Tank body outer surface detection device

Abstract

The invention belongs to the technical field of tank body detection, and particularly relates to a tank body outer surface detection device which comprises an upper conveying belt, a lower conveying belt, a tank body displacement mechanism and a tank body scanning mechanism. The upper conveying belt and the lower conveying belt are used for feeding and discharging of tank bodies correspondingly. The suction cup transferring mechanism controls the tank to be transferred between the tank displacement mechanism and the conveying table. A lifting frame of the tank displacement mechanism is controlled by a first lifting module to ascend and descend, and a supporting table is driven by a steering motor and drives a tank to move among the upper conveying belt, the lower conveying belt and the tank displacement mechanism. And a scanning camera of the tank body scanning mechanism can move and scan the outer surface of the tank body. According to the scheme, the scanning cameras are arranged on the two opposite sides of the detection station of the tank body scanning mechanism, image detection can be conducted on the two opposite sides of the tank body at the same time, and therefore the detection efficiency is improved, detection of the outer surface of the tank body can be completed only by rotating the tank body by 90 degrees, and the detection efficiency is greatly improved.

Description

Technical Field

[0001] The invention belongs to the technical field of tank body detection, and in particular relates to a tank outer surface detection device. Background Art

[0002] Cans are can-shaped packaging containers made of metal sheets through crimping, bonding and resistance welding. Some cans are composed of three parts: the can body, the can bottom and the can lid. There is a seam on the can body, and then the can body, the can bottom and the can lid are rolled and sealed. When existing cans are produced, it is often necessary to print patterns and texts on the surface of the can body. During the printing process or other links, some products may have defects such as pattern ink stains, missing prints, missing, and wear marks due to various reasons. In order to prevent products with the above defects from entering the market, the surface of the can body is often inspected after the can body is processed; if manual inspection is used, there are often problems such as low efficiency, large errors, and greatly increased production costs. If automatic inspection is used, it is often necessary to cooperate with a manipulator, which has the problem of high cost, and the existing inspection method often uses a camera on one side of the can body for image equipment inspection. The can body often needs to be rotated 360° to complete the inspection work, and the inspection efficiency is low.

[0003] Therefore, it is necessary to design a device suitable for detecting the outer surface of the above-mentioned tank body. Summary of the invention

[0004] In order to solve the above problems existing in the prior art, the present invention provides a tank outer surface detection device.

[0005] The technical solution adopted by the present invention is:

[0006] A tank outer surface detection device comprises an upper conveyor belt, a lower conveyor belt, a tank displacement mechanism and a tank scanning mechanism;

[0007] The upper conveyor belt is arranged above the lower conveyor belt, and the upper conveyor belt and the lower conveyor belt are used for feeding and discharging the can bodies respectively; suction cup transfer mechanisms are respectively arranged on the left side of the upper conveyor belt and the left side of the lower conveyor belt, the suction cup transfer mechanism at the upper conveyor belt is used to transfer the can bodies conveyed by it to the can body displacement mechanism, and the suction cup transfer mechanism at the lower conveyor belt is used to transfer the can bodies on the can body displacement mechanism to the lower conveyor belt;

[0008] The tank displacement mechanism comprises a first lifting module, a lifting frame, a steering motor and a support platform; the lifting frame is connected to the first lifting module and is controlled to lift and lower by the lifting frame, and the support platform is rotatably arranged on the lifting frame and driven by the steering motor; the support platform is used to place the tank, so that the tank can move between three positions: the right side of the upper conveyor belt, the right side of the lower conveyor belt and the lower side of the tank displacement mechanism;

[0009] A scanning station is arranged at the lower side of the tank body scanning mechanism, and scanning cameras are arranged on the left and right sides of the scanning station. The scanning cameras can move in a direction parallel to the upper conveyor belt and scan the outer surface of the tank body.

[0010] As an alternative or supplement to the above-mentioned device, the suction cup transfer mechanism includes a transfer plate, a suction cup and a telescopic cylinder; the left side of the transfer plate is connected to the piston rod of the telescopic cylinder, and one or more grooves are arranged on the right side of the telescopic cylinder, and a suction cup is arranged at the bottom of the groove.

