the steel casting to reflect whether there is a deviation in the placement position of the steel casting. If there is a deviation, the system prompts that the position of the steel casting is manually fine-tuned. After the adjustment is in place, the clamp 32 clamps and fixes the steel casting. After the steel casting is fixed, the laser scanning operation of the steel casting is prepared;

[0044] When performing the laser scanning operation on the steel casting, the front side of the steel casting is scanned first, and the laser scanner 14 moves slowly and evenly from the position directly above the steel casting to perform laser scanning on the front side of the steel casting, and obtains the three-dimensional coordinate data information of many points on the front side of the steel casting. After the front side is scanned, the side of the steel casting is scanned;

[0045] When scanning multiple sides of the steel casting, the first extension plate 311 and the first connecting frame 312 on the first loading seat 31 are unlocked, the mounting frame 412 is controlled to rise, the first loading seat 31, the top seat 41 and the steel casting thereon are moved upward, and after moving into position, according to the preset scanning sequence of multiple sides of the steel casting, the corresponding first worm 431 or the second worm 432 is controlled to rotate, when the first worm 431 rotates, it meshes with the first movable gear 433, when the second worm 432 rotates, it meshes with the second movable gear 435, the second worm 432 and the second movable gear 435 mesh with each other to drive the second movable gear 435 to rotate, the second movable gear 435 drives the driving sleeve 436 and the rotating seat 44 to rotate, when the rotating seat 44 rotates, the position of the steel casting can be switched in the horizontal direction, the first worm 431 and the first movable gear 433 mesh with each other to drive the driving shaft 43 4 rotates, the driving shaft 434 rotates to drive the second bevel gear 442 to rotate and mesh with the first bevel gear 441, and the first bevel gear 441 rotates to drive the top seat 41 to rotate in the longitudinal direction to switch the position. After the top seat 41 rotates and switches the angle to reach the preset position, the driving gear 421 is controlled to rotate and mesh with the movable gear ring 42 to drive the movable gear ring 42 to drive the two adjustment shafts 422 to rotate and adjust. After the adjustment, one of the adjustment shafts 422 on both sides pulls the tilted moving seat 43 to drag the top seat 41 and the steel casting thereon to the detection area to ensure that the steel casting is within the scanning area. In the process of switching the angle position according to the preset steel casting multi-side scanning sequence, when switching to the preset position, the laser scanner 14 moves at a uniform speed from directly above to perform laser scanning on the side. After the scanning of the steel casting multi-sides is completed, the bottom surface of the steel casting is scanned;

[0046] When scanning the bottom surface of the steel casting, the electric telescopic rod drives the connecting guide plate 411 to move and separate from the base 35 on the first loading seat 31. After separation, the top seat 41 is controlled to descend and staggered with the clamping claw 32, and the hydraulic telescopic rod is controlled to drive the first movable block 341 and the second movable block 342 on both sides to slide to the middle position. When the first movable block 341 moves to the intersection of the horizontal and vertical directions on the guide rail 34, the electric cylinder is controlled to drive the lifting seat 314 to descend. During the descent of the lifting seat 314, the first connecting shaft 313 moves along the trajectory on the guide rail 34. When the first connecting shaft 313 and the lifting seat 314 descend, they drive the first loading seat 31 and the steel casting thereon to descend. Synchronously, the second loading seat 33 moves laterally along the track of the guide rail 34. At this time, the second loading seat 33 is staggered with the first loading seat 31 and the steel casting thereon. When the first loading seat 31 moves staggered to the upper area of ​​the first laser scanner 2 15, the laser scanner 2 15 moves slowly and uniformly and performs laser scanning on the bottom surface of the steel casting on the first loading seat 31. After scanning the bottom surface of the steel casting, the three-dimensional coordinate data information on multiple surfaces of the steel casting is obtained. The analysis system processes and fits the data information on multiple surfaces of the steel casting to obtain the geometric shape and size information of the steel casting, compares the size data of the steel casting with the size data of the pre-measured steel casting standard, and outputs the deformation result of the steel casting.

