Axis perpendicularity detection machine of bar and detection method of axis perpendicularity detection machine

Abstract

The invention provides a bar axis verticality detection machine and a detection method thereof, and the machine comprises a machine table which is provided with a feeding station, a charging tray transfer station, a verticality detection station and a discharging station, and is also provided with a carrying manipulator assembly for carrying a charging tray and a product. Trays on which products are placed are stacked at the feeding station, a transfer track is arranged at the tray transfer station, a tray placement clamping position for placing the trays is arranged on the transfer track, a perpendicularity detection station is arranged on one side of the tray transfer station, and a workpiece clamping position is arranged on the other side of the tray transfer station. The perpendicularity detection station is provided with a lateral visual detection assembly used for detecting the perpendicularity of the products, and the discharging station is provided with a screening area used for screening and discharging the products. According to the invention, visual detection can be automatically carried out on multiple surface verticality data of the side surface of the product, the intelligent degree is higher, the detection efficiency is higher, and the detection result is more accurate.

Description

Technical Field

[0001] The present invention relates to the technical field of verticality detection equipment, and in particular to a bar axis verticality detection machine and a detection method thereof. Background Art

[0002] With the continuous progress of industrialization and automation, the precision requirements for processing parts, auxiliary tools, etc. are getting higher and higher. As a representative of precision manufacturing, the watch manufacturing industry is particularly critical to the detection of verticality. Traditional verticality detection methods, such as the light gap method and the manual meter method, have cumbersome operation processes and low detection efficiency, and can no longer meet the needs of modern production. Therefore, it is particularly important to develop efficient and accurate verticality detection equipment.

[0003] At present, machine vision technology, as one of the most widely used technologies in the manufacturing industry, has gradually been applied to verticality detection in the watch manufacturing industry. Visual inspection cameras are used to simulate human visual inspection functions, and product inspection, measurement and control are achieved through automatic machine monitoring to improve production flexibility and automation.

[0004] There is a need for an improved bar axis verticality detection machine and detection method that can solve the above-mentioned problems. Summary of the invention

[0005] The invention provides a shaft center verticality detection machine and a detection method thereof, and solves the problems of low intelligence and low production efficiency of the existing product verticality detection equipment by technically transforming the existing verticality detection equipment.

[0006] To achieve the above object, the technical solution adopted by the present invention is:

[0007] A bar axis verticality detection machine comprises a machine platform, on which a loading station, a tray transfer station, a verticality detection station and a unloading station are respectively arranged, and a handling robot assembly for handling trays and products is also arranged on the machine platform, the handling robot assembly is used to handle trays and products through the loading station, the tray transfer station, the verticality detection station and the unloading station in sequence, trays with products placed on them are stacked at the loading station, a transfer track is arranged at the tray transfer station, a tray placement card for placing the tray is arranged on the transfer track, a verticality detection station is arranged on one side of the tray transfer station, the verticality detection station is provided with a lateral visual detection assembly for performing verticality detection on the product, and a screening area for screening and unloading products is arranged at the unloading station.

[0008] Preferably, the loading station is provided with full tray positions and empty tray positions, trays full of products are stacked on the full tray positions, and the empty tray positions are used to recycle empty trays on the tray transfer station, and the handling robot assembly is used to transfer the empty trays on the tray transfer station to the empty tray positions.

[0009] Preferably, the handling robot assembly includes a first handling robot, a second handling robot and a third handling robot, the first handling robot being used to grab products and trays to the tray transfer station and transfer empty trays to the empty tray position of the loading station, the second handling robot being used to transfer products on the tray transfer station to the verticality detection station, and the third handling robot being used to transport products on the verticality detection station to the screening area of ​​the unloading station.

[0010] Preferably, a four-divided rotating platform is provided at the verticality detection station, and four product detection carriers for placing products are arranged at intervals on the four-divided rotating platform. The four-divided rotating platform is provided with a loading detection position, a lateral verticality detection position and a unloading detection position in sequence according to the position of the product detection carrier, and a lateral visual detection component is also installed at the lateral verticality detection position.

