An automatic steel ball screening and rejection device

Abstract

The present invention discloses an automatic steel ball screening and rejection device, which relates to the technical field of steel ball sorting; it includes a conveyor belt, a handling gripper and a sorting machine. The sorting machine includes a base, a detection disc, a material distribution turntable and a rejection component. The detection disc is fixedly installed on the top of the base. An annular conveying chute is provided on the upper surface of the detection disc. The conveying chute is provided with a detection area and ball leakage holes. The detection area is used for screening non-standard steel balls, and the ball leakage holes are used for discharging the detected non-standard steel balls. The rejection component is used for conveying the non-standard steel balls discharged from the ball leakage holes; a material distribution turntable is arranged above the detection disc. A number of ball placement grooves are provided on the material distribution turntable for placing steel balls, and a number of rollers are arranged on the side walls of each ball placement groove. In the present invention, the detection area conducts shape detection on the steel balls. The rollers in the ball placement grooves push the steel balls to make full contact with the detection area, realizing non-blind detection and automatically rejecting non-standard steel balls. Continuous detection can also be carried out, and the detected steel balls are automatically sorted without affecting the subsequent processes.

Description

Technical Field

[0001] The present invention relates to the technical field of steel ball sorting, and particularly to an automatic screening and rejection device for steel balls. Background Art

[0002] In the production process of steel balls, due to the influence of many complex factors, abnormal-shaped steel balls often appear. Among them, the non-uniformity of the quality of the steel itself is a key factor. The presence of internal impurities or the occurrence of segregation phenomena will significantly interfere with the crystallization process of steel balls in the forging or casting process. In the subsequent processing link, this interference directly causes the steel ball forming process to deviate from the ideal state, and it is extremely easy to produce irregular shapes, forming abnormal-shaped steel balls. At the same time, the temperature control accuracy and the balance of pressure application in the forging process, the casting speed during casting, the rationality of die design, and the turbulence generated when molten steel fills the die are all important reasons for the formation of abnormal-shaped steel balls.

[0003] For some high-precision instruments and meters, they have extremely strict requirements for the forming accuracy of steel balls. To ensure that the quality of steel balls meets the standards, usually, equipment such as machine vision systems and roundness meters are used to finely detect the surface state and roundness of steel balls one by one. These devices rely on their high-resolution image acquisition and precise measurement algorithms to accurately identify the minor defects and shape deviations of steel balls, and the screening accuracy is extremely high. However, this type of screening method has significant limitations. On the one hand, the equipment purchase cost is high, and a large amount of funds need to be invested in equipment procurement and maintenance; on the other hand, the detection process takes a long time and the efficiency is low, which is difficult to meet the production requirements of large scale and high efficiency. Therefore, in industries with relatively low requirements for the accuracy of steel balls, such as the ball mill field, this type of screening method is not applicable.

[0004] Ball mills are widely used in scenarios such as grinding operations in coal preparation plants and cement grinding in the construction industry. In these applications, steel balls mainly perform the function of grinding materials, and the requirements for their roundness are relatively loose. Currently, in this field, screens with different sizes of mesh holes are mainly used to screen different models of steel balls. Its basic principle is to utilize the difference in the external dimensions between abnormal-shaped steel balls and standard steel balls, and the abnormal-shaped steel balls are caught or prevented from passing through the screen, thereby achieving preliminary screening and rejection. However, this traditional screening method has many defects. Since steel balls are spherical, during the screening process, when there is a protruding abnormal-shaped part on one side of the steel ball, if the posture of the steel ball at the moment of passing through the screen happens to make the protruding part perpendicular to the mesh hole, then this abnormal-shaped steel ball may pass through the screen smoothly, resulting in screening omissions.

[0005] In summary, although the current screening method of the machine vision system can ensure the quality of steel balls, it faces the dual problems of high cost and low efficiency, and is not applicable to industries with low requirements for roundness such as ball mills. Moreover, the screening method using a sieve mesh has the problem of missed inspection. Therefore, it is of practical significance and application value to develop a device that can significantly improve the screening accuracy and effectively remove abnormal steel balls. Summary of the Invention

[0006] The purpose of the present invention is to solve the problems raised in the background technology, and a steel ball automatic screening and removing device is proposed.

