Forge piece rapid detection device and method based on line laser measuring instrument

Abstract

The invention discloses a forge piece rapid detection device and method based on a line laser measuring instrument, and solves the problems that an existing forge piece detection method is low in efficiency and small in application range, and the surface domain characteristics of a forge piece cannot be obtained. The method comprises the following steps: obtaining point cloud data of one side of a to-be-detected forging, turning over the to-be-detected forging to obtain point cloud data of the other side, registering the point cloud data of the front side and the back side of the to-be-detected forging and reconstructing the section contour, on the basis, extracting the characteristic size of the to-be-detected forging, and realizing rapid detection of the to-be-detected forging. The detection efficiency is greatly improved, the detection time of an inspector is saved by 75%, and meanwhile, the labor cost is saved.

Description

Technical Field

[0001] The invention relates to a forging detection method and device, and in particular to a forging rapid detection device and method based on a line laser measuring instrument. Background Art

[0002] Die forgings have the advantages of high structural strength and good reliability, and are widely used in the fields of automobiles, aviation, and chemicals. Die forging technology is a mature and advanced plastic forming technology with the characteristics of low cost, short processing cycle, and high forming accuracy. It is an important way to form structural parts. During the die forging process, the bar or plate blank is placed in the fixed mold cavity, and the cavity is filled by applying a load to the movable mold. It can be seen that the forming of die forgings is an integrally loaded forming process, and the shape and geometric characteristic dimensions of the workpiece change continuously with the wear of the mold during the forming process. With the development of industry, the requirements for the accuracy of forgings are also constantly increasing, but at present, the automated detection of forgings is mainly concentrated in the production of large rings, shaft parts, and large flanges, and there are few automated measurement methods and devices for small and medium-sized forgings; moreover, the existing rapid detection methods for forging inspections are mainly concentrated on single-dimensional measurements of large volumes and no complex structures, and the surface characteristics of forgings cannot be obtained. Summary of the invention

[0003] The purpose of the present invention is to provide a forging rapid detection device and method based on a line laser measuring instrument to solve the technical problems of low efficiency, small application range and inability to obtain forging surface features of existing forging detection methods.

[0004] The inventive concept of the present invention is: a line laser measuring instrument with a vertically incident light beam is installed above the translation mechanism to obtain point cloud data of a single side of the forging to be tested, and then the forging to be tested is turned over to obtain point cloud data of the other side, and the point cloud data of the front and back sides of the forging to be tested are aligned and the cross-sectional contour is reconstructed. On this basis, its characteristic dimensions can be extracted to achieve rapid inspection of the forging to be tested.

[0005] In order to achieve the above purpose and complete the above invention concept, the present invention adopts the following technical solutions:

[0006] A forging rapid detection device based on a line laser measuring instrument, which is special in that it includes a base plate, a first supporting mechanism, a second supporting mechanism, a translation mechanism, a line laser measuring instrument, a grabbing mechanism, a rotating mechanism and a lifting mechanism;

[0007] Definition: The base plate is located in the XOY plane of the three-dimensional coordinate system;

[0008] The first supporting mechanism and the second supporting mechanism are arranged opposite to and vertically above the bottom plate, and both the first supporting mechanism and the second supporting mechanism are slidably connected to the bottom plate, and the sliding direction is the X-axis direction;

[0009] The translation mechanism is fixed in parallel to the bottom plate and is located at the bottom of the first supporting mechanism, and is used to carry the forging to be tested to move along the X-axis direction;

[0010] The line laser measuring instrument is located above the translation mechanism and is slidably connected to the first supporting mechanism, and its sliding direction is the Y-axis direction;

[0011] The grabbing mechanism is arranged at the action end of the rotating mechanism and is used to grab the forging to be tested;

[0012] The rotating mechanism is arranged at the action end of the lifting mechanism, and is used to drive the grabbing mechanism to rotate;

[0013] The lifting mechanism is arranged on the second supporting mechanism, and is used to drive the rotating mechanism and the grabbing mechanism to rise and fall along the Z-axis direction.