[0011] Preferably, the lateral visual inspection component includes a horizontal inspection drive mechanism, a camera mounting plate, a lateral inspection camera, a mounting bracket and a fill light component. The horizontal inspection drive mechanism is installed on the machine platform, and a camera mounting plate is installed at the output end of the horizontal inspection drive mechanism. Two lateral inspection cameras are arranged at intervals on the camera mounting plate. A mounting bracket is also fixedly mounted on the camera mounting plate, and a fill light component is mounted on the mounting bracket. The product inspection carrier is arranged between the fill light component and the lateral inspection camera, and the lens of the lateral inspection camera is facing the side position of the product on the product inspection carrier. The moving direction of the camera mounting plate is arranged parallel to the product arrangement direction of the product inspection carrier.

[0012] Preferably, the product inspection carrier includes a carrier body, a carrier rotation drive mechanism, a pulley assembly and a product mounting seat. The carrier body is fixedly mounted on a four-part rotating platform. A plurality of product mounting seats are evenly arranged in a row on the carrier body. A fixed position for placing the product is provided on the upper end of the product mounting seat. The product mounting seat is rotatably mounted on the carrier body, and a carrier rotation drive mechanism is also vertically mounted on the carrier body. The output end of the carrier rotation drive mechanism is drivingly connected to the product mounting seat through a pulley assembly.

[0013] Preferably, a second tray loading position is further provided on one side of the unloading station, and empty trays are stacked at the second tray loading position, and the empty trays are transferred to the screening area of ​​the unloading station by a third handling robot.

[0014] Preferably, the screening area of ​​the unloading station includes a good product unloading position and a defective product unloading position, and the main control system controls the third handling robot to grab the products to the good product unloading position or the defective product unloading position for screening and unloading according to the detection results.

[0015] Preferably, the third handling robot comprises a multi-axis robot body, a fixed connecting plate, a variable pitch drive component, a product grabbing component, a linkage component and a tray grabbing component. The multi-axis robot body is installed on the machine platform, and a fixed connecting plate is installed at the output end of the multi-axis robot body. The product grabbing component, the variable pitch drive component and the tray grabbing component are installed on the fixed connecting plate. Several product grabbing components are movably installed on the fixed connecting plate, and the product grabbing components are connected through linkage components. The variable pitch drive component is drivingly connected to the product grabbing component.

[0016] A method for detecting the verticality of the shaft center of a bar by a detection machine comprises the following steps:

[0017] S1. Loading products and trays: stack the trays with products and place them at the full tray position of the loading station. The lifting platform set at the loading station rises and waits for the handling robot assembly to grab and load the products.

[0018] S2, material tray transfer, the handling robot assembly grabs the material tray and transfers it to the material tray position on the transfer track of the material tray transfer station;

[0019] S3. The product is loaded to the verticality inspection station. The handling robot assembly grabs the product from the tray and transfers it to the product inspection carrier at the inspection loading position of the verticality inspection station. After the product on the tray is grabbed and emptied, the handling robot assembly transports the empty tray to the empty tray position of the loading station for recycling.

[0020] S4, product verticality detection, the four-part rotating platform of the verticality detection station rotates to make the product pass through the loading detection position, the lateral verticality detection position and the unloading detection position in sequence, and the lateral visual detection component set at the lateral verticality detection position detects the verticality of the product, and sends the product verticality information to the main control system;

[0021] S5, product unloading, the handling robot assembly grabs the empty tray at the second tray loading position on the machine table and places it at the unloading station, the four-part rotating platform rotates to move the product to the inspection unloading position, the main control system controls the handling robot assembly to grab the inspected product to the good product unloading position or the defective product unloading position of the unloading station for screening and unloading.