[0011] As an alternative or supplement to the above-mentioned device, the tank scanning mechanism includes a longitudinal moving module, a longitudinal moving seat, a scanning seat and the scanning camera; the longitudinal moving seat is connected to the longitudinal moving module and is controlled to move thereby, two scanning seats are arranged on the lower side of the longitudinal moving seat, and the two scanning cameras are arranged on the relative inner sides of the two scanning seats.

[0012] As an alternative or supplement to the above-mentioned device, the tank scanning mechanism also includes a double-threaded rod and a screw drive motor; the two scanning seats are both slidably connected to the longitudinal moving seat, the double-threaded rod is transmission-connected to the screw drive motor, and the threads at both ends of the double-threaded rod have opposite directions and respectively cooperate with the threads of the two scanning seats to control the two to approach or move away from each other.

[0013] As an alternative or supplement to the above device, a tank center alignment mechanism is provided on the right side of the tank displacement mechanism, and the tank center alignment mechanism is used to support the right side of the tank body and cooperate with the suction cup transfer mechanism to align the tank body to the center of the support platform.

[0014] As an alternative or supplement to the above-mentioned device, the tank center alignment mechanism includes a transverse shift module, a transverse shift seat and an alignment roller; the alignment roller is freely rotatably connected to the transverse shift seat, the transverse shift seat is connected to the transverse shift module, and the alignment roller can approach or move away from the tank body displacement mechanism under the control of the transverse shift module; there are two alignment rollers, and both can resist the right side of the tank body.

[0015] As an alternative or supplement to the above device, a turntable mechanism is arranged on the right side of the tank displacement mechanism, and the turntable mechanism includes a turntable motor and a turntable; the turntable is connected to the rotating shaft of the turntable motor, and the tank center alignment mechanism is fixed on the turntable and rotates therewith.

[0016] As an alternative or supplement to the above-mentioned device, a seam positioning mechanism is also fixed on the rotating table mechanism, and the seam positioning mechanism includes a second lifting module, a vertical frame, a seam camera and a linkage turntable; the second lifting module is fixed on the rotating table, the vertical frame is arranged on the second lifting module and is lifted and moved under the control of the second lifting module, the linkage turntable is rotatably connected to the vertical frame and is used to press the upper end of the tank body, and the seam camera is arranged on the vertical frame and is used to identify the seams on the tank body; according to the steering motor, the rotation of the tank body is controlled according to the seam position, so that the direction of the tank seam is unified.

[0017] As an alternative or supplement to the above-mentioned device, the linkage turntable is coaxially fixedly connected with an upper gear, the upper gear meshes with the upper linkage gear, and the support platform is coaxially fixedly connected with a lower gear, the lower gear can mesh with the lower linkage gear; the lower linkage gear and the upper linkage gear are coaxially connected through a linkage shaft.

[0018] As an alternative or supplement to the above device, the seam alignment mechanism and the tank center alignment mechanism are respectively connected to opposite sides of the rotating table. When the turntable motor rotates, one of the seam alignment mechanism and the tank center alignment mechanism faces the tank body displacement mechanism.

[0019] The beneficial effects of the present invention are:

[0020] 1. The inspection station of the tank scanning mechanism in this solution has scanning cameras on both sides of the tank, which can simultaneously perform image inspection on both sides of the tank, thereby improving the inspection efficiency, and the tank only needs to be rotated 90°

[0021] The detection of the outer surface of the tank can be completed, which greatly improves the detection efficiency;

[0022] 2. In this solution, a suction cup transfer mechanism is used to transfer the tank body on the conveyor belt to the tank body displacement mechanism. Compared with the method of using a robot to grab, it has a simple structure, low cost, and good promotion and popularity. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below.

[0024] Figure 1 It is a schematic diagram of the structure of the tank outer surface detection device in this scheme;

[0025] Figure 2 It is the coordination structure diagram of the tank displacement mechanism and the tank center alignment mechanism;

[0026] Figure 3 It is the coordination structure diagram of the tank displacement mechanism and the joint alignment mechanism;

[0027] Figure 4 It is a structural diagram of the coordination between the tank displacement mechanism and the tank scanning mechanism;

[0028] Figure 5 It is a top view of the transfer plate.