[0014] Further, the first support mechanism includes a first left support rod, a first right support rod and a first support beam;

[0015] The first left support rod and the first right support rod are respectively vertically arranged on the bottom plate and slidably connected to the bottom plate, and the sliding direction thereof is the X-axis direction;

[0016] The translation mechanism is located between the first left support rod and the first right support rod;

[0017] The first support beam is located above the translation mechanism and is arranged along the Y-axis direction, and its two ends are slidably connected to the first left support rod and the first right support rod respectively, and its sliding direction is the Z-axis direction;

[0018] The line laser measuring instrument is located between the first left support rod and the first right support rod, with its measuring end facing the translation mechanism. The line laser measuring instrument is slidably connected to the first support beam, and its sliding direction is the Y-axis direction.

[0019] Further, the second support mechanism includes a second left support rod, a second right support rod and a second support beam;

[0020] The second left support rod and the second right support rod are respectively vertically arranged on the bottom plate and slidably connected to the bottom plate, and the sliding direction thereof is the X-axis direction;

[0021] The second support beam is slidably connected to the second left support rod and the second right support rod at both ends, and the sliding direction is the Z-axis direction;

[0022] The lifting mechanism is mounted on the second supporting beam, with its active end facing the bottom plate.

[0023] Further, the lifting mechanism includes a lifting cylinder and a connecting rod;

[0024] The cylinder body of the lifting cylinder is fixedly connected to the second support beam, and the piston rod thereof is vertically fixedly connected to the connecting rod;

[0025] The two ends of the connecting rod are slidably connected to the second left support rod and the second right support rod respectively, and the sliding direction is the Z-axis direction.

[0026] Further, the translation mechanism comprises a linear motor module mounted in parallel on the bottom plate and a bearing plate arranged at the action end of the linear motor module;

[0027] The linear motor module is used to drive the carrier plate to move along the X-axis direction;

[0028] The bearing plate is used for bearing the forging to be tested.

[0029] Further, the rotating mechanism is a rotating cylinder;

[0030] The rotary cylinder is arranged on a side of the connecting rod close to the bearing plate, the body of the rotary cylinder is fixedly connected to the connecting rod, the action end of the rotary cylinder is connected to the grasping mechanism, and the rotation axis is consistent with the X-axis direction.

[0031] Further, the gripping mechanism includes a gripper cylinder and a mechanical gripper;

[0032] The body of the clamping cylinder is connected to the working end of the rotating cylinder;

[0033] The mechanical clamp is installed at the working end of the clamp cylinder and is used to grab the forging to be tested.

[0034] Further, two ends of the first support beam are slidably connected to the first left support rod and the first right support rod through adapters respectively;

[0035] The line laser measuring instrument is slidably connected to the first support beam via a sliding mounting seat;

[0036] The first left support rod, the first right support rod, the second left support rod, and the second right support rod are slidably connected to the bottom plate via lower supports respectively.

[0037] Furthermore, the bottom plate is provided with a T-shaped groove whose length direction is along the X-axis direction;

[0038] A T-shaped block is provided below the lower support and is slidably matched with the T-shaped groove on the bottom plate;

[0039] The first left support rod, the first right support rod, the second left support rod, the second right support rod and the first support beam are respectively provided with T-shaped grooves along their length directions;

[0040] The adapter is provided with a group of T-shaped blocks that slide with the T-shaped slots on the first left support rod or the first right support rod, and is also provided with a group of T-shaped blocks that slide with the T-shaped slots on the first support beam;

[0041] The sliding mounting seat is provided with a T-shaped block which slides in cooperation with the T-shaped slot on the first support beam;

[0042] The second support beam is provided with a T-shaped block which slidably cooperates with the T-shaped slots on the second left support rod and the second right support rod.

[0043] A method for rapid detection of forgings based on a line laser measuring instrument, using the above-mentioned rapid detection device for forgings based on a line laser measuring instrument, is special in that it includes the following steps:

[0044] Step 1, fix the bottom plate, adjust the first supporting mechanism and the second supporting mechanism along the X-axis direction, and adjust the line laser measuring instrument along the Y-axis direction, so that the translation mechanism is within the measuring range of the line laser measuring instrument, so that the light beam emitted by the line laser measuring instrument can be vertically incident on the translation mechanism, and at the same time, the grasping mechanism can grasp the forging to be measured carried on the translation mechanism; connect the line laser measuring instrument to the control processor, and the control processor is connected to the host computer through the switch to form a rapid detection platform;

[0045] Step 2: Place a rectangular standard block of the forging to be measured at the working end of the translation mechanism. The translation mechanism drives the standard block to move within the measuring range of the online laser measuring instrument. At the same time, the online laser measuring instrument collects surface data of the standard block. The standard block is then flipped by the grabbing mechanism. The six surfaces of the standard block are respectively collected in the same way. The online laser measuring instrument is calibrated by the standard data of the standard block and the data collected by the online laser measuring instrument.