[0007] To achieve the above purpose, the present invention adopts the following technical solutions:

[0008] A steel ball automatic screening and removing device includes: a conveyor belt, a handling gripper, and a sorting machine. The sorting machine includes a base, a detection disc, a material distribution turntable, and a removing component. The detection disc is fixed on the base, and an annular conveying chute is provided on the upper surface. The conveying chute is provided with a detection area and a ball leakage hole. The detection area is used for screening abnormal steel balls, and the ball leakage hole is used to discharge the detected abnormal steel balls.

[0009] The removing component includes a removing chute and a lifting pad. The removing chute is located below the detection disc and is used for conveying the abnormal steel balls discharged from the ball leakage hole.

[0010] The material distribution turntable is located above the detection disc. The material distribution turntable is rotationally connected to the base and is driven by a rotating column located at the center of the base to rotate. A plurality of ball placement grooves for placing steel balls are arranged in an annular array on the material distribution turntable, and the ball placement grooves are located directly above the conveying chute. A plurality of rollers are provided on the side wall of each ball placement groove for pushing the steel balls to continuously change the rolling direction.

[0011] As a further scheme of the present invention: The detection area is composed of an outer housing and an inner elastic membrane. The outer housing is fixedly connected to the detection disc, and the inner elastic membrane is connected end to end with the conveying chute to form a complete annular chute.

[0012] A semi-circular limiting plate is provided between the inner elastic membrane and the outer housing. The limiting plate is fixed to the outer housing, and the limiting plate is covered with induction units for detecting steel balls. The induction units support the inner elastic membrane from the inside.

[0013] An induction plate is provided between the limiting plate and the outer housing, and the induction plate is fixed to the outer housing.

[0014] As a further scheme of the present invention: The induction unit includes a limiting rod, a detection head, and a limiting block.

[0015] The limiting rod passes through the limiting plate, with one end facing the inner elastic membrane and the other end facing the induction plate. A detection head is fixedly installed at the end of the limiting rod facing the inner elastic membrane, and a limiting block is fixedly installed at the end facing the induction plate. A first spring is sleeved on the limiting rod, and the first spring is located between the limiting plate and the detection head;

[0016] The bottom of the limiting block is fixed on the induction plate through a second spring, and a pressure sensor is arranged at the position of the induction plate corresponding to each second spring.

[0017] As a further solution of the present invention: the side of the detection head facing the inner elastic membrane is set as a spherical surface, and the detection head contacts the inner elastic membrane to support the inner elastic membrane.

[0018] As a further solution of the present invention: a plurality of grooves are arranged on the side wall of the ball placement groove, and a roller is installed in each groove. The rollers are annularly and arrayedly distributed in the ball placement groove, and each roller is driven to rotate by a motor.

[0019] As a further solution of the present invention: the roller adopts a telescopic structure. When the roller is in the retracted state, it is located in the groove. When the roller is in the extended state, it protrudes from the groove and fits the surface of the steel ball.

[0020] As a further solution of the present invention: the lifting pad is located in the ball leakage hole to block the ball leakage hole, and the lifting pad is in shape-fitting with the conveying chute;

[0021] The bottom of the lifting pad is connected to a cylinder and is driven by the cylinder to lift and lower. The cylinder is fixedly installed below the detection disc through a connecting plate.

[0022] As a further solution of the present invention: the rejection chute is fixedly installed below the detection disc, and a through port is arranged directly below the ball leakage hole in the rejection chute, and the size of the through port is the same as that of the ball leakage hole;

[0023] When the lifting pad is in the ascending state, it is fitted in the ball leakage hole. When the lifting pad is in the descending state, it is fitted in the through port.

[0024] As a further solution of the present invention: the end of the rejection chute close to the ball leakage hole is a closed end, and the end far from the ball leakage hole is an open end, and the overall direction of the rejection chute is inclined towards the open end.