[0029] In the figure: 1-tank body; 2-upper conveyor belt; 3-lower conveyor belt; 4-suction cup transfer mechanism; 41-transfer plate; 42-suction cup; 43-telescopic cylinder; 5-tank body displacement mechanism; 51-first lifting module; 52-lifting frame; 53-steering motor; 54-bevel gear plate; 55-support platform; 6-joint alignment mechanism; 61-second lifting module; 62-vertical frame; 63-joint camera; 64-upper gear; 65-upper Linkage gear; 66-linkage shaft; 67-lower linkage gear; 68-linkage turntable; 7-tank center alignment mechanism; 71-transverse movement module; 72-transverse movement seat; 73-alignment roller; 8-rotating table mechanism; 81-rotating table motor; 82-rotating table; 9-tank body scanning mechanism; 91-longitudinal movement module; 92-longitudinal movement seat; 93-double threaded rod; 94-screw drive motor; 95-scanning seat; 96-scanning camera. DETAILED DESCRIPTION

[0030] The technical solution in this embodiment will be clearly and completely described below in conjunction with the accompanying drawings. The described embodiments are only some of the embodiments, not all of them. Based on the embodiments in this solution, all other embodiments obtained by ordinary technicians in this field without making creative work are within the protection scope of this solution.

[0031] like Figures 1 to 5 As shown, this embodiment designs a can outer surface detection device, including an upper conveyor belt 2, a lower conveyor belt 3, a can displacement mechanism 5, a can scanning mechanism 9 and other components. One of the upper conveyor belt 2 and the lower conveyor belt 3 is used to send cans from other production links to the can displacement mechanism 5, and the other is used to send cans from the can displacement mechanism 5 to other production links. In this embodiment, the upper conveyor belt 2 is used to send the can 1 in, and the lower conveyor belt 3 is used to send the can 1 out.

[0032] The upper conveyor belt 2 and the lower conveyor belt 3 can both adopt structures such as conveyor chain belts and conveyor belts, wherein the upper conveyor belt 2 is arranged above the lower conveyor belt 3, and the upper conveyor belt 2 is used for feeding the can body 1, and the lower conveyor belt 3 is used for discharging the can body 1. Suction cup transfer mechanisms 4 are respectively arranged on the left side of the upper conveyor belt 2 and the left side of the lower conveyor belt 3, and the suction cup transfer mechanisms 4 are used to absorb the side wall of the can body 1 and transfer the can body 1 in the horizontal direction. Specifically: the suction cup transfer mechanism 4 at the upper conveyor belt 2 is used to transfer the can body 1 it conveys to the can body displacement mechanism 5, and the suction cup transfer mechanism 4 at the lower conveyor belt 3 is used to transfer the can body 1 on the can body displacement mechanism 5 to the lower conveyor belt 3.

[0033] The suction cup transfer mechanism 4 includes a transfer plate 41, a suction cup 42 and a telescopic cylinder 43. The telescopic cylinder 43 can be a pneumatic cylinder, a hydraulic cylinder or an electric cylinder. The left side of the transfer plate 41 is connected to the piston rod of the telescopic cylinder 43. The right side of the telescopic cylinder 43 is provided with one or more grooves. The curvature of the groove matches the curvature of the side wall of the tank body 1. When the transfer plate 41 is extended, its groove and the tank body 1 are engaged with each other. A suction cup 42 is provided at the bottom of the groove. The suction cup 42 is connected to the negative pressure gas source to suck the tank body 1. The suction cup transfer mechanism 4 is used to transfer the tank body 1 on the conveyor belt to the tank body displacement mechanism 5. Compared with the method of using a manipulator to grab, it has a simple structure, low cost, and good promotion and popularity.