[0022] The beneficial effects of the present invention are:

[0023] The present invention can automatically transport products, detect defects in the verticality of the sides of products, and perform intelligent control through a main control system, so that the measurement data is more comprehensive and the data acquisition accuracy is higher.

[0024] The present invention is provided with a material tray transfer station, which can conveniently grab the products on the material tray transfer station according to the specified quantity through the handling robot assembly, and simultaneously transfer and arrange them on the product inspection carrier of the verticality inspection station. It has stronger applicability, and multiple sets of transfer tracks can be set up to detect multiple products at the same time, which has higher production efficiency.

[0025] The present invention is provided with a verticality detection station, a four-divided rotating platform drives the product to rotate, and then controls two groups of lateral detection cameras to move in the horizontal direction to perform visual inspection on the products on the product detection carrier in turn. The product inspection carrier is provided with a carrier rotation drive mechanism for driving the product to rotate, which can drive the product to rotate and display different outer sides, and facilitates the verticality detection by shooting the side surfaces of the product at different angles through the lateral detection camera, so that the detection result is more comprehensive and the detection effect is better.

[0026] In addition, the present invention provides a good product unloading position or a defective product unloading position at the unloading station, and the main control system controls the handling robot assembly to grab the products to the good product unloading position or the defective product unloading position for screening and unloading according to the detection results, which has a higher degree of intelligence. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a schematic diagram of the three-dimensional structure of the device of the present invention;

[0028] Figure 2 It is a top view schematic diagram of the device of the present invention;

[0029] Figure 3 It is a schematic diagram of the three-dimensional structure of the verticality detection station of the present invention;

[0030] Figure 4 It is a schematic diagram of the top view structure of the verticality detection station of the present invention;

[0031] Figure 5 It is a schematic diagram of the bottom structure of the product detection carrier of the present invention;

[0032] Figure 6 It is a schematic diagram of the top view of the structure of the third handling robot of the present invention;

[0033] Figure 7 It is a schematic diagram of a tray grabbing assembly of a third handling robot of the present invention;

[0034] Figure 8 It is a schematic diagram of the structure of the variable pitch drive assembly of the third handling robot of the present invention;

[0035] Fig. 9It is a schematic diagram of the side structure of the variable pitch drive assembly of the third handling robot of the present invention;

[0036] Fig.10 It is a schematic diagram of the structure of the variable pitch drive assembly linkage assembly of the third handling robot of the present invention;

[0037] Fig.11 It is a schematic diagram of the steps of the detection method of the present invention;

[0038] Description of the accompanying figures: Machine 1, loading station 2, full tray position 21, empty tray position 22, tray transfer station 3, transfer track 31, tray placement position 32, verticality detection station 4, four-divided rotating platform 41, product detection carrier 42, carrier body 421, carrier rotation drive mechanism 422, pulley assembly 423, product mounting seat 424, lateral visual inspection assembly 43, inspection level drive mechanism 431, camera mounting plate 432, lateral inspection camera 433, mounting bracket 434, fill light assembly 435, unloading station 5, good product unloading position 51, defective product unloading position 52, handling robot assembly 6, first handling robot 61 , the second handling robot 62, the third handling robot 63, the multi-axis robot body 631, the fixed connecting plate 632, the horizontal slide rail assembly 6321, the variable pitch drive assembly 633, the variable pitch drive cylinder 6331, the connecting block 6332, the mounting slider 6333, the grabbing assembly mounting plate 6334, the first vertical slide rail 63341, the first vertical drive assembly 63342, the product grabbing assembly 634, the first vacuum suction nozzle assembly 6341, the suction nozzle mounting seat 6342, the linkage assembly 635, the fixed end 6351, the movable end 6352, the connecting strip 6353, the movable through groove 6354, the tray grabbing assembly 636, and the second tray upper material position 7. DETAILED DESCRIPTION

[0039] The specific contents of the present invention are described in detail below with reference to the accompanying drawings and embodiments.