[0025] As a further solution of the present invention: both the conveyor belt and the handling gripper are provided with two groups, namely the first conveyor belt, the first handling gripper, the second conveyor belt and the second handling gripper;

[0026] The first handling gripper transports the untested steel balls on the first conveyor belt to the ball placement groove on the material distribution turntable;

[0027] The second handling gripper transports the steel balls detected in the ball placement grooves on the material distribution turntable to the second conveyor belt.

[0028] Compared with the existing technology, the advantages of the present invention are as follows:

[0029] 1. Intelligent and precise detection and automatic rejection: The induction unit in the detection area is used to detect the shape of the steel balls. The induction unit determines whether the steel balls are deformed according to the pressure when contacting the surface of the steel balls. For the steel balls determined to be deformed, they will be guided through the specially designed ball leakage holes and then smoothly completed the rejection operation through the rejection chute. The qualified steel balls will automatically enter the subsequent production process.

[0030] 2. All-round and dead-angle-free detection guarantee: During the process of detecting the steel balls, special rollers are installed inside the ball placement grooves designed in the present invention. These rollers push the steel balls to continuously change the rolling direction. During this process, all areas of the steel balls are in turn in full contact with the inner elastic membrane, ensuring all-round and dead-angle-free detection of the steel balls, and fundamentally eliminating the drawback of missed detection caused by the attitude problem of the steel balls in the existing screening technology using screens.

[0031] 3. Efficient and continuous detection and seamless connection of processes: During the entire detection process, the steel balls always maintain a stable conveying motion state, completely abandoning the inefficient mode of pausing to detect single steel balls one by one by traditional detection equipment, and greatly improving the detection efficiency. Brief Description of the Drawings

[0032] Figure 1 is a schematic diagram of the overall structure of the present invention;

[0033] Figure 2 is a schematic diagram of the structure of the sorting machine of the present invention;

[0034] Figure 3 is a schematic diagram of the split structure of the sorting machine of the present invention;

[0035] Figure 4 is a schematic diagram of the structure of the material distribution turntable of the present invention;

[0036] Figure 5 is Figure 4 a partial enlarged structural schematic diagram at A in;

[0037] Figure 6 is a schematic diagram of the structure of the detection disc of the present invention;

[0038] Figure 7 is a schematic diagram of the structure of the detection area of the present invention;

[0039] Figure 8 is Figure 7 a partial enlarged structural schematic diagram at B in;

[0040] Figure 9Schematic diagram of the internal structure of the detection area of the present invention;

[0041] Figure 10 Schematic diagram of the internal structure of the detection area of the present invention when detecting special-shaped steel balls;

[0042] Figure 11 Schematic diagram of the installation structure of the rejection component of the present invention;

[0043] Figure 12 Schematic diagram of the structure of the present invention when the lifting pad of the rejection component is in the rising state;

[0044] Figure 13 Schematic diagram of the structure of the present invention when the lifting pad of the rejection component is in the descending state.

[0045] In the figure: 1, sorting machine; 2, base; 21, rotating column; 3, detection disk; 31, conveying chute; 311, ball leakage hole; 4, material distribution turntable; 41, ball placement groove; 411, groove; 42, roller; 5, rejection component; 51, rejection chute; 511, through hole; 52, lifting pad; 521, cylinder; 522, connecting plate; 6, detection area; 61, outer shell; 62, inner elastic membrane; 63, limiting plate; 64, induction unit; 641, limiting rod; 642, detection head; 643, limiting block; 644, first spring; 645, second spring; 65, induction plate; 7, first conveyor belt; 71, second conveyor belt; 8, first handling gripper; 81, second handling gripper. Detailed implementation manners

[0046] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0047] Refer to Figure 1-13 , an automatic steel ball screening and rejection device mainly consists of a conveyor belt, a handling gripper, and a sorting machine 1. The sorting machine 1 includes a base 2, a detection disk 3, a material distribution turntable 4, and a rejection component 5. Among them, there are two sets of conveyor belts and handling grippers, namely the first conveyor belt 7, the first handling gripper 8, the second conveyor belt 71, and the second handling gripper 81; the first handling gripper 8 transports the untested steel balls on the first conveyor belt 7 to the ball placement groove 41 on the material distribution turntable 4; the second handling gripper 81 transports the tested steel balls in the ball placement groove 41 on the material distribution turntable 4 to the second conveyor belt 71. The position where the first handling gripper 8 places the steel balls can be called the loading station, and the position where the second handling gripper 81 takes away the steel balls can be called the unloading station.