[0034] The tank displacement mechanism 5 includes a first lifting module 51, a lifting frame 52, a steering motor 53 and a support platform 55. The first lifting module 51 can be fixed below the lower conveyor belt 3, and the lifting frame 52 is connected to the first lifting module 51. The first lifting module 51 is used to control the lifting position of the lifting frame 52. When testing, the upper end of the lifting frame 52 can be moved to the upper conveyor belt 2, the lower conveyor belt 3 and the tank scanning mechanism 9. The support platform 55 is rotatably arranged on the lifting frame 52 and driven by the steering motor 53. There can be multiple support platforms 55, and the support platforms 55 correspond to the steering motor 53 one by one. The support platform 55 is used to place the tank 1, so that the tank 1 can move between the right side of the upper conveyor belt 2, the right side of the lower conveyor belt 3 and the lower side of the tank displacement mechanism 5. When the tank 1 is placed on the support platform 55, the tank 1 can rotate with the support platform 55, so that the tank 1 can adjust the direction and realize the scanning of different sides of the tank 1.

[0035] When the tank displacement mechanism 5 cooperates with the upper conveyor belt 2, the lower conveyor belt 3, and the tank scanning mechanism 9 for use: the upper conveyor belt 2 moves the tank 1 to the output end of the upper conveyor belt 2, the telescopic cylinder 43 at the upper conveyor belt 2 controls the transfer plate 41 to move to the right so that the transfer plate 41 is close to the side wall of the tank 1, the suction cup 42 sucks the tank 1 tightly, and the telescopic cylinder 43 moves to the right again to move the tank 1 to the support platform 55. When the support platform 55 rises to the tank scanning mechanism 9, the scanning camera 96 ​​there collects images of the outer surface of the tank 1. Then, the support platform 55 descends to the lower conveyor belt 3, and the suction cup transfer mechanism 4 at the lower conveyor belt 3 grabs the tank 1 on the support platform 55 and puts it on the lower conveyor belt 3. It should be noted that a solenoid valve can be set at the rear end of the suction cup 42 so that the suction cup 42 in each groove can be controlled individually, and the unqualified can body 1 on the pallet 55 is not moved to the lower conveyor belt 3, but remains on the pallet 55, so that the unqualified can body 1 can be ejected and dropped when the next can body 1 moves to the pallet 55.

[0036] A scanning station is provided at the lower side of the tank scanning mechanism 9, and scanning cameras 96 are provided on both the left and right sides of the scanning station. The scanning camera 96 ​​can move in a parallel direction to the upper conveyor belt 2 and scan the outer surface of the tank 1. By moving the scanning camera 96 ​​back and forth, the surface of the tank 1 can be imaged, so that the controller connected to the scanning camera 96 ​​can identify the defect position on the image, thereby facilitating the identification of unqualified tanks 1. Since the scanning cameras 96 are provided on both opposite sides of the inspection station, image inspection can be performed on both opposite sides of the tank 1 at the same time, thereby improving the inspection efficiency, and the tank 1 only needs to rotate 90° to complete the inspection of the outer surface of the tank 1, which greatly improves the inspection efficiency.

[0037] The tank body scanning mechanism 9 includes a longitudinal moving module 91, a longitudinal moving seat 92, a scanning seat 95 and the scanning camera 96; the longitudinal moving module 91 is fixed on the upper right side of the upper conveyor belt 2, the longitudinal moving seat 92 is connected to the longitudinal moving module 91, and the longitudinal moving module 91 can control the longitudinal moving seat 92 to move in a parallel direction along the conveyor belt. Two scanning seats 95 are arranged on the lower side of the longitudinal moving seat 92, and the two scanning cameras 96 are arranged on the relative inner sides of the two scanning seats 95.

[0038] The tank scanning mechanism 9 also includes a double threaded rod 93 and a screw drive motor 94; the two scanning seats 95 are both slidably connected to the longitudinal moving seat 92, the double threaded rod 93 is in driving connection with the screw drive motor 94, the threads at both ends of the double threaded rod 93 are in opposite directions and are respectively threadedly matched with the two scanning seats 95 to control the two to approach or move away from each other. Since different tanks have different diameters and heights, the distance between the scanning camera 96 ​​and the tank 1 will also affect the accuracy of its image acquisition. By controlling the position of the scanning seat 95 by the screw drive motor 94, the scanning camera 96 ​​can not only scan different tanks but also help to ensure the clarity of the acquired image.