[0046] Step 3: Place the forging to be tested at the initial position of the action end of the translation mechanism, and the translation mechanism drives the forging to be tested to move in the direction close to the grabbing mechanism. At the same time, the line laser measuring instrument pushes and scans the front of the forging to be tested to obtain the front point cloud data, and sends it to the host computer through the control processor and the switch;

[0047] Step 4: The grabbing mechanism grabs the forging to be tested, the lifting mechanism drives the rotating mechanism, the grabbing mechanism and the forging to be tested to rise to a preset position along the Z-axis direction, the rotating mechanism drives the grabbing mechanism and the forging to be tested to rotate, the lifting mechanism drives the rotating mechanism, the grabbing mechanism and the forging to be tested to descend to the starting point along the Z-axis direction, and the forging to be tested falls on the action end of the translation mechanism;

[0048] Step 5: The translation mechanism drives the forging to be measured to move in a direction away from the gripping mechanism, and at the same time, the line laser measuring instrument pushes and scans the front side of the forging to be measured to obtain the point cloud data of the back side, and sends it to the host computer through the control processor and the switch;

[0049] Step 6: The host computer removes abnormal data from the front point cloud data and the back point cloud data, and then repairs them, splices the repaired front point cloud data and the back point cloud data into the same coordinate system to obtain reconstructed point cloud data; then obtains the contour line of the forging to be tested through the reconstructed point cloud data, obtains various data of the forging to be tested based on the contour line, and completes the rapid detection of the forging.

[0050] Beneficial effects of the present invention:

[0051] 1. The present invention provides a rapid detection device and method for forgings based on a line laser measuring instrument. The forgings to be tested are moved by a translation mechanism while their surface data are collected. The forgings to be tested are flipped without human intervention by a lifting mechanism and a rotating mechanism. Compared with traditional manual measurement, the detection efficiency is greatly improved, the inspector's inspection time is saved by 75%, and the labor cost is saved at the same time.

[0052] 2. The present invention provides a rapid forging detection device and method based on a line laser measuring instrument, which can accurately extract point cloud data (i.e., surface data) of the surface of the forging to be tested, obtain relevant characteristic dimensions of the forging to be tested by processing the measured point cloud data, and compare it with the target forging to evaluate the forming accuracy, thereby improving the detection accuracy.

[0053] 3. The invention provides a rapid detection device for forgings based on a line laser measuring instrument, which can not only realize the adjustment of the three degrees of freedom of X, Y, and Z, but also realize visual detection of all features of the forgings to be tested.

[0054] 4. The present invention provides a rapid forging inspection device and method based on a line laser measuring instrument, which has a high inspection frequency, can increase the number of inspections during batch production, and provide data support for process optimization.

[0055] 5. The present invention provides a rapid forging detection device and method based on a linear laser measuring instrument, which has the intelligent feature of self-perception of forging forming characteristic dimensions and can provide support for dynamic regulation of forging forming. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] Figure 1 It is a structural schematic diagram of an embodiment of a forging rapid detection device based on a line laser measuring instrument of the present invention;

[0057] Figure 2 It is a diagram of the architecture of a rapid detection platform in an embodiment of a forging rapid detection method based on a line laser measuring instrument of the present invention;

[0058] Figure 3 Schematic diagram of the local contour line of the forging to be tested and the acquired characteristic points in the embodiment of the present invention.