[0040] See also Figure 1-4As shown, the present invention provides a bar axis verticality detection machine, including a machine platform 1, on which a loading station 2, a tray transfer station 3, a verticality detection station 4 and a unloading station 5 are respectively arranged, and the machine platform 1 is also provided with a handling robot assembly 6 for handling trays and products, the handling robot assembly 6 is used to carry the trays and products through the loading station 2, the tray transfer station 3, the verticality detection station 4 and the unloading station 5 in sequence, the loading station 2 is stacked with trays with products placed on it, the tray transfer station 3 is provided with a transfer track 31, and the transfer track 31 is provided with a tray placement clamp 32 for placing the tray, a verticality detection station 4 is arranged on one side of the tray transfer station 3, the verticality detection station 4 is provided with a lateral visual detection assembly 43 for performing verticality detection on the product, and the unloading station 5 is provided with a screening area for screening and unloading the product.

[0041] Furthermore, in order to realize the transfer function of the handling robot assembly 6, the handling robot assembly 6 includes a first handling robot 61, a second handling robot 62 and a third handling robot 63, the first handling robot 61 is used to grab products and trays to the tray transfer station 3 and transfer empty trays to the empty tray position 22 of the loading station 2, the second handling robot 62 is used to transfer products on the tray transfer station 3 to the verticality detection station 4, and the third handling robot 63 is used to transport products on the verticality detection station 4 to the screening area of ​​the unloading station 5.

[0042] Furthermore, the loading station 2 is provided with a full tray position 21 and an empty tray position 22, and trays full of products are stacked on the full tray position 21, and the empty tray position 22 is used to recover the empty trays on the tray transfer station 3, and the handling robot assembly 6 is used to transfer the empty trays on the tray transfer station 3 to the empty tray position 22. When in use, the first handling robot 61 first transports the tray at the full tray position 21 to the tray transfer station 3, and the second handling robot 62 transfers the product on the tray transfer station 3 to the verticality detection station 4. After the product is transferred, the first handling robot 61 transfers the empty tray to the empty tray position 22 of the loading station 2 for stacking.

[0043] Furthermore, in order to obtain better product transfer efficiency, two parallel transfer rails 31 are provided at the tray transfer station 3, and a tray placement clamp 32 for placing the tray is slidably installed on the transfer rail 31. A transfer horizontal drive mechanism is provided on the transfer rail 31, and the transfer horizontal drive mechanism is used to drive the tray placement clamp 32 to move in the horizontal direction, and the transfer horizontal drive mechanism is controlled and operated by the main control system.

[0044] Furthermore, a four-part rotating platform 41 is provided at the verticality detection station 4, and four product detection carriers 42 for placing products are arranged at intervals on the four-part rotating platform 41. A loading detection position, a lateral verticality detection position and a unloading detection position are arranged in sequence on the four-part rotating platform 41 according to the position of the product detection carrier 42, and a lateral visual detection component 43 is also installed at the lateral verticality detection position.

[0045] Furthermore, in order to detect the verticality of the product, the lateral visual inspection component 43 includes a detection horizontal drive mechanism 431, a camera mounting plate 432, a lateral inspection camera 433, a mounting bracket 434 and a fill light component 435. The detection horizontal drive mechanism 431 is installed on the machine 1. The output end of the detection horizontal drive mechanism 431 is installed with a camera mounting plate 432. Two lateral inspection cameras 433 are arranged at intervals on the camera mounting plate 432. A mounting bracket 434 is also fixedly installed on the camera mounting plate 432. A fill light component 435 is mounted on the mounting bracket 434. The product inspection carrier 42 is arranged between the fill light component 435 and the lateral inspection camera 433, and the lens of the lateral inspection camera 433 is facing the side position of the product on the product inspection carrier 42. The moving direction of the camera mounting plate 432 is arranged parallel to the product arrangement direction of the product inspection carrier 42. The lateral inspection camera 433 collects product side data and sends it to the main control system. In order to achieve higher inspection efficiency, the present application uses two groups of cameras to inspect products at the same time. In a specific embodiment, 12 product mounting seats 424 arranged in a row are provided on the product inspection carrier 42. The inspection horizontal drive mechanism 431 drives two groups of lateral inspection cameras 433 to move horizontally six times to inspect 12 products, thereby improving the inspection efficiency.