[0048] The base 2, as the basic support structure of the entire sorting machine, is installed on the ground, and the detection disk 3 is fixedly installed on its top. An annular conveying chute 31 is provided on the upper surface of the detection disk 3, and the conveying chute 31 is the main movement track channel of the steel balls on the detection disk 3.

[0049] The material distribution turntable 4 is above the detection disk 3. The material distribution turntable 4 and the base 2 are rotationally connected through a rotating column 21 located at the center of the base 2, and the material distribution turntable 4 can rotate uniformly around the rotating column 21. A number of ball placement grooves 41 are annularly and arrayedly distributed on the material distribution turntable 4, and the ball placement grooves 41 are exactly above the conveying chute 31 for placing the steel balls to be detected. A number of rollers 42 are provided on the side walls of each ball placement groove 41.

[0050] Refer to Figure 1-5 , three rollers 42 are provided on the side wall of each ball placement groove 41. These rollers 42 are annularly and arrayedly distributed, and the orientation of each roller 42 is different. During specific operation, first, the first handling gripper 8 transports the undetected steel balls on the first conveyor belt 7 to the ball placement grooves 41 on the material distribution turntable 4. At this time, the material distribution turntable 4 starts to rotate under the drive of the rotating column 21, driving the ball placement grooves 41 and the steel balls inside them to rotate and move along the conveying chute 31. A detection area 6 is provided on the conveying chute 31. When the ball placement groove 41 rotates to the position of the detection area 6, the rollers 42 start to play a role. The three rollers 42 in the ball placement groove 41 alternately push the steel ball to roll in different directions. Since only the bottom of the steel ball contacts the detection area 6 during the rolling process, if the steel ball only rolls in one direction, it is very likely that some areas cannot contact the detection area 6 and thus cannot be detected by the detection area 6. Therefore, the existence of the rollers 42 is to push the steel ball to roll in different directions for a full circle to ensure that every area of the steel ball is detected.

[0051] In some embodiments, a number of grooves 411 are provided on the side wall of the ball placement groove 41, and one roller 42 is installed in each groove 411. The rollers 42 are annularly and arrayedly distributed in the ball placement groove 41, and each roller 42 is driven by a motor to rotate independently. This design enables the rollers 42 to better ensure the all-round detection of the steel balls in the detection area 6. At the same time, the rollers 42 adopt a telescopic structure (an electric telescopic rod or a spring structure can be used to achieve the telescopic effect of the rollers 42). When the rollers 42 are in the retracted state, they are located in the grooves 411. When putting the steel ball into or taking it out of the ball placement groove 41, the rollers 42 are in the retracted state, which does not affect the placement and removal of the steel ball; when the rollers 42 are in the extended state, they protrude from the grooves 411 and fit with the surface of the steel ball to start pushing the steel ball to roll.

[0052] Refer to Figure 6-10, the detection area 6 is composed of an outer housing 61 and an inner elastic membrane 62. The outer housing 61 is fixedly connected to the detection disk 3. The inner elastic membrane 62 is butt-connected with the conveying chute 31 at the head and tail to form a complete annular chute. The inner elastic membrane 62 is an elastic thin film (rubber or TPE material can be used), and the four sides of the inner elastic membrane 62 are fixed on the outer housing 61.

[0053] In some embodiments, referring to Figure 9-10 , the bottom of the contact surface between the detection area 6 and the steel ball is set as a hard bottom surface, which is a part of the outer housing 61 and becomes the main stress area of the steel ball. The two side areas adopt the inner elastic membrane 62 as the detection part, and the induction unit 64 is arranged at the corresponding position of the inner elastic membrane 62.