[0059] Figure Number:

[0060] 1- Bottom plate;

[0061] 2-first supporting mechanism, 21-first left supporting rod, 22-first right supporting rod, 23-first supporting beam, 24-adapter, 25-sliding mounting seat;

[0062] 3-second supporting mechanism, 31-second left supporting rod, 32-second right supporting rod, 33-second supporting beam;

[0063] 4-translation mechanism, 41-linear motor module, 42-carrying plate;

[0064] 5-line laser measuring instrument;

[0065] 6-grasping mechanism, 61-gripping cylinder, 62-mechanical gripper;

[0066] 7- Rotation mechanism;

[0067] 8-lifting mechanism, 81-lifting cylinder, 82-connecting rod;

[0068] 9-forging to be tested; 10-lower support;

[0069] 11- control processor;

[0070] 12-Switch;

[0071] 13- Host computer;

[0072] 14-DC power supply controller. DETAILED DESCRIPTION

[0073] The technical solution of the present invention will be clearly and completely described below in conjunction with the accompanying drawings and embodiments. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than 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.

[0074] A rapid detection device for forgings based on a line laser measuring instrument, such as Figure 1 and Figure 2 As shown, it includes a base plate 1, a first supporting mechanism 2, a second supporting mechanism 3, a translation mechanism 4, a line laser measuring instrument 5, a grabbing mechanism 6, a rotating mechanism 7 and a lifting mechanism 8;

[0075] For the sake of clarity, this embodiment first defines that: the bottom plate 1 is located in the XOY plane of the three-dimensional coordinate system;

[0076] The first support mechanism 2 includes a first left support rod 21, a first right support rod 22 and a first support beam 23; the first left support rod 21 and the first right support rod 22 are respectively vertically arranged on the bottom plate 1, and are slidably connected to the bottom plate 1 through the lower support 10, and the sliding direction is the X-axis direction; the translation mechanism 4 is located between the first left support rod 21 and the first right support rod 22; the first support beam 23 is located above the translation mechanism 4 and is arranged along the Y-axis direction, and its two ends are slidably connected to the first left support rod 21 and the first right support rod 22 through an adapter 24, and the sliding direction is the Z-axis direction;

[0077] The second supporting mechanism 3 comprises a second left supporting rod 31, a second right supporting rod 32 and a second supporting beam 33; the second left supporting rod 31 and the second right supporting rod 32 are respectively vertically arranged on the base plate 1, and are slidably connected to the base plate 1 through the lower support 10, and the sliding direction is the X-axis direction; the second supporting beam 33 is slidably connected to the second left supporting rod 31 and the second right supporting rod 32 at both ends, and the sliding direction is the Z-axis direction; the lifting mechanism 8 is installed on the second supporting beam 33, and its active end faces the base plate 1.

[0078] The translation mechanism 4 includes a linear motor module 41 installed parallel to the base plate 1 and a bearing plate 42 arranged at the action end of the linear motor module 41; the linear motor module 41 is used to drive the bearing plate 42 to move along the X-axis direction; the bearing plate 42 is used to carry the forging 9 to be tested.

[0079] The line laser measuring instrument 5 is located between the first left support rod 21 and the first right support rod 22, and its action is toward the bearing plate 42. The line laser measuring instrument 5 is slidably connected to the first support beam 23 through the sliding mounting seat 25, and its sliding direction is the Y-axis direction. The grasping mechanism 6 includes a clamping cylinder 61 and a mechanical clamping claw 62; the body of the clamping claw cylinder 61 is connected to the action end of the rotating cylinder; the mechanical clamping claw 62 is installed at the action end of the clamping claw cylinder 61, and is used to grasp the forging 9 to be measured.

[0080] The rotating mechanism 7 is a rotating cylinder; the rotating cylinder is arranged on the side of the connecting rod 82 close to the supporting plate 42, the body of the rotating cylinder is fixedly connected to the connecting rod 82, and its active end is connected to the grasping mechanism 6, and its rotating axis is consistent with the X-axis direction.

[0081] The lifting mechanism 8 includes a lifting cylinder 81 and a connecting rod 82; the cylinder body of the lifting cylinder 81 is fixedly connected to the second support beam 33, and its piston rod is vertically fixed to the connecting rod 82; the two ends of the connecting rod 82 are slidably connected to the second left support rod 31 and the second right support rod 32 respectively, and its sliding direction is the Z-axis direction, so that the lifting mechanism 8 drives the rotating mechanism 7 and the grasping mechanism 6 to rise and fall along the Z-axis direction.