[0046] Furthermore, the product inspection carrier 42 includes a carrier body 421, a carrier rotation drive mechanism 422, a pulley assembly 423 and a product mounting seat 424. The carrier body 421 is fixedly installed on the four-equally divided rotating platform 41. A plurality of product mounting seats 424 are evenly arranged in a row on the carrier body 421. A fixed position for placing the product is provided on the upper end of the product mounting seat 424. The product mounting seat 424 is rotatably installed on the carrier body 421, and a carrier rotation drive mechanism 422 is also vertically installed on the carrier body 421. The output end of the carrier rotation drive mechanism 422 is drivingly connected to the product mounting seat 424 through the pulley assembly 423.

[0047] When the lateral detection camera 433 takes a picture of the product and collects data, the main control system controls the carrier rotation drive mechanism 422 to drive the pulley assembly 423 to rotate, thereby driving the product mounting base 424 to rotate synchronously, so that the product can display the outer side surfaces at different angles, and the detection results are more comprehensive and intelligent.

[0048] The number of products that the grabbing head of the second handling robot 62 grabs is set according to the number of products placed on the product inspection carrier 42 of the verticality inspection station 4. In a specific embodiment, 12 product mounting seats 424 arranged in a row are provided on the product inspection carrier 42. The second handling robot 62 can grab 12 products at the same time and transport them to the product mounting seats 424 for placement.

[0049] Furthermore, in order to load the trays at the unloading station 5, a second tray loading station 7 is further provided on one side of the unloading station 5, and empty trays are stacked at the second tray loading station 7, and the empty trays are transferred to the screening area of ​​the unloading station 5 by the third handling robot 63. Another tray of different specifications from the trays of the loading station 2 is stacked at the second tray loading station 7, which is convenient for placing a large number of products, and subsequent production and processing are more convenient.

[0050] Furthermore, the screening area of ​​the unloading station 5 includes a good product unloading position 51 and a defective product unloading position 5251. The main control system controls the third handling robot 63 to grab the products to the good product unloading position 51 or the defective product unloading position 5251 for screening and unloading according to the detection results.

[0051] Furthermore, in order to realize that the third handling robot 63 can automatically change the distance when grabbing the product, facilitate the placement of trays of different specifications, and increase production efficiency, the third handling robot 63 includes a multi-axis robot body 631, a fixed connecting plate 632, a variable distance drive component 633, a product grabbing component 634, a linkage component 635 and a tray grabbing component 636. The multi-axis robot body 631 is installed on the machine 1, and a fixed connecting plate 632 is installed at the output end of the multi-axis robot body 631. The fixed connecting plate 632 is installed with a product grabbing component 634, a variable distance drive component 633 and a tray grabbing component 636. Several product grabbing components 634 are movably installed on the fixed connecting plate 632, and the product grabbing components 634 are connected through the linkage component 635. The variable distance drive component 633 is drivingly connected to the product grabbing component 634.

[0052] The multi-axis manipulator body 631 can grab products in a wide range. The output end of the multi-axis manipulator body 631 is connected to a product grabbing component 634 for grabbing products. The product grabbing component 634 controls the spacing through the variable pitch drive component 633. The variable pitch drive cylinder 6331 can drive the product grabbing mechanism to move closer or farther away from each other. After the product grabbing mechanism grabs the product, the variable pitch component of the grabbing mechanism controls and adjusts the product to change the pitch. Automatic variable pitch swinging is realized, which has a higher degree of intelligent automation, saves labor, and reduces costs.