[0047] When the second loading seat 33 is exchanged to the lower area of ​​the laser scanner 14 and the bottom surface of the steel casting on the second loading seat 33 is scanned, the top seat 41 rises and is locked with the second loading seat 33 through the connecting guide plate 411, and the loading robot arm 17 grabs the steel casting and places it on the top seat 41, and the clamping claws 32 on the second loading seat 33 cooperate to detect the position of the steel casting and clamp the steel casting, and then the front and multiple sides of the second steel casting are laser scanned by the laser scanner 14. When the front and multiple sides of the second steel casting are scanned, the position is exchanged with the first steel casting. At this time, the second steel casting is laser scanned on the bottom surface, and the first steel casting that has been fully scanned and obtained The deformation data returns to the lower area of ​​the laser scanner 14 again, and is classified and unloaded according to the output deformation result of the first steel casting, and this cycle is repeated;

[0048] When the deformation result of the steel casting is output and the result indicates that the steel casting is not deformed or the deformation range meets the usable standard, the control jaw 32 is loosened, the top seat 41 rises, and the connecting guide plate 411 is controlled to extend outward. At the same time, the first worm 431 and the second worm 432 are controlled to rotate and cooperate with the first movable gear 433, the driving shaft 434, the second movable gear 435, the driving sleeve 436, the first bevel gear 441 and the second bevel gear 442 to rotate and drive the top seat 41 to tilt toward the qualified product conveyor belt 12. The steel casting can slide down along the top seat 41 and the connecting guide plate 411 to the qualified product conveyor belt 12 and be conveyed to the next operation area for subsequent operations;

[0049] If the deformation of the detected steel casting exceeds the usable range, the clamping jaws 32 are controlled to loosen, the top seat 41 rises, the steel casting is placed on the top seat 41, the connecting guide plate 411 is controlled to extend outward, and the top seat 41 is controlled to tilt toward the side of the defective product transmission belt 16. At the same time, the interception plate 23 is rotated to a horizontal state to intercept the scrapped parts, and the pusher plate 22 pushes the scrapped parts into the recycling box 18 for collection; if the deformation of the detected steel casting is within the repairable range, the top seat 41 is controlled to move toward the side of the defective product transmission belt 16, and the steel casting is transferred to the secondary processing area via the defective product transmission belt 16 for repair processing. If subsequent inspection operations are required, the steel castings are subjected to subsequent inspection operations. After the subsequent inspection operations, the materials are classified and unloaded according to the subsequent inspection results.

[0050] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

[0051] What is described above is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A steel casting deformation detection device, comprising a frame (1), on which a feeding conveyor belt (11) is movably mounted, characterized in that: The frame (1) is fixedly mounted with a feeding robot arm (17), the frame (1) is fixedly mounted with a stand (13), the stand (13) is fixedly mounted with an industrial camera (131), the stand (13) is slidably mounted with a first laser scanner (14), the frame (1) is slidably mounted with a second laser scanner (15), the frame (1) is provided with a cyclic feeding detection mechanism (3), and the frame (1) is provided with an auxiliary adjustment mechanism (4); The cyclic feeding detection mechanism (3) comprises a first feeding seat (31), the first feeding seat (31) is movably mounted on the frame (1), a second feeding seat (33) is movably mounted on the frame (1), and clamping claws (32) are movably mounted on both the first feeding seat (31) and the second feeding seat (33); The adjustment auxiliary mechanism (4) comprises a movable seat (43), the movable seat (43) is movably mounted on the frame (1), and a rotating seat (44), a mounting frame (412) and a top seat (41) are movably mounted on the upper side of the movable seat (43); The cyclic feeding detection mechanism (3) further comprises a first connecting shaft (313), the first connecting shaft (313) being fixedly mounted on the lifting seat (314), the first connecting shaft (313) being slidably connected to the guide rail (34), a first connecting frame (312) being movably mounted on the first connecting shaft (313), first extension plates (311) being fixedly mounted on both sides of the first feeding seat (31), a second connecting shaft (333) being fixedly mounted on the second movable block (342), the second connecting shaft (333) being slidably connected to the guide rail (34), a second connecting frame (332) being movably mounted on the second connecting shaft (333), and a second extension plate (331) being fixedly mounted on the second feeding seat (33); The steering auxiliary mechanism (4) further comprises a first worm (431), the first worm (431) being rotatably mounted on a movable seat (43), a second worm (432) being rotatably mounted on the movable seat (43), a first movable gear (433) being rotatably mounted on the movable seat (43), the first movable gear (433) and the first worm (431) being meshed with each other, a second movable gear (435) being rotatably mounted on the movable seat (43), the second movable gear (435) and the second worm (432) being meshed with each other, and a driving sleeve (436) being fixedly mounted on the driving shaft (434). ), a driving shaft (434) is fixedly mounted on the first movable gear (433), the driving shaft (434) passes through the interior of the driving sleeve (436) and extends upward to the interior of the rotating seat (44), the driving shaft (434) is rotatably mounted inside the driving sleeve (436), a second bevel gear (442) is rotatably mounted inside the rotating seat (44), the second bevel gear (442) is fixedly connected to the driving shaft (434), a first bevel gear (441) is rotatably mounted on the rotating seat (44), and the first bevel gear (441) and the second bevel gear (442) are meshed with each other.