[0082] In this embodiment, all sliding connections are in the form of a T-slot and a T-block. Specifically:

[0083] The bottom plate 1 is provided with a T-shaped groove along the X-axis direction in its length direction; a T-shaped block that slides with the T-shaped groove on the bottom plate 1 is provided below the lower support 10; the first left support rod 21, the first right support rod 22, the second left support rod 31, the second right support rod 32 and the first support beam 23 are respectively provided with T-shaped grooves along their length directions; the adapter 24 is provided with a group of T-shaped blocks that slide with the T-shaped grooves on the first left support rod 21 / the first right support rod 22, and a group of T-shaped blocks that slide with the T-shaped grooves on the first support beam 23; the sliding mounting seat 25 is provided with a T-shaped block that slides with the T-shaped groove on the first support beam 23; the second support beam 33 is provided with a T-shaped block that slides with the T-shaped grooves on the second left support rod 31 and the second right support rod 32. The first left support rod 21, the first right support rod 22, the second left support rod 31, the second right support rod 32 and the first support beam 23 can all be made of high-strength aluminum alloy tubes.

[0084] like Figure 2 As shown, when the above-mentioned rapid detection device is used, the line laser measuring instrument 5 is sequentially connected to the control processor 11, the switch 12 and the host computer 13 to form a rapid detection platform, and the control processor 11 and the switch 12 are powered by the DC power supply controller 14. The line laser measuring instrument 5 collects point cloud data of the cross section of the forging 9 to be measured, and the collected point cloud data is transmitted to the host computer 13 through the control processor 11 and the switch 12, and the inspection data processing and storage in the forging production process are realized through post-processing.

[0085] The disc forgings are inspected by the above-mentioned inspection device, which specifically includes the following steps:

[0086] Step 1, fix the base plate 1, adjust the first support mechanism 2 and the second support mechanism 3 along the X-axis direction, and adjust the line laser measuring instrument 5 along the Y-axis direction, that is, adjust the position of the line laser measuring instrument 5 on the first support beam 23, so that the bearing plate 42 on the translation mechanism 4 is within the range of the line laser measuring instrument 5, so that the light beam emitted by the line laser measuring instrument 5 can be vertically incident on the bearing plate 42, and at the same time, the mechanical clamp 62 in the grasping mechanism 6 can grasp the forging 9 to be tested carried on the translation mechanism 4, and when adjusted to the appropriate position, it is locked by screws to prevent sliding. Connect the line laser measuring instrument 5 to the control processor 11, and the control processor 11 is connected to the host computer 13 through the switch 12 to form a rapid detection platform.

[0087] Step 2, a rectangular standard block of the forging 9 to be measured is placed on the bearing plate 42 of the translation mechanism 4, and the translation mechanism 4 drives the standard block to move within the measuring range of the online laser measuring instrument 5. At the same time, the online laser measuring instrument 5 collects surface data of the standard block, and then the standard block is turned over by the grabbing mechanism 6. The six surfaces of the standard block are respectively collected in the same way, and the online laser measuring instrument 5 is calibrated by the standard data of the standard block and the data collected by the online laser measuring instrument 5;

[0088] The standard block used in this step is a rectangular standard block with standard length, width and height measured by the Metrology Bureau. During calibration, it is scanned by a line laser measuring instrument 5, and then the coordinates of its length, width, height and eight vertices are output, and the distance between the coordinates of two adjacent vertices is calculated. The lower support 10 is adjusted along the X-axis direction, the adapter 24 is adjusted along the Z-axis direction, and the sliding mounting seat 25 is adjusted along the Y-axis direction until the distance between the coordinates of two adjacent vertices is consistent with their corresponding length, width and height, that is, the laser line is vertically incident on the forging 9 to be measured.

[0089] Step 3, place the forging 9 to be tested at the initial position of the action end of the translation mechanism 4, and the translation mechanism 4 drives the forging 9 to be tested to move in the direction close to the grasping mechanism 6. At the same time, the line laser measuring instrument 5 scans the front side of the forging 9 to be tested, obtains the front point cloud data, and sends it to the host computer 13 through the control processor 11 and the switch 12.