[0039] When the tank body scanning mechanism 9 is in use: the scanning camera 96 ​​moves in the horizontal longitudinal direction under the control of the longitudinal moving module 91, and collects the outer surface image of the arranged tank body 1. After completion, the tank body 1 rotates 90°, and the scanning camera 96 ​​returns to the initial position under the control of the longitudinal moving module 91, and the image collection of the outer surface of the tank body 1 is completed. The collected image is uploaded to the controller and compared with the preset image library in the controller. The part that does not match is the defective part, so it can be identified as an unqualified tank body 1.

[0040] A tank center alignment mechanism 7 is provided on the right side of the tank displacement mechanism 5. The tank center alignment mechanism 7 is used to support the right side of the tank body 1 and cooperate with the suction cup transfer mechanism 4 to align the tank body 1 to the center of the support platform 55. The tank center alignment mechanism 7 includes a transverse shifting module 71, a transverse shifting seat 72 and an alignment roller 73; the alignment roller 73 is freely rotatably connected to the transverse shifting seat 72, the transverse shifting seat 72 is connected to the transverse shifting module 71, and the alignment roller 73 can approach or move away from the tank displacement mechanism 5 under the control of the transverse shifting module 71; there are two alignment rollers 73, and both can abut against the right side of the tank body 1.

[0041] When the tank center alignment mechanism 7 is in use: the rotary table mechanism 8 moves the tank center alignment mechanism 7 to its left side, and the movable plate and the alignment roller 73 can clamp the tank body 1 from the left and right sides of the tank body 1, so as to adjust the left and right positions of the tank body 1, and at the same time cooperate with the gap between the two alignment rollers 73 and the groove on the movable plate to maintain the longitudinal position of the tank body 1, so that the axis of the tank body 1 coincides with the axis of the support table 55, so as to prevent the tank body 1 from being centrifugally thrown out during rotation, or changing the distance with the scanning camera 96 ​​to affect the scanning accuracy.

[0042] The rotary table mechanism 8 is arranged on the right side of the tank body displacement mechanism 5, and the rotary table mechanism 8 includes a turntable motor 81 and a rotating table 82; the rotating table 82 is connected to the rotating shaft of the turntable motor 81, and the tank core alignment mechanism 7 is fixed on the rotating table 82. The tank core alignment mechanism 7 rotates with the rotation of the rotating table 82, so as to make it easier to align the seam alignment mechanism 6 or the tank core alignment mechanism 7 with the tank body 1.

[0043] A seam positioning mechanism 6 is also fixed on the rotating table mechanism 8, and the seam positioning mechanism 6 includes a second lifting module 61, a vertical frame 62, a seam camera 63 and a linkage turntable 68; the second lifting module 61 is fixed on the rotating table 82, the vertical frame 62 is arranged on the second lifting module 61 and is lifted and moved under the control of the second lifting module 61, the linkage turntable 68 is rotatably connected to the vertical frame 62 and is used to press the upper end of the tank body 1, the seam camera 63 is arranged on the vertical frame 62 and is used to identify the seams on the tank body 1; according to, the steering motor 53 controls the rotation of the tank body 1 according to the seam position, so that the direction of the seam of the tank body 1 is unified.

[0044] The linkage turntable 68 is coaxially fixedly connected with an upper gear 64, which meshes with an upper linkage gear 65. The support platform 55 is coaxially fixedly connected with a lower gear, which can mesh with a lower linkage gear 67; the lower linkage gear 67 is coaxially connected with the upper linkage gear 65 through a linkage shaft 66. The seam alignment mechanism 6 and the tank core alignment mechanism 7 are respectively connected to the opposite sides of the rotating platform 82. When the turntable motor 81 rotates, one of the seam alignment mechanism 6 and the tank core alignment mechanism 7 faces the tank body displacement mechanism 5. The gear ratio of the upper gear 64 to the upper linkage gear 65 is equal to the gear ratio of the lower gear to the lower linkage gear 67, and the upper linkage gear 65 and the lower linkage gear 67 rotate synchronously and at the same speed. The linkage turntable 68 and the support platform 55 cooperate to press the tank body 1, effectively preventing the tank body 1 from being deflected during rotation.