2. A steel casting deformation detection device according to claim 1, characterized in that: A qualified product conveyor belt (12) is movably mounted on the frame (1), a defective product transmission belt (16) is movably mounted on the frame (1), a recovery box (18) is provided on one side of the defective product transmission belt (16), and the recovery box (18) is fixedly mounted on the frame (1).

3. A steel casting deformation detection device according to claim 2, characterized in that: Two recovery doors (181) are rotatably mounted on the recovery box (18), an auxiliary material storage assembly is provided on the recovery box (18), and a material distribution mechanism (2) is provided on the frame (1).

4. A steel casting deformation detection device according to claim 3, characterized in that: The auxiliary material storage assembly comprises a guide plate (182), the guide plate (182) being rotatably mounted inside the recovery box (18), movable plates (183) being movably mounted on both sides of the recovery box (18), a linkage shaft rod (184) being movably mounted on the movable plate (183), the linkage shaft rod (184) being rotatably connected to the movable plate (183), and one end of the linkage shaft rod (184) being movably connected to the guide plate (182).

5. A steel casting deformation detection device according to claim 3, characterized in that: The material distribution mechanism (2) comprises a mounting frame (21), the mounting frame (21) being fixedly mounted on a side of the frame (1) corresponding to the recovery box (18), an interception plate (23) being rotatably mounted on the mounting frame (21), and a material pushing plate (22) being movably mounted on the mounting frame (21).

6. A steel casting deformation detection device according to claim 1, characterized in that: The cyclic feeding detection mechanism (3) further comprises two groups of bases (35), the two groups of bases (35) being fixedly mounted on the bottom of the first feeding seat (31) and the second feeding seat (33), respectively; guide rails (34) are fixedly mounted on both sides of the frame (1); two first movable blocks (341) are movably mounted on the guide rails (34); a lifting seat (314) is movably mounted on the first movable block (341); and two second movable blocks (342) are movably mounted on the guide rails (34).

7. A steel casting deformation detection device according to claim 1, characterized in that: The rotating seat (44) is fixedly mounted on the driving sleeve (436), a rotating shaft is fixedly mounted on the first bevel gear (441), the rotating shaft is rotatably mounted inside the rotating seat (44), the mounting frame (412) is fixedly mounted on the rotating shaft, and the top seat (41) is movably mounted on the mounting frame (412).

8. A steel casting deformation detection device according to claim 1, characterized in that: The direction adjustment auxiliary mechanism (4) further comprises a connecting guide plate (411), wherein three connecting guide plates (411) are movably mounted on the top seat (41), a movable gear ring (42) is rotatably mounted on the frame (1), a driving gear (421) is rotatably mounted on the frame (1), the driving gear (421) and the movable gear ring (42) are meshed with each other, two positioning shafts (422) are symmetrically and movably mounted on the inner side of the movable gear ring (42), and one end of the positioning shaft (422) is movably connected to the movable seat (43).

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