[0054] Inside the outer housing, a semi-circular limiting plate 63 is arranged between the inner elastic membrane 62 and the outer housing 61. The limiting plate 63 is covered with the induction unit 64 for detecting the steel ball, and the induction unit 64 supports the inner elastic membrane 62 from the inside. When the steel ball moves to the detection area 6 along with the ball placement groove 41, under the action of the roller 42, the steel ball will continuously adjust its rolling direction so that different areas of it can contact the inner elastic membrane 62. An induction plate 65 is arranged between the limiting plate 63 and the outer housing 61, and the induction plate 65 is fixed to the outer housing 61.

[0055] The induction unit 64 includes a limiting rod 641, a detection head 642, and a limiting block 643. The limiting rod 641 passes through the limiting plate 63, with one end facing the inner elastic membrane 62 and fixedly installing the detection head 642 (the side of the detection head 642 facing the inner elastic membrane 62 is set as a spherical surface), and the other end facing the induction plate 65 and fixedly installing the limiting block 643. A first spring 644 is sleeved on the limiting rod 641, and the first spring 644 is located between the limiting plate 63 and the detection head 642. The bottom of the limiting block 643 is fixed on the induction plate 65 through a second spring 645, and the induction plate 65 is provided with a pressure sensor at the corresponding position of each second spring 645. When the steel ball contacts the inner elastic membrane 62, it will generate a pressure on the detection head 642. The detection head 642 transmits the pressure to the limiting rod 641, and the limiting rod 641 then transmits the pressure to the limiting block 643, thereby deforming the second spring 645. The pressure sensor on the induction plate 65 judges whether the steel ball is abnormally shaped according to the pressure change.

[0056] When the steel ball is a convex abnormally shaped ball, as Figure 10 shown, the protruding part of the steel ball will push the detection head 642 and the limiting rod 641 to move, resulting in a change in the compression amount of the second spring 645. At this time, the pressure detected by the pressure sensor on the induction plate 65 will exceed the predetermined value, thereby judging that the steel ball is abnormally shaped.

[0057] The inner elastic membrane 62 is supported by numerous sensing units 64 and presents a chute shape. Its regional diameter is set according to the diameter of the steel ball to be detected and is slightly smaller than the diameter of the steel ball, so as to detect concave special-shaped steel balls. When the concave part of the concave special-shaped steel ball contacts the inner elastic membrane 62, the pressure received by the detection head 642 fails to reach the predetermined value, and based on this, it is judged that the steel ball is special-shaped.

[0058] Refer to Figure 2-13 , when the special-shaped steel ball is detected in the detection area 6, the ball leakage hole 311 and the rejection component 5 start to work. The rejection component 5 includes a rejection chute 51 and a lifting pad 52. The lifting pad 52 is located in the ball leakage hole 311 and is used to block the ball leakage hole 311. The lifting pad 52 is fitted with the shape of the conveying chute 31. The bottom of the lifting pad 52 is connected to the air cylinder 521 and is driven by the air cylinder 521 to lift and lower (the air cylinder 521 is fixedly installed under the detection disc 3 through the connecting plate 522). The rejection chute 51 is fixedly installed under the detection disc 3. The rejection chute 51 is provided with a through hole 511 directly below the ball leakage hole 311, and the through hole 511 is the same size as the ball leakage hole 311.

[0059] After detecting the special-shaped steel ball, when the ball placement groove 41 and the steel ball inside it rotate together to the position of the ball leakage hole 311 (at this time, the steel ball is on the lifting pad 52), the air cylinder 521 drives the lifting pad 52 to descend. The steel ball is held by the lifting pad 52 and descends together. When the lifting pad 52 is in the ascending state, it is fitted into the ball leakage hole 311 to prevent the normal steel ball from falling, and allows the normal steel ball to continue to move along the conveying chute 31 to the blanking station; when the lifting pad 52 is in the descending state, it is fitted into the through hole 511 to supplement the vacant position of the rejection chute 51 and make the rejection chute 51 a complete chute.