[0090] Specifically, the linear motor module 41 translates the carrier plate 42 to the initial position, the forging 9 to be measured is placed on the carrier plate 42, and the linear motor module 41 moves along the X-axis direction to the maximum stroke of the linear motor module 16, and at the same time, the linear laser measuring instrument 5 pushes and scans the front of the forging 9 to be measured to obtain the front point cloud data;

[0091] Step 4, when the linear motor module 41 of the translation mechanism 4 moves to the maximum range, the mechanical gripper 62 in the grabbing mechanism 6 grabs the forging 9 to be tested, and the lifting mechanism 8 drives the rotating mechanism 7, the grabbing mechanism 6 and the forging 9 to be tested to rise to a preset position along the Z-axis direction, and the rotating mechanism 7 drives the grabbing mechanism 6 and the forging 9 to be tested to rotate 180 degrees, and the lifting mechanism 8 drives the rotating mechanism 7, the grabbing mechanism 6 and the forging 9 to be tested to return to the starting point along the Z-axis direction, and the forging 9 to be tested falls on the bearing plate 42 of the translation mechanism 4;

[0092] Step 5, the translation mechanism 4 drives the forging 9 to be measured to move in a direction away from the gripping mechanism 6, and at the same time, the line laser measuring instrument 5 pushes and scans the front side of the forging 9 to be measured, obtains the back side point cloud data, and sends it to the host computer 13 through the control processor 11 and the switch 12.

[0093] Step 6: Figure 3As shown, the host computer 13 removes abnormal data from the front point cloud data and the back point cloud data, and then repairs them, and splices the repaired front point cloud data and the back point cloud data into the same coordinate system to obtain the reconstructed point cloud data U c (x, y, z); then the contour line of the forging to be tested is obtained by reconstructing the point cloud data, and various data of the forging to be tested are obtained based on the contour line to complete the rapid detection of the forging.

[0094] Since the point cloud data (i.e., surface data) obtained from the forging 9 to be tested is composed of multiple points with coordinate information, but during the measurement process, since the forging 9 to be tested is placed on the linear motor module, there are some abnormal points in the acquired data, which need to be eliminated, which is called filtering; due to the accessibility of light, some areas of the forging 9 to be tested cannot be measured, and the program algorithm is used to repair the missing parts; then the front point cloud data and the back point cloud data after filtering and repair are spliced ​​into the same coordinate system to form a whole, and the reconstructed point cloud data U is obtained. c (x, y, z); then reconstruct the point cloud data U c (x, y, z) to obtain the cross-sectional profile of the forging 9 to be tested, obtain the cross-sectional contour line, and determine the demarcation point for feature dimension extraction, such as Figure 3 9 points in ;

[0095] Since there are many sizes of forgings to be tested, the extraction method is explained by taking the extraction of forging thickness, hole diameter and maximum outer circle as an example:

[0096] Radial / width extraction method: After feature point recognition, the diameter feature point 1 coordinate X1 of the centerline position of the aperture and the maximum outer circle extraction, the diameter feature point 2 coordinate X2 of the inner hole, and the diameter feature point 6 coordinate X6 of the maximum outer circle are obtained. The radial width d in the reconstructed feature section is expressed as:

[0097] d 内孔直径 =2|X2-X1|

[0098] d 最大外圆直径 =2|X6-X1|

[0099] Thickness / height extraction method: After feature point recognition, the front thickness feature point 3 and the back thickness feature point 4 of the forging thickness extraction are obtained. The width Hi in the reconstructed feature section is expressed as:

[0100] H i =|Z i -Z j |

[0101] Among them, i and j are two corresponding feature points, for example Figure 3 Diameter feature point 3 and diameter feature point 4 in .

[0102] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A forging rapid detection device based on a line laser measuring instrument, characterized in that: It comprises a base plate (1), a first supporting mechanism (2), a second supporting mechanism (3), a translation mechanism (4), a line laser measuring instrument (5), a grasping mechanism (6), a rotating mechanism (7) and a lifting mechanism (8); Definition: The base plate (1) is located in the XOY plane of the three-dimensional coordinate system; The first supporting mechanism (2) and the second supporting mechanism (3) are arranged opposite to and vertically above the bottom plate (1), and the first supporting mechanism (2) and the second supporting mechanism (3) are both slidably connected to the bottom plate (1), and the sliding direction is the X-axis direction; The translation mechanism (4) is fixed in parallel to the base plate (1) and is located at the bottom of the first support mechanism (2), and is used to carry the forging to be tested (9) to move along the X-axis direction; The line laser measuring instrument (5) is located above the translation mechanism (4) and is slidably connected to the first supporting mechanism (2), and its sliding direction is the Y-axis direction; The grabbing mechanism (6) is arranged at the action end of the rotating mechanism (7) and is used to grab the forging (9) to be tested; The rotating mechanism (7) is arranged at the action end of the lifting mechanism (8) and is used to drive the grabbing mechanism (6) to rotate; The lifting mechanism (8) is arranged on the second supporting mechanism (3) and is used to drive the rotating mechanism (7) and the grasping mechanism (6) to rise and fall along the Z-axis direction.

