Shaft center verticality detection machine and detection method thereof

Abstract

The application provides a bar shaft perpendicularity detection machine and a detection method thereof. The machine comprises a machine table, an upper feeding station, a tray transfer station, a perpendicularity detection station and a lower discharging station are arranged on the machine table, a carrying manipulator assembly for carrying the tray and the product is arranged on the machine table, the tray on which the product is placed is stacked at the upper feeding station, a transfer track is arranged at the tray transfer station, a tray placing clamp for placing the tray is arranged on the transfer track, the perpendicularity detection station is arranged on one side of the tray transfer station, a lateral visual detection assembly for detecting the perpendicularity of the product is arranged on the perpendicularity detection station, and a screening area for screening and discharging the product is arranged at the lower discharging station. The application can automatically detect the perpendicularity data of multiple sides of the product, has higher intelligent degree, higher detection efficiency and more accurate detection result.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of verticality detection equipment, and particularly relates to a bar shaft verticality detection machine and a detection method thereof. BACKGROUND

[0002] With the continuous progress of industrialization and automation, the precision requirements of machining parts, auxiliary tools and the like are higher and higher. As a representative of precision manufacturing industry, the watch manufacturing industry is particularly critical for the detection of verticality. Traditional verticality detection methods, such as light gap method, manual watch setting method and the like, are tedious in operation process and low in detection efficiency, and have been difficult to meet the needs of modern production. Therefore, it is particularly important to develop efficient and accurate verticality detection equipment.

[0003] At present, as one of the widely used technologies of artificial intelligence in manufacturing industry, machine vision technology has been gradually applied to the verticality detection of the watch manufacturing industry. The visual detection camera simulates the visual detection function of human beings, and realizes product detection, measurement and control through machine automatic monitoring, so as to improve the flexibility and automation degree of production.

[0004] There is a need for an improved bar shaft verticality detection machine and a detection method thereof to solve the above-mentioned problems. SUMMARY

[0005] The present application provides a bar shaft verticality detection machine and a detection method thereof, which solves the problems of low intelligent degree and low production efficiency of the existing product verticality detection equipment by technical transformation of the existing verticality detection equipment.

[0006] To achieve the above-mentioned purpose, the technical scheme adopted by the present application is as follows:

[0007] A bar shaft verticality detection machine, comprising a machine table, the machine table is provided with a feeding station, a tray transfer station, a verticality detection station and a discharging station respectively, and a carrying manipulator assembly for carrying trays and products is further provided on the machine table, the carrying manipulator assembly is used for carrying the trays and products to pass through the feeding station, the tray transfer station, the verticality detection station and the discharging station in sequence, the feeding station is stacked with trays on which products are placed, the tray transfer station is provided with a transfer track, the transfer track is provided with a tray placing clamp for placing the trays, the verticality detection station is provided on one side of the tray transfer station, the verticality detection station is provided with a lateral vision detection assembly for detecting the verticality of the products, and the discharging station is provided with a screening area for screening and discharging the products.

[0008] Preferably, the feeding station is provided with a full tray position and an empty tray position, the full tray position is used to stack the full product trays, and the empty tray position is used to recycle the empty trays on the tray transfer station, and the transfer manipulator assembly is used to transfer the empty trays on the tray transfer station to the empty tray position.

[0009] Preferably, the transfer manipulator assembly includes a first transfer manipulator, a second transfer manipulator, and a third transfer manipulator, the first transfer manipulator is used to grasp the product and the tray to the tray transfer station and transfer the empty tray to the empty tray position of the feeding station, the second transfer manipulator is used to transfer the product on the tray transfer station to the verticality detection station, and the third transfer manipulator is used to transfer the product on the verticality detection station to the screening area of the unloading station.

[0010] Preferably, the verticality detection station is provided with a quarter rotation platform, and four product detection carriers for placing products are arranged at intervals on the quarter rotation platform, and a detection upper position, a lateral verticality detection position, and a detection lower position are sequentially arranged on the quarter rotation platform according to the positions of the product detection carriers, and a lateral visual detection assembly is further installed at the lateral verticality detection position.