[0045] When the rotary table mechanism 8 is in use: the rotary table mechanism 8 moves the seam calibration mechanism 6 to its left side, and when the vertical frame 62 is lowered to a suitable position, the linkage turntable 68 can be close to the upper end of the tank body 1, and the lower gear is engaged with the lower linkage gear 67. When the support platform 55 rotates, the tank body 1 can be controlled to rotate, so that the seams of multiple tank bodies 1 to be inspected have a uniform orientation, so that the pattern content on the left and right sides of the tank body 1 is the same, which helps to improve the accuracy of the defect scanning on the outer surface of the tank body 1. The controller can not only compare the collected image with the preset image library, but also compare them with each other to reduce the error of defect judgment and improve the detection accuracy, which is convenient for the controller to update the image library through deep learning to improve accuracy.

[0046] The controller in this embodiment generally adopts common controllers such as PLC and industrial computer. The longitudinal moving module 91, the first lifting module 51, the second lifting module 61, the transverse moving module 71 and other components in this embodiment can adopt existing linear modules, which will not be described in detail here.

[0047] When the can outer surface detection device in this scheme is in use: the upper conveyor belt 2 conveys the can body 1 to its conveying section, and the suction cup transfer mechanism 4 there transfers the can body 1 to the support table 55 of the can body displacement mechanism 5, and ejects the unqualified can body 1 in the previous link, and the unqualified can body 1 falls into the waste frame below the can body displacement mechanism 5; then, the can core alignment mechanism 7 cooperates with the suction cup transfer mechanism 4 to realize the alignment of the can body 1; after the alignment is completed, the rotary table mechanism 8 rotates 180 degrees , and the seam alignment mechanism 6 cooperates with the steering motor 53 to rotate the can body 1, so that the seams of the arranged can bodies 1 are in the same direction; then, the rotary table mechanism 8 rotates 90 degrees to remove the seam alignment mechanism 6, and the can body displacement mechanism 5 moves the can body 1 up to the can body scanning mechanism 9 for outer surface inspection of the can body 1; after the inspection is completed, the can body displacement mechanism 5 moves the can body 1 down to the lower conveyor belt 3, and the suction cup transfer mechanism 4 there grabs the qualified can body 1 and puts it on the lower conveyor belt 3. In this way, the can body 1 can be continuously inspected.

[0048] The above embodiments are merely examples for the purpose of clarifying the description, and are not intended to limit the implementation methods; it is not necessary and impossible to list all implementation methods exhaustively. However, obvious changes or modifications derived therefrom are still within the scope of protection of the present technology.

Claims

1. A tank outer surface detection device, characterized in that: It comprises an upper conveyor belt (2), a lower conveyor belt (3), a tank displacement mechanism (5) and a tank scanning mechanism (9); The upper conveyor belt (2) is arranged above the lower conveyor belt (3), and the upper conveyor belt (2) and the lower conveyor belt (3) are respectively used for feeding and discharging the can body (1); a suction cup transfer mechanism (4) is respectively arranged on the left side of the upper conveyor belt (2) and the left side of the lower conveyor belt (3); the suction cup transfer mechanism (4) at the upper conveyor belt (2) is used to transfer the can body (1) conveyed by it to the can body displacement mechanism (5), and the suction cup transfer mechanism (4) at the lower conveyor belt (3) is used to transfer the can body (1) on the can body displacement mechanism (5) to the lower conveyor belt (3); The tank displacement mechanism (5) comprises a first lifting module (51), a lifting frame (52), a steering motor (53) and a support platform (55); the lifting frame (52) is connected to the first lifting module (51) and is controlled to be lifted and lowered by the lifting frame (52); the support platform (55) is rotatably arranged on the lifting frame (52) and is driven by the steering motor (53); the support platform (55) is used to place the tank (1) so that the tank (1) can be moved between three positions: the right side of the upper conveyor belt (2), the right side of the lower conveyor belt (3) and the lower side of the tank displacement mechanism (5); A scanning station is arranged at the lower side of the tank body scanning mechanism (9), and scanning cameras (96) are arranged on the left and right sides of the scanning station. The scanning cameras (96) can move in a direction parallel to the upper conveyor belt (2) and scan the outer surface of the tank body (1).