2. The forging rapid detection device based on the line laser measuring instrument according to claim 1 is characterized in that: The first support mechanism (2) comprises a first left support rod (21), a first right support rod (22) and a first support beam (23); The first left support rod (21) and the first right support rod (22) are respectively arranged vertically on the bottom plate (1) and are slidably connected to the bottom plate (1), and the sliding direction is the X-axis direction; The translation mechanism (4) is located between the first left support rod (21) and the first right support rod (22); The first support beam (23) is located above the translation mechanism (4) and is arranged along the Y-axis direction, and its two ends are slidably connected to the first left support rod (21) and the first right support rod (22) respectively, and its sliding direction is the Z-axis direction; The line laser measuring instrument (5) is located between the first left support rod (21) and the first right support rod (22), with its measuring end facing the translation mechanism (4). The line laser measuring instrument (5) is slidably connected to the first support beam (23), and its sliding direction is the Y-axis direction.

3. The forging rapid detection device based on the line laser measuring instrument according to claim 2 is characterized in that: The second supporting mechanism (3) comprises a second left supporting rod (31), a second right supporting rod (32) and a second supporting beam (33); The second left support rod (31) and the second right support rod (32) are respectively arranged vertically on the bottom plate (1) and are slidably connected to the bottom plate (1), and the sliding direction is the X-axis direction; The second support beam (33) is slidably connected to the second left support rod (31) and the second right support rod (32) at both ends, and the sliding direction is the Z-axis direction; The lifting mechanism (8) is mounted on the second supporting beam (33), with its active end facing the bottom plate (1).

4. The forging rapid detection device based on the line laser measuring instrument according to claim 1, 2 or 3, characterized in that: The lifting mechanism (8) comprises a lifting cylinder (81) and a connecting rod (82); The cylinder body of the lifting cylinder (81) is fixedly connected to the second support beam (33), and its piston rod is vertically fixedly connected to the connecting rod (82); The two ends of the connecting rod (82) are slidably connected to the second left support rod (31) and the second right support rod (32) respectively, and the sliding direction is the Z-axis direction.

5. The forging rapid detection device based on the line laser measuring instrument according to claim 4 is characterized in that: The translation mechanism (4) comprises a linear motor module (41) mounted in parallel on the base plate (1) and a bearing plate (42) arranged at the action end of the linear motor module (41); The linear motor module (41) is used to drive the carrying plate (42) to move along the X-axis direction; The bearing plate (42) is used for bearing the forging (9) to be tested.

6. The forging rapid detection device based on the line laser measuring instrument according to claim 5 is characterized in that: The rotating mechanism (7) is a rotating cylinder; The rotary cylinder is arranged on a side of the connecting rod (82) close to the bearing plate (42); the body of the rotary cylinder is fixedly connected to the connecting rod (82); its action end is connected to the grasping mechanism (6); and its rotation axis is consistent with the X-axis direction.

7. The forging rapid detection device based on the line laser measuring instrument according to claim 6 is characterized in that: The gripping mechanism (6) comprises a gripper cylinder (61) and a mechanical gripper (62); The body of the clamping claw cylinder (61) is connected to the action end of the rotating cylinder; The mechanical clamp (62) is installed at the active end of the clamp cylinder (61) and is used to grasp the forging (9) to be tested.