[0053] In order to realize the variable pitch function of the variable pitch drive assembly 633, the variable pitch drive assembly 633 includes a variable pitch drive cylinder 6331, a connecting block 6332, a mounting slider 6333 and a grabbing assembly mounting plate 6334. A horizontal slide rail assembly 6321 is horizontally arranged on the outer side of the fixed connecting plate 632. A plurality of mounting sliders 6333 are arranged in parallel at intervals on the horizontal slide rail assembly 6321. The mounting sliders 6333 are connected through a linkage assembly 635. A variable pitch drive cylinder 6331 is installed on the back of the fixed connecting plate 632. The output end of the variable pitch drive cylinder 6331 is connected to the outermost mounting slider 6333 on the horizontal slide rail assembly 6321 through a connecting block 6332. A grabbing assembly mounting plate 6334 is fixedly installed on each mounting slider 6333. The product grabbing assembly 634 is installed on the grabbing assembly mounting plate 6334.

[0054] The horizontal slide rail assembly 6321 includes an upper horizontal slide rail and a lower horizontal slide rail. The upper horizontal slide rail is arranged on the upper side of the fixed connecting plate 632, and the lower horizontal slide rail is arranged on the lower side of the fixed connecting plate 632. The back side of the mounting slider 6333 is slidingly connected to the upper horizontal slide rail and the lower horizontal slide rail respectively.

[0055] The linkage assembly 635 includes a fixed end 6351, a movable end 6352 and a connecting strip 6353. The outer side surface of the mounting slider 6333 is recessed with a mounting groove. The mounting grooves of adjacent mounting sliders 6333 are connected and arranged in communication. The mounting grooves of adjacent mounting sliders 6333 are respectively provided with a fixed end 6351 and a movable end 6352. The fixed end 6351 and the movable end 6352 are connected by the connecting strip 6353. The connecting strip 6353 is provided with a movable through groove 6354. The movable end 6352 is horizontally movable along the movable through groove 6354.

[0056] In order to be able to individually control the placement of products, the grabbing assembly mounting plate 6334 is provided with a first vertical slide rail 63341 and a first vertical drive assembly 63342. The product grabbing assembly 634 includes a first vacuum suction nozzle assembly 6341 and a suction nozzle mounting seat 6342. The suction nozzle mounting seat 6342 is slidably mounted on the first vertical slide rail 63341. The lower end of the suction nozzle mounting seat 6342 is provided with a first vacuum suction nozzle assembly 6341 for sucking products, and the upper end of the suction nozzle mounting seat 6342 is drivingly connected to the first vertical drive assembly 63342.

[0057] A method for detecting the verticality of the shaft center of a bar by a detection machine comprises the following steps:

[0058] S1, loading products and trays, stacking trays with products and placing them at the full tray position 21 of the loading station 2, raising the lifting platform provided at the loading station 2, waiting for the handling robot assembly 6 to grab the loading materials;

[0059] S2, the material tray is transferred, the handling robot assembly 6 grabs the material tray and transfers it to the material tray position on the transfer track 31 of the material tray transfer station 3;

[0060] S3, the product is loaded to the verticality detection station 4, and the handling robot assembly 6 grabs the product from the tray position and transfers it to the product inspection carrier 42 at the inspection loading position of the verticality detection station 4. After the product on the tray is grabbed and emptied, the handling robot assembly 6 transports the empty tray to the empty tray position 22 of the loading station 2 for recycling;

[0061] S4, product verticality detection, the four-part rotating platform 41 of the verticality detection station 4 rotates to make the product pass through the loading detection position, the lateral verticality detection position and the unloading detection position in sequence, and the lateral visual detection component 43 set at the lateral verticality detection position detects the verticality of the product, and sends the product verticality information to the main control system;

[0062] S5, product unloading, the handling robot assembly 6 grabs the empty material tray at the second material tray loading position 7 on the machine 1 and places it at the unloading station 5, the four-part rotating platform 41 rotates to rotate the product to the inspection unloading position, the main control system controls the handling robot assembly 6 to grab the inspected products to the good product unloading position 51 or the defective product unloading position 5251 of the unloading station 5 for screening and unloading.

[0063] This application can automatically transport products, detect defects in the verticality of the product sides, and perform intelligent control through the main control system. The measurement data is more comprehensive and the data acquisition accuracy is higher.

[0064] The present application is provided with a material tray transfer station 3, which can conveniently grab the products on the material tray transfer station 3 according to the specified quantity through the handling robot assembly 6, and simultaneously transfer and arrange them on the product inspection carrier 42 of the verticality inspection station 4, which has stronger applicability. Multiple sets of transfer rails 31 can also be set up, which can inspect multiple products at the same time, and the production efficiency is higher.

[0065] The present application is provided with a verticality detection station 4, a four-part rotating platform 41 drives the product to rotate, and then controls two groups of lateral detection cameras 433 to move in the horizontal direction to perform visual inspection on the products on the product detection carrier 42 in turn. The product detection carrier 42 is provided with a carrier rotation drive mechanism 422 for driving the product to rotate, which can drive the product to rotate and display different outer sides, and facilitates the lateral detection camera 433 to shoot the side surfaces of the product at different angles for verticality detection, so that the detection results are more comprehensive and the detection effect is better.

[0066] In addition, the present application provides a good product unloading position 51 or a defective product unloading position 5251 at the unloading station 5. The main control system controls the handling robot assembly 6 to grab the products to the good product unloading position 51 or the defective product unloading position 5251 for screening and unloading according to the detection results, which has a higher degree of intelligence.

[0067] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solution of the present invention can be modified or replaced by equivalents without departing from the purpose and scope of the technical solution of the present invention, which should be included in the scope of the claims of the present invention.

[0068] The standard parts used in the present invention can all be purchased from the market, and special-shaped parts can be customized according to the description in the specification and the drawings. The specific connection methods of each part adopt conventional means such as mature bolts, rivets, welding, etc. in the prior art. Machinery, parts and equipment all adopt conventional models in the prior art, and the circuit connection adopts the conventional connection method in the prior art, which will not be described in detail here.

[0069] In the description of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", and "fixed" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

Claims

1. A bar axis verticality detection machine, characterized in that: The machine comprises a loading station, a tray transfer station, a verticality detection station and an unloading station, respectively; the machine also comprises a handling robot assembly for handling trays and products; the handling robot assembly is used for handling trays and products through the loading station, the tray transfer station, the verticality detection station and the unloading station in sequence; trays with products placed on them are stacked at the loading station, a transfer track is provided at the tray transfer station, a tray placement card for placing the tray is provided on the transfer track, a verticality detection station is provided on one side of the tray transfer station, the verticality detection station is provided with a lateral visual detection assembly for performing verticality detection on the product, and a screening area for screening and unloading the products is provided at the unloading station.

2. The bar axis verticality detection machine according to claim 1, characterized in that: The loading station is provided with full tray positions and empty tray positions. Trays filled with products are stacked on the full tray positions, and the empty tray positions are used to recycle empty trays on the tray transfer station. The handling robot assembly is used to transfer the empty trays on the tray transfer station to the empty tray positions.

3. The bar axis verticality detection machine according to claim 1, characterized in that: The handling robot assembly includes a first handling robot, a second handling robot and a third handling robot. The first handling robot is used to grab products and trays to the tray transfer station and transfer empty trays to the empty tray position of the loading station. The second handling robot is used to transfer products on the tray transfer station to the verticality detection station. The third handling robot is used to transport products on the verticality detection station to the screening area of ​​the unloading station.

4. The bar axis verticality detection machine according to claim 1, characterized in that: A four-part rotating platform is provided at the verticality detection station, and four product detection carriers for placing products are arranged at intervals on the four-part rotating platform. A loading detection position, a lateral verticality detection position and a unloading detection position are arranged in sequence on the four-part rotating platform according to the position of the product detection carrier. A lateral visual detection component is also installed at the lateral verticality detection position.

5. The bar axis verticality detection machine according to claim 4, characterized in that: The lateral visual inspection component includes a horizontal inspection drive mechanism, a camera mounting plate, a lateral inspection camera, a mounting bracket and a fill light component. The horizontal inspection drive mechanism is installed on the machine platform. The camera mounting plate is installed at the output end of the horizontal inspection drive mechanism. Two lateral inspection cameras are arranged at intervals on the camera mounting plate. A mounting bracket is also fixedly installed on the camera mounting plate, and a fill light component is mounted on the mounting bracket. The product inspection carrier is arranged between the fill light component and the lateral inspection camera, and the lens of the lateral inspection camera is facing the side position of the product on the product inspection carrier. The moving direction of the camera mounting plate is arranged parallel to the product arrangement direction of the product inspection carrier.

6. The bar axis verticality detection machine according to claim 5, characterized in that: The product inspection carrier includes a carrier body, a carrier rotation drive mechanism, a pulley assembly and a product mounting seat. The carrier body is fixedly installed on a four-equally divided rotating platform. A plurality of product mounting seats are evenly arranged in a row on the carrier body. A fixed position for placing the product is provided on the upper end of the product mounting seat. The product mounting seat is rotatably installed on the carrier body, and a carrier rotation drive mechanism is also vertically installed on the carrier body. The output end of the carrier rotation drive mechanism is drivingly connected to the product mounting seat through a pulley assembly.

7. The bar axis verticality detection machine according to claim 3, characterized in that: A second tray loading position is also provided on one side of the unloading station, and empty trays are stacked at the second tray loading position. The empty trays are transferred to the screening area of ​​the unloading station by a third handling robot.

8. The bar axis verticality detection machine according to claim 7, characterized in that: The screening area of ​​the unloading station includes a good product unloading position and a defective product unloading position. The main control system controls the third handling robot to grab the products to the good product unloading position or the defective product unloading position for screening and unloading according to the detection results.

9. The bar axis verticality detection machine according to claim 3, characterized in that: The third handling robot comprises a multi-axis robot body, a fixed connecting plate, a variable pitch drive component, a product grabbing component, a linkage component and a tray grabbing component. The multi-axis robot body is installed on the machine platform, and a fixed connecting plate is installed at the output end of the multi-axis robot body. The product grabbing component, the variable pitch drive component and the tray grabbing component are installed on the fixed connecting plate. Several product grabbing components are movably installed on the fixed connecting plate, and the product grabbing components are connected through the linkage component. The variable pitch drive component is drivingly connected to the product grabbing component.

10. A method for detecting the verticality of the shaft center of a bar according to any one of claims 1 to 9, characterized in that: The following steps are involved: S1. Loading products and trays: stack the trays with products and place them at the full tray position of the loading station. The lifting platform set at the loading station rises and waits for the handling robot assembly to grab and load the products. S2, material tray transfer, the handling robot assembly grabs the material tray and transfers it to the material tray position on the transfer track of the material tray transfer station; S3. The product is loaded to the verticality inspection station. The handling robot assembly grabs the product from the tray and transfers it to the product inspection carrier at the inspection loading position of the verticality inspection station. After the product on the tray is grabbed and emptied, the handling robot assembly transports the empty tray to the empty tray position of the loading station for recycling. S4, product verticality detection, the four-part rotating platform of the verticality detection station rotates to make the product pass through the loading detection position, the lateral verticality detection position and the unloading detection position in sequence, and the lateral visual detection component set at the lateral verticality detection position detects the verticality of the product, and sends the product verticality information to the main control system; S5, product unloading, the handling robot assembly grabs the empty tray at the second tray loading position on the machine table and places it at the unloading station, the four-part rotating platform rotates to move the product to the inspection unloading position, the main control system controls the handling robot assembly to grab the inspected product to the good product unloading position or the defective product unloading position of the unloading station for screening and unloading.

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