2. The tank outer surface detection device according to claim 1, characterized in that: The suction cup transfer mechanism (4) comprises a transfer plate (41), a suction cup (42) and a telescopic cylinder (43); the left side of the transfer plate (41) is connected to the piston rod of the telescopic cylinder (43), the right side of the telescopic cylinder (43) is provided with one or more grooves, and the suction cup (42) is provided at the bottom of the groove.

3. The tank outer surface detection device according to claim 1, characterized in that: The tank body scanning mechanism (9) comprises a longitudinal moving module (91), a longitudinal moving seat (92), a scanning seat (95) and the scanning camera (96); the longitudinal moving seat (92) is connected to the longitudinal moving module (91) and is controlled to move thereby, two scanning seats (95) are arranged on the lower side of the longitudinal moving seat (92), and the two scanning cameras (96) are arranged on the opposite inner sides of the two scanning seats (95).

4. The tank outer surface detection device according to claim 3, characterized in that: The tank scanning mechanism (9) further comprises a double threaded rod (93) and a screw drive motor (94); the two scanning seats (95) are both slidably connected to the longitudinal moving seat (92), the double threaded rod (93) is drivingly connected to the screw drive motor (94), the threads at both ends of the double threaded rod (93) are in opposite directions and are respectively threadedly matched with the two scanning seats (95) to control the two to approach or move away from each other.

5. The tank outer surface detection device according to any one of claims 1 to 4, characterized in that: A tank center alignment mechanism (7) is provided on the right side of the tank displacement mechanism (5). The tank center alignment mechanism (7) is used to support the right side of the tank body (1) and cooperate with the suction cup transfer mechanism (4) to align the tank body (1) to the center of the support platform (55).

6. The tank outer surface detection device according to claim 5, characterized in that: The tank center alignment mechanism (7) comprises a transverse shift module (71), a transverse shift seat (72) and an alignment roller (73); the alignment roller (73) is rotatably connected to the transverse shift seat (72), the transverse shift seat (72) is connected to the transverse shift module (71), and the alignment roller (73) can approach or move away from the tank body displacement mechanism (5) under the control of the transverse shift module (71); there are two alignment rollers (73), and both can abut against the right side of the tank body (1).

7. The tank outer surface detection device according to claim 5, characterized in that: A rotary table mechanism (8) is arranged on the right side of the tank displacement mechanism (5), and the rotary table mechanism (8) comprises a rotary table motor (81) and a rotary table (82); the rotary table (82) is connected to the rotating shaft of the rotary table motor (81), and the tank center alignment mechanism (7) is fixed on the rotary table (82) and rotates therewith.

8. The tank outer surface detection device according to claim 7, characterized in that: A joint alignment mechanism (6) is also fixed on the rotary table mechanism (8), and the joint alignment mechanism (6) comprises a second lifting module (61), a vertical frame (62), a joint camera (63) and a linkage turntable (68); the second lifting module (61) is fixed on the rotary table (82), the vertical frame (62) is arranged on the second lifting module (61) and moves up and down under the control of the second lifting module (61), the linkage turntable (68) is rotatably connected to the vertical frame (62) and is used to press the upper end of the tank body (1), and the joint camera (63) is arranged on the vertical frame (62) and is used to identify the joint on the tank body (1); according to the rotation of the tank body (1), the steering motor (53) controls the rotation of the tank body (1) according to the joint position, so that the direction of the joint of the tank body (1) is unified.

9. The tank outer surface detection device according to claim 8, characterized in that: The linkage turntable (68) is coaxially fixedly connected with an upper gear (64), and the upper gear (64) meshes with an upper linkage gear (65); the support platform (55) is coaxially fixedly connected with a lower gear, and the lower gear can mesh with a lower linkage gear (67); the lower linkage gear (67) and the upper linkage gear (65) are coaxially connected via a linkage shaft (66).

10. The tank outer surface detection device according to claim 8 or 9, characterized in that: The seam alignment mechanism (6) and the tank center alignment mechanism (7) are respectively connected to opposite sides of the rotating platform (82). When the rotating platform motor (81) rotates, one of the seam alignment mechanism (6) and the tank center alignment mechanism (7) faces the tank body displacement mechanism (5).

Images