[0060] One end of the rejection chute 51 close to the ball leakage hole 311 is a closed end, and the end far from the ball leakage hole 311 is an open end. The end plate of the closed end of the rejection chute 51 is fixedly connected to the detection disc 3. The overall direction of the rejection chute 51 is inclined towards the open end, so that it is convenient for the special-shaped steel ball to be smoothly discharged from the open end under the action of gravity (the distance between the top edge of the rejection chute 51 and the detection disc 3 should be much smaller than the diameter of the steel ball to prevent the steel ball from accidentally falling).

[0061] For qualified steel balls, when the material distribution turntable 4 continues to rotate until the steel balls reach the blanking station, the second handling gripper 81 transports the detected steel balls in the ball placement groove 41 on the material distribution turntable 4 to the second conveyor belt 71 and conveys them to the next station for subsequent processing or treatment.

[0062] Further explanation, the above fixed connection, unless otherwise clearly specified and limited, should be understood in a broad sense. For example, it can be welding, gluing, or integrally formed setting, etc., which are common means well-known to those skilled in the art.

[0063] The working steps of this application are as follows:

[0064] S1: The first handling gripper 8 transports the uninspected steel balls on the first conveyor belt 7 to the ball placement groove 41 on the material distribution turntable 4. At this time, if the roller 42 is in the retracted state, it first extends to fit the surface of the steel ball.

[0065] S2: The material distribution turntable 4 rotates driven by the rotating column 21, driving the ball placement groove 41 and the steel balls to rotate. When the steel balls move to the detection area 6 along with the ball placement groove 41, the roller 42 drives the steel balls to roll, making different areas of them contact the inner elastic membrane 62. The sensing unit 64 senses the pressure change on it through the detection head 642 to judge whether the steel balls are of abnormal shape.

[0066] S3: If abnormal-shaped steel balls are detected, the air cylinder 521 drives the lifting pad 52 to descend. The abnormal-shaped steel balls pass through the ball leakage hole 311, enter the rejection chute 51 along with the lifting pad 52, and are discharged from the open end along the inclined rejection chute 51. If they are qualified steel balls, the material distribution turntable 4 continues to rotate.

[0067] S4: The material distribution turntable 4 rotates the inspected qualified steel balls to the blanking station, and the second handling gripper 81 transports them from the ball placement groove 41 to the second conveyor belt 71 and conveys them to the next station.

[0068] S5: After a batch of steel balls are inspected, if continuous inspection is required, repeat steps S1 - S4 until the inspection is completed.

[0069] As described above, it is only the preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution and inventive concept of the present invention, makes equivalent substitutions or changes, and should be covered by the protection scope of the present invention.