[0011] Preferably, the lateral visual detection assembly includes a detection horizontal drive mechanism, a camera mounting plate, a lateral detection camera, a mounting bracket, and a light supplement assembly, the detection horizontal drive mechanism is installed on the machine table, the camera mounting plate is installed at the output end of the detection horizontal drive mechanism, two lateral detection cameras are arranged at intervals on the camera mounting plate, the mounting bracket is fixedly installed on the camera mounting plate, and the light supplement assembly is installed on the mounting bracket, the product detection carrier is arranged between the light supplement assembly and the lateral detection camera, the lens of the lateral detection camera is directed to the side surface position of the product on the product detection carrier, and the moving direction of the camera mounting plate is parallel to the product arrangement direction of the product detection carrier.

[0012] Preferably, the product detection carrier includes a carrier main body, a carrier rotation drive mechanism, a pulley assembly, and a product mounting seat, the carrier main body is fixedly installed on the quarter rotation platform, a plurality of product mounting seats are uniformly and evenly arranged in a row on the carrier main body, a fixed clamping position for placing the product is arranged at the upper end of the product mounting seat, the product mounting seat is rotationally installed on the carrier main body, and the carrier rotation drive mechanism is vertically installed on the carrier main body, and the output end of the carrier rotation drive mechanism is drivingly connected to the product mounting seat through the pulley assembly.

[0013] Preferably, the unloading station is further provided with a second tray feeding position on one side, and the empty trays are stacked on the second tray feeding position, and the empty trays are transferred to the screening area of the unloading station by the third transfer manipulator.

[0014] Preferably, the screening area of the discharging station comprises a good product discharging position and a defective product discharging position, and the main control system controls the third carrying manipulator to respectively grab the products to the good product discharging position or the defective product discharging position for screening and discharging according to the detection result.

[0015] Preferably, the third carrying manipulator comprises a multi-axis manipulator body, a fixed connecting plate, a variable-distance driving assembly, a product grabbing assembly, a linkage assembly and a tray grabbing assembly, the multi-axis manipulator body is installed on the machine table, the fixed connecting plate is installed at the output end of the multi-axis manipulator body, the product grabbing assembly, the variable-distance driving assembly and the tray grabbing assembly are installed on the fixed connecting plate, the product grabbing assemblies are movably installed on the fixed connecting plate, the product grabbing assemblies are connected through the linkage assembly, and the variable-distance driving assembly is drivingly connected with the product grabbing assemblies.

[0016] A detection method of a bar shaft verticality detection machine, comprising the following steps:

[0017] S1, product and tray loading, the tray with products is stacked and placed at the full tray position of the loading station, the lifting table provided on the loading station is raised, and the carrying manipulator assembly is waiting for grabbing and loading;

[0018] S2, tray transfer, the carrying manipulator assembly transfers the tray to the tray position on the tray transfer track in the tray transfer station;

[0019] S3, product loading to the verticality detection station, the carrying manipulator assembly transfers the products from the tray position to the detection loading position on the product detection carrier in the verticality detection station, after the products on the tray are grabbed and emptied, the empty tray is carried by the carrying manipulator assembly to the empty tray position of the loading station for recycling;

[0020] S4, product verticality detection, the four-equal-division rotating platform of the verticality detection station rotates to sequentially pass the products through the detection loading position, the lateral verticality detection position and the detection discharging position, the lateral vision detection assembly provided on the lateral verticality detection position detects the verticality of the products and sends the verticality information of the products to the main control system;

[0021] S5, product discharging, the carrying manipulator assembly grabs the empty tray at the second tray loading position on the machine table to the discharging station for placement, the four-equal-division rotating platform rotates to rotate the products to the detection discharging position, and the main control system controls the carrying manipulator assembly to grab the detected products to the good product discharging position or the defective product discharging position of the discharging station for screening and discharging.

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

[0023] The present application can automatically carry products, detect the verticality defects of the side of the products, intelligently control through the master control system, more comprehensive measurement data, and higher data precision.

[0024] The present application is provided with a tray transfer station, which can conveniently grasp the products on the tray transfer station according to the specified quantity through the transfer manipulator assembly, and simultaneously transfer and arrange the products on the product detection carrier of the verticality detection station, has higher applicability, and can also be provided with multiple transfer tracks, which can simultaneously detect multiple products, and has higher production efficiency.

[0025] The present application is provided with a verticality detection station, the quartered rotating platform drives the product to rotate, and then controls the two groups of lateral detection cameras to move along the horizontal direction to sequentially detect the product on the product detection carrier, the product detection carrier is provided with a carrier rotating driving mechanism for driving the product to rotate, which can drive the product to rotate to display different outer sides, conveniently detect the verticality of the product through the lateral detection camera shooting the side surface at different angles, has more comprehensive detection results, and has better detection effect.

[0026] The present application is provided with a verticality detection station, the quartered rotating platform drives the product to rotate, and then controls the two groups of lateral detection cameras to move along the horizontal direction to sequentially detect the product on the product detection carrier, the product detection carrier is provided with a carrier rotating driving mechanism for driving the product to rotate, which can drive the product to rotate to display different outer sides, conveniently detect the verticality of the product through the lateral detection camera shooting the side surface at different angles, has more comprehensive detection results, and has better detection effect. BRIEF DESCRIPTION OF DRAWINGS

[0027] Figure 1 is a three-dimensional structure schematic diagram of the equipment of the present application;

[0028] Figure 2 is a top view schematic diagram of the equipment of the present application;

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

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

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

[0032] Figure 6 is a third transfer manipulator top view structure schematic diagram of the present application;

[0033] Figure 7 is a tray grasping assembly schematic diagram of the third transfer manipulator of the present application;

[0034] Figure 8 is a variable-distance driving assembly structure schematic diagram of the third transfer manipulator of the present application;

[0035] Figure 9is a schematic view of the side structure of the variable distance driving assembly of the third carrying manipulator of the present application;

[0036] Figure 10 is a schematic view of the linkage assembly structure of the variable distance driving assembly of the third carrying manipulator of the present application;

[0037] Figure 11 is a schematic view of the detection method steps of the present application;

[0038] BRIEF DESCRIPTION OF DRAWINGS: machine table 1, feeding station 2, full tray position 21, empty tray position 22, tray transfer station 3, transfer track 31, tray placement clamping position 32, perpendicularity detection station 4, four-equal-division rotating platform 41, product detection carrier 42, carrier main body 421, carrier rotating driving mechanism 422, pulley assembly 423, product mounting seat 424, lateral vision detection assembly 43, detection horizontal driving mechanism 431, camera mounting plate 432, lateral detection camera 433, mounting bracket 434, light supplement assembly 435, unloading station 5, good product unloading position 51, defective product unloading position 52, carrying manipulator assembly 6, first carrying manipulator 61, second carrying manipulator 62, third carrying manipulator 63, multi-axis manipulator main body 631, fixed connecting plate 632, horizontal sliding rail assembly 6321, variable distance driving assembly 633, variable distance driving cylinder 6331, connecting block 6332, mounting sliding block 6333, grabbing assembly mounting plate 6334, first vertical sliding rail 63341, first vertical driving assembly 63342, product grabbing assembly 634, first vacuum suction nozzle assembly 6341, suction nozzle mounting seat 6342, linkage assembly 635, fixed end 6351, moving end 6352, connecting strip 6353, movable through slot 6354, tray grabbing assembly 636, second tray feeding position 7. DETAILED DESCRIPTION

[0039] The specific content of the present application will be described in detail below in combination with the drawings and examples.

[0040] Please refer to Figures 1-4As shown, the present application provides a bar shaft perpendicularity detection machine, which comprises a machine table 1, the machine table 1 is respectively provided with a feeding station 2, a tray transfer station 3, a perpendicularity detection station 4 and a discharging station 5, and the machine table 1 is further provided with a carrying manipulator assembly 6 for carrying trays and products, the carrying manipulator assembly 6 is used for carrying trays and products to pass through the feeding station 2, the tray transfer station 3, the perpendicularity detection station 4 and the discharging station 5 in turn, the feeding station 2 is stacked with trays on which products are placed, the tray transfer station 3 is provided with a transfer track 31, the transfer track 31 is provided with a tray placing stop 32 for placing trays, one side of the tray transfer station 3 is provided with the perpendicularity detection station 4, the perpendicularity detection station 4 is provided with a lateral vision detection assembly 43 for detecting the perpendicularity of products, and the discharging station 5 is provided with a screening area for screening and discharging products.

[0041] Further, in order to realize the transfer function of the carrying manipulator assembly 6, the carrying manipulator assembly 6 comprises a first carrying manipulator 61, a second carrying manipulator 62 and a third carrying manipulator 63, the first carrying manipulator 61 is used for grabbing products and trays to the tray transfer station 3 and transferring empty trays to the empty tray position 22 of the feeding station 2, the second carrying manipulator 62 is used for transferring products on the tray transfer station 3 to the perpendicularity detection station 4, and the third carrying manipulator 63 is used for carrying products on the perpendicularity detection station 4 to the screening area of the discharging station 5.

[0042] Further, the feeding station 2 is provided with a full tray position 21 and an empty tray position 22, the full tray position 21 is stacked with full trays, and the empty tray position 22 is used for recycling empty trays on the tray transfer station 3, and the carrying manipulator assembly 6 is used for transferring empty trays on the tray transfer station 3 to the empty tray position 22. In use, the first carrying manipulator 61 first carries trays at the full tray position 21 to the tray transfer station 3, the second carrying manipulator 62 transfers products on the tray transfer station 3 to the perpendicularity detection station 4, after the products are transferred, the first carrying manipulator 61 transfers empty trays to the empty tray position 22 of the feeding station 2 for stacking.

[0043] Further, in order to obtain better product transfer efficiency, the tray transfer station 3 is provided with two parallel transfer tracks 31, the transfer tracks 31 are slidingly installed with tray placing stops 32 for placing trays, the transfer tracks 31 are provided with a transfer horizontal driving mechanism, the transfer horizontal driving mechanism is used for driving the tray placing stops 32 to move in the horizontal direction, and the transfer horizontal driving mechanism is controlled to operate by a master control system.

[0044] Further, the verticality detection station 4 is provided with a quarter rotation platform 41, and four product detection carriers 42 for placing products are arranged at intervals on the quarter rotation platform 41. The quarter rotation platform 41 is sequentially provided with a detection upper loading position, a lateral verticality detection position and a detection lower loading position according to the positions of the product detection carriers 42. The lateral visual detection assembly 43 is also installed at the lateral verticality detection position.

[0045] Further, in order to detect the verticality of the products, the lateral visual detection assembly 43 comprises a detection horizontal driving mechanism 431, a camera mounting plate 432, lateral detection cameras 433, a mounting bracket 434 and a light supplement assembly 435. The detection horizontal driving mechanism 431 is installed on the machine table 1, and the camera mounting plate 432 is installed at the output end of the detection horizontal driving mechanism 431. Two lateral detection cameras 433 are arranged at intervals on the camera mounting plate 432. The mounting bracket 434 is fixedly installed on the camera mounting plate 432, and the light supplement assembly 435 is installed on the mounting bracket 434. The product detection carrier 42 is arranged between the light supplement assembly 435 and the lateral detection cameras 433, and the lenses of the lateral detection cameras 433 face the side surface positions of the products on the product detection carrier 42. The moving direction of the camera mounting plate 432 is parallel to the product arrangement direction of the product detection carrier 42. The lateral detection cameras 433 collect side surface data of the products and send the data to the main control system. In order to obtain higher detection efficiency, two groups of cameras are used to detect the products at the same time. In a specific embodiment, twelve product mounting seats 424 arranged in a row are arranged on the product detection carrier 42. The detection horizontal driving mechanism 431 drives the two groups of lateral detection cameras 433 to translate six times to detect the twelve products, and the detection efficiency is higher.

[0046] Further, the product detection carrier 42 comprises a carrier main body 421, a carrier rotation driving mechanism 422, a belt pulley assembly 423 and product mounting seats 424. The carrier main body 421 is fixedly installed on the quarter rotation platform 41. A plurality of product mounting seats 424 are uniformly and interval arranged in a row on the carrier main body 421. Fixed clamping positions for placing products are arranged at the upper ends of the product mounting seats 424. The product mounting seats 424 are rotationally installed on the carrier main body 421. The carrier rotation driving mechanism 422 is vertically installed on the carrier main body 421. The output end of the carrier rotation driving mechanism 422 is drivingly connected to the product mounting seats 424 through the belt pulley assembly 423.

[0047] When the lateral detection cameras 433 collect data by shooting the products, the carrier rotation driving mechanism 422 is controlled by the main control system to drive the belt pulley assembly 423 to rotate, thereby driving the product mounting seats 424 to synchronously rotate, so that the products can display different outer side surfaces, the detection result is more comprehensive, and the intelligent degree is higher.

[0048] The number of the grabbing heads of the second carrying manipulator 62 is set according to the number of the product mounting seats 424 of the product detection carrier 42 of the verticality detection station 4. In an embodiment, the product detection carrier 42 is provided with 12 product mounting seats 424 arranged in a row, and the second carrying manipulator 62 can simultaneously carry 12 products to the product mounting seats 424 for placement.

[0049] Further, in order to load the trays at the unloading station 5, the unloading station 5 is further provided with a second tray loading station 7 on one side, and the empty trays are stacked at the second tray loading station 7 and transferred to the screening area of the unloading station 5 by the third carrying manipulator 63. The second tray loading station 7 is stacked with another type of tray different from the tray of the loading station 2, which facilitates the placement of a large number of products and subsequent production and processing.

[0050] Further, the screening area of the unloading station 5 includes a good product unloading station 51 and a defective product unloading station 5251, and the main control system controls the third carrying manipulator 63 to grab the products to the good product unloading station 51 or the defective product unloading station 5251 for screening and unloading according to the detection results.

[0051] Further, in order to realize automatic distance adjustment of the third carrying manipulator 63 when grabbing the products, facilitate tray placement to different specifications of trays, and increase production efficiency, the third carrying manipulator 63 includes a multi-axis manipulator main body 631, a fixed connecting plate 632, a distance adjustment driving assembly 633, a product grabbing assembly 634, a linkage assembly 635, and a tray grabbing assembly 636. The multi-axis manipulator main body 631 is installed on the machine table 1, the fixed connecting plate 632 is installed at the output end of the multi-axis manipulator main body 631, the product grabbing assembly 634, the distance adjustment driving assembly 633, and the tray grabbing assembly 636 are installed on the fixed connecting plate 632, the product grabbing assemblies 634 are movably installed on the fixed connecting plate 632 and connected through the linkage assembly 635, and the distance adjustment driving assembly 633 is drivingly connected with the product grabbing assembly 634.

[0052] The multi-axis manipulator main body 631 can grab a large range of products, the product grabbing assembly 634 for grabbing products is connected to the output end of the multi-axis manipulator main body 631, the distance between the product grabbing assemblies 634 is controlled through the distance adjustment driving assembly 633, the product grabbing mechanisms can be brought close to or away from each other through the distance adjustment driving cylinder 6331, and the distance adjustment assembly of the grabbing mechanism controls and adjusts the distance of the grabbed products. The automatic distance adjustment of the tray placement realizes higher intelligent automation, saves labor, and has lower cost.

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

[0054] The horizontal sliding rail assembly 6321 includes an upper horizontal sliding rail and a lower horizontal sliding rail, the upper horizontal sliding rail is arranged at the upper side of the fixed connecting plate 632, and the lower horizontal sliding rail is arranged at the lower side of the fixed connecting plate 632. The back of the mounting sliding block 6333 is slidably connected with the upper horizontal sliding rail and the lower horizontal sliding rail respectively.

[0055] The linkage assembly 635 includes a fixed end 6351, a moving end 6352 and a connecting strip 6353, the outer side of the mounting sliding block 6333 is recessed to form a mounting recess, the mounting recesses of adjacent mounting sliding blocks 6333 are communicatively arranged, and the mounting recesses of adjacent mounting sliding blocks 6333 are respectively provided with a fixed end 6351 and a moving end 6352, the fixed end 6351 and the moving end 6352 are connected through the connecting strip 6353, the connecting strip 6353 is provided with a movable slot 6354, and the moving end 6352 is horizontally movably arranged along the movable slot 6354.

[0056] In order to be able to control the product to be placed separately, the grabbing assembly mounting plate 6334 is provided with a first vertical sliding rail 63341 and a first vertical driving assembly 63342, the product grabbing assembly 634 includes a first vacuum nozzle assembly 6341 and a nozzle mounting seat 6342, the nozzle mounting seat 6342 is slidably installed on the first vertical sliding rail 63341, the first vacuum nozzle assembly 6341 for sucking the product is installed at the lower end of the nozzle mounting seat 6342, and the upper end of the nozzle mounting seat 6342 is drivingly connected with the first vertical driving assembly 63342.

[0057] A detection method of a bar shaft verticality detection machine, comprising the following steps:

[0058] S1, product and tray feeding, the tray with products is stacked and placed at the full tray position 21 of the feeding station 2, the lifting table provided on the feeding station 2 is lifted, and the carrying manipulator assembly 6 is waiting for grabbing;

[0059] S2, the tray transfer, the carrying manipulator assembly 6 grabs the tray and transfers it to the tray transfer station 3 on the tray position on the track 31;

[0060] S3, the product is loaded to the verticality detection station 4, the carrying manipulator assembly 6 grabs the product from the tray position and transfers it to the detection loading position on the product detection carrier 42 of the verticality detection station 4, and after the product on the tray is grabbed and emptied, the empty tray is carried by the carrying manipulator assembly 6 to the empty tray position 22 of the loading station 2 for recycling;

[0061] S4, product verticality detection, the four-equal-division rotating platform 41 of the verticality detection station 4 rotates to sequentially pass the product through the detection loading position, the lateral verticality detection position and the detection unloading position, the lateral vision detection assembly 43 arranged 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 carrying manipulator assembly 6 grabs the empty tray at the second tray loading position 7 of the machine table 1 to the unloading station 5 for placement, the four-equal-division rotating platform 41 rotates the product to the detection unloading position, and the main control system controls the carrying manipulator assembly 6 to grab the detected product to the good product unloading position 51 or the defective product unloading position 5251 of the unloading station 5 for screening and unloading.

[0063] The present application can automatically carry the product, detect the defective verticality of the side of the product, intelligently control through the main control system, measure more comprehensive data, and obtain higher precision data.

[0064] The present application is provided with the tray transfer station 3, which can conveniently grab the product on the tray transfer station 3 according to the specified quantity through the carrying manipulator assembly 6 and simultaneously transfer and arrange the product on the product detection carrier 42 of the verticality detection station 4, has stronger applicability, can be provided with multiple transfer tracks 31, can simultaneously detect multiple products, and has higher production efficiency.

[0065] The present application is provided with the verticality detection station 4, the four-equal-division rotating platform 41 drives the product to rotate, and then controls the two groups of lateral detection cameras 433 to move along the horizontal direction to sequentially detect the product on the product detection carrier 42, the product detection carrier 42 is provided with a carrier rotating driving mechanism 422 for driving the product to rotate, which can drive the product to rotate to display different outer sides, conveniently take pictures of the lateral sides of the product at different angles through the lateral detection cameras 433 for verticality detection, the detection result is more comprehensive, and the detection effect is better.

[0066] And the application is provided with a good product unloading position 51 or an unqualified product unloading position 5251 at the unloading station 5, and the main control system controls the carrying manipulator assembly 6 to respectively grab the products to the good product unloading position 51 or the unqualified product unloading position 5251 for screening and unloading, and the intelligent degree is higher.

[0067] Finally, it should be pointed out that the above embodiments are only used to illustrate the technical solutions of the present application and are not limiting. Although the present application has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that the technical solutions of the present application can be modified or replaced equivalently without departing from the purpose and scope of the technical solutions of the present application, and they should all be included in the scope of the claims of the present application.

[0068] The standard parts used in the present application can be purchased from the market, and the special-shaped parts can be ordered according to the description and the drawings, the specific connection mode of each part adopts the conventional means such as bolts, rivets and welding in the prior art, the mechanical parts and equipment adopt the conventional types in the prior art, and the circuit connection adopts the conventional connection mode in the prior art, which will not be described in detail here.

[0069] In the description of the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connecting", "fixing" should be understood in a broad sense, for example, can be fixedly connected, or can be detachably connected, or can be integrated; can be mechanically connected, or can be electrically connected; can be directly connected, or can be connected through an intermediate medium; can be the communication inside two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

Claims

1. A bar center verticality detecting machine, characterized by, The utility model provides a verticality detection device and verticality detection method for product, including platform, platform is provided with loading station, tray transfer station, verticality detection station and unloading station respectively, still be provided with the handling manipulator assembly of handling tray and product on the platform, handling manipulator assembly is used for handling tray and product to pass through loading station, tray transfer station, verticality detection station and unloading station in turn, the tray of placing product is stacked and is provided with in loading station, is provided with transfer track in tray transfer station, is provided with tray placement detent for placing tray on transfer track, one side of tray transfer station is provided with verticality detection station, and verticality detection station is provided with lateral vision detection component for carrying out verticality detection to product, is provided with screening area for screening and unloading product in unloading station, The verticality detection station is provided with a quarter rotation platform, four product detection carriers for placing products are arranged on the quarter rotation platform, and a detection upper loading position, a lateral verticality detection position and a detection lower unloading position are sequentially arranged on the quarter rotation platform according to the positions of the product detection carriers, and the lateral vision detection component is also installed at the lateral verticality detection position. The lateral vision detection component includes a detection horizontal driving mechanism, a camera mounting plate, lateral detection cameras, a mounting bracket and a light supplementing component, the detection horizontal driving mechanism is installed on the platform, the camera mounting plate is installed at the output end of the detection horizontal driving mechanism, two lateral detection cameras are arranged at intervals on the camera mounting plate, the mounting bracket is fixedly installed on the camera mounting plate, and the light supplementing component is installed on the mounting bracket, the product detection carrier is arranged between the light supplementing component and the lateral detection cameras, the lens of the lateral detection camera is directed to the side surface position of the product on the product detection carrier, and the movement direction of the camera mounting plate is parallel to the product arrangement direction of the product detection carrier. The product detection carrier includes a carrier main body, a carrier rotation driving mechanism, a belt pulley assembly and a product mounting seat, the carrier main body is fixedly installed on the quarter rotation platform, a plurality of product mounting seats are uniformly and intervally arranged in a row on the carrier main body, a fixed clamping position for placing products is arranged at the upper end of the product mounting seat, the product mounting seat is rotationally installed on the carrier main body, and the carrier rotation driving mechanism is vertically installed on the carrier main body, and the output end of the carrier rotation driving mechanism is drivingly connected to the product mounting seat through the belt pulley assembly.

2. The bar center verticality detecting machine according to claim 1, wherein The loading station is provided with a full tray position and an empty tray position, the full tray position is stacked with full product trays, and the empty tray position is used for recycling the empty trays on the tray transfer station.

3. The bar center verticality detecting machine according to claim 1, wherein The handling manipulator assembly includes a first handling manipulator, a second handling manipulator and a third handling manipulator, the first handling manipulator is used for grabbing products and trays to the tray transfer station and transferring empty trays to the empty tray position of the loading station, the second handling manipulator is used for transferring the products on the tray transfer station to the verticality detection station, and the third handling manipulator is used for carrying the products on the verticality detection station to the screening area of the unloading station.

4. The bar center verticality detecting machine according to claim 3, wherein The blanking station side is further provided with a second tray loading station, and empty trays are stacked at the second tray loading station. The empty trays are transferred to the screening area of the blanking station by a third transfer robot.

5. The bar center verticality detecting machine according to claim 4, wherein The screening area of the blanking station includes a good product blanking station and a defective product blanking station. The main control system controls the third transfer robot to grasp the products to the good product blanking station or the defective product blanking station for screening and blanking according to the detection results.

6. The bar center verticality detecting machine according to claim 3, wherein The third transfer robot includes a multi-axis robot main body, a fixed connection plate, a variable distance driving assembly, a product grasping assembly, a linkage assembly, and a tray grasping assembly. The multi-axis robot main body is installed on the machine table. The fixed connection plate is installed at the output end of the multi-axis robot main body. The product grasping assembly, the variable distance driving assembly, and the tray grasping assembly are installed on the fixed connection plate. The product grasping assemblies are movably installed on the fixed connection plate and are connected by the linkage assembly. The variable distance driving assembly is drivingly connected with the product grasping assembly.

7. A method of detecting the axial perpendicularity of a bar according to any one of claims 1 to 6, characterized in that, The method comprises the following steps: S1, product and tray loading, stacking the tray with products at the full tray position of the loading station. The lifting platform of the loading station is raised, and the transfer robot assembly is waiting for grasping and loading; S2, tray transfer, the transfer robot assembly grasps the tray and transfers it to the tray transfer station and places it in the tray placement clamping position on the track; S3, product loading to the perpendicularity detection station, the transfer robot assembly grasps the product from the tray placement clamping position and transfers it to the product detection carrier at the detection loading position of the perpendicularity detection station. After the product on the tray is grasped and emptied, the transfer robot assembly transfers the empty tray to the empty tray position of the loading station for recycling; S4, product perpendicularity detection, the four-equal-division rotating platform of the perpendicularity detection station rotates