8. The forging rapid detection device based on the line laser measuring instrument according to claim 3 is characterized in that: The two ends of the first support beam (23) are slidably connected to the first left support rod (21) and the first right support rod (22) via adapters (24) respectively; The line laser measuring instrument (5) is slidably connected to the first support beam (23) via a sliding mounting seat (25); The first left support rod (21), the first right support rod (22), the second left support rod (31), and the second right support rod (32) are slidably connected to the bottom plate (1) via the lower support (10), respectively.

9. The forging rapid detection device based on the line laser measuring instrument according to claim 8 is characterized in that: The bottom plate (1) is provided with a T-shaped groove whose length direction is along the X-axis direction; A T-shaped block is provided below the lower support (10) and is slidably matched with the T-shaped groove on the bottom plate (1); The first left support rod (21), the first right support rod (22), the second left support rod (31), the second right support rod (32) and the first support beam (23) are respectively provided with T-shaped grooves along their length directions; The adapter (24) is provided with a group of T-shaped blocks that are slidably matched with the T-shaped slots on the first left support rod (21) or the first right support rod (22), and is also provided with a group of T-shaped blocks that are slidably matched with the T-shaped slots on the first support beam (23); The sliding mounting seat (25) is provided with a T-shaped block that slidably matches the T-shaped slot on the first support beam (23); The second support beam (33) is provided with a T-shaped block which slidably matches the T-shaped slots on the second left support rod (31) and the second right support rod (32).

10. A method for rapid detection of forgings based on a line laser measuring instrument, using the rapid detection device for forgings based on a line laser measuring instrument according to any one of claims 1 to 9, characterized in that: The following steps are involved: Step 1, fix the base plate (1), adjust the first support mechanism (2) and the second support mechanism (3) along the X-axis direction, and adjust the line laser measuring instrument (5) along the Y-axis direction, so that the translation mechanism (4) is located within the measuring range of the line laser measuring instrument (5), so that the light beam emitted by the line laser measuring instrument (5) can be vertically incident on the translation mechanism (4), and at the same time, the grasping mechanism (6) can grasp the forging (9) to be measured carried on the translation mechanism (4); connect the line laser measuring instrument (5) to the control processor (11), and the control processor (11) is connected to the host computer (13) through the switch (12) to form a rapid detection platform; Step 2: placing a rectangular standard block of the forging to be measured (9) at the action end of the translation mechanism (4), and the translation mechanism (4) drives the standard block to move within the measuring range of the line laser measuring instrument (5). At the same time, the line laser measuring instrument (5) collects surface data of the standard block, and then turns the standard block over through the grasping mechanism (6). The six surfaces of the standard block are respectively collected in the same way, and the line laser measuring instrument (5) is calibrated by the standard data of the standard block and the data collected by the line laser measuring instrument (5); Step 3: The forging to be tested (9) is placed at the initial position of the action end of the translation mechanism (4), and the translation mechanism (4) drives the forging to be tested (9) to move in a direction close to the grasping mechanism (6). At the same time, the line laser measuring instrument (5) pushes and scans the front side of the forging to be tested (9) to obtain the front point cloud data, and sends it to the host computer (13) through the control processor (11) and the switch (12); Step 4: The grabbing mechanism (6) grabs the forging to be tested (9), the lifting mechanism (8) drives the rotating mechanism (7), the grabbing mechanism (6) and the forging to be tested (9) to rise to a preset position along the Z-axis direction, the rotating mechanism (7) drives the grabbing mechanism (6) and the forging to be tested (9) to rotate 180 degrees, the lifting mechanism (8) drives the rotating mechanism (7), the grabbing mechanism (6) and the forging to be tested (9) to descend to the starting point along the Z-axis direction, and the forging to be tested (9) falls on the action end of the translation mechanism (4); Step 5, the translation mechanism (4) drives the forging to be measured (9) to move in a direction away from the gripping mechanism (6), and at the same time, the line laser measuring instrument (5) pushes and scans the front side of the forging to be measured (9), obtains the back side point cloud data, and sends it to the host computer (13) through the control processor (11) and the switch (12); Step 6, the host computer (13) removes abnormal data from the front point cloud data and the back point cloud data, and then repairs them, splices the repaired front point cloud data and the back point cloud data into the same coordinate system to obtain reconstructed point cloud data; then obtains the contour line of the forging to be tested through the reconstructed point cloud data, obtains various data of the forging to be tested based on the contour line, and completes the rapid detection of the forging.

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