Claims

1. An automatic steel ball screening and rejection device, comprising a conveyor belt, a handling gripper, and a sorting machine (1), characterized in that, The sorting machine (1) comprises a base (2), a detection disk (3), a material distribution turntable (4) and a rejection assembly (5); the detection disk (3) is fixed on the base (2) and has an annular conveying chute (31) on its upper surface; the conveying chute (31) is provided with a detection area (6) and a ball leakage hole (311); the detection area (6) is used for screening irregular-shaped steel balls, and the ball leakage hole (311) is used for discharging the detected irregular-shaped steel balls; The rejecting assembly (5) comprises a rejecting chute (51) and a lifting pad (52); the rejecting chute (51) is located below the detection plate (3) and is used to transport the irregular-shaped steel balls discharged from the ball leakage hole (311); The material distribution turntable (4) is located above the detection disk (3), the material distribution turntable (4) is rotatably connected to the base (2), and is driven to rotate by a rotating column (21) located at the center of the base (2). A plurality of ball placement grooves (41) for placing steel balls are arranged in a circular array on the material distribution turntable (4), and the ball placement grooves (41) are located directly above the conveying chute (31). A plurality of rollers (42) are arranged on the side wall of each ball placement groove (41) for pushing the steel balls to continuously change the rolling direction; The detection area (6) is composed of an outer shell (61) and an inner elastic membrane (62), the outer shell (61) is fixedly connected to the detection plate (3), and the inner elastic membrane (62) is butted end to end with the conveying chute (31) to form a complete annular chute; A semi-arc-shaped limiting plate (63) is provided between the inner elastic membrane (62) and the outer shell (61), the limiting plate (63) is fixed to the outer shell (61), and the limiting plate (63) is covered with sensing units (64) for detecting steel balls, and the sensing units (64) support the inner elastic membrane (62) from the inside; A sensing plate (65) is provided between the limiting plate (63) and the outer shell (61), and the sensing plate (65) is fixed to the outer shell (61); The sensing unit (64) comprises a limiting rod (641), a detection head (642) and a limiting block (643); The limiting rod (641) passes through the limiting plate (63), with one end facing the inner elastic membrane (62) and the other end facing the sensing plate (65); the detection head (642) is fixedly installed on the end of the limiting rod (641) facing the inner elastic membrane (62), and the limiting block (643) is fixedly installed on the end of the limiting rod (641) facing the sensing plate (65); a first spring (644) is sleeved on the limiting rod (641), and the first spring (644) is located between the limiting plate (63) and the detection head (642); The bottom of the limit block (643) is fixed on the sensing plate (65) via a second spring (645), and the sensing plate (65) is provided with a pressure sensor at a position corresponding to each second spring (645).

2. The automatic steel ball screening and rejection device according to claim 1, characterized in that, The side of the detection head (642) facing the internal elastic membrane (62) is arranged to be a spherical surface, and the detection head (642) is in contact with the internal elastic membrane (62) to support the internal elastic membrane (62).

3. An automatic steel ball screening and rejection device according to claim 2, characterized in that A plurality of grooves (411) are provided on the side wall of the ball placing groove (41), and a roller (42) is installed in each groove (411). The rollers (42) are annularly arrayed in the ball placing groove (41), and each roller (42) is driven to rotate by a motor.

4. An automatic steel ball screening and rejection device according to claim 3, characterized in that, The roller (42) adopts a telescopic structure. When the roller (42) is in the retracted state, it is located in the groove (411). When the roller (42) is in the extended state, it protrudes from the groove (411) and fits against the surface of the steel ball.

5. An automatic steel ball screening and rejection device according to claim 4, characterized in that, The lifting pad (52) is located in the ball leakage hole (311) and is used to block the ball leakage hole (311). The lifting pad (52) is fitted to the shape of the conveying chute (31). The bottom of the lifting pad (52) is connected to a cylinder (521) and is driven by the cylinder (521) to move up and down. The cylinder (521) is fixedly installed below the inspection disc (3) through a connecting plate (522).

6. The automatic steel ball screening and rejection device according to claim 5, characterized in that, The rejection chute (51) is fixedly installed below the inspection disc (3). The rejection chute (51) is provided with a through opening (511) directly below the ball leakage hole (311), and the through opening (511) is the same size as the ball leakage hole (311). When the lifting pad (52) is in the raised state, it is fitted in the ball leakage hole (311). When the lifting pad (52) is in the lowered state, it is fitted in the through opening (511).

7. An automatic steel ball screening and rejection device according to claim 6, characterized in that, One end of the rejection chute (51) close to the ball leakage hole (311) is a closed end, and the end far from the ball leakage hole (311) is an open end. The overall direction of the rejection chute (51) is inclined towards the open end.

8. An automatic steel ball screening and rejection device according to claim 7, characterized in that, Both the conveyor belt and the handling gripper are provided with two groups, namely the first conveyor belt (7), the first handling gripper (8), the second conveyor belt (71), and the second handling gripper (81). The first handling gripper (8) transports the uninspected steel balls on the first conveyor belt (7) into the ball placing groove (41) on the material distribution turntable (4). The second handling gripper (81) transports the inspected steel balls in the ball placing groove (41) on the material distribution turntable to the second conveyor belt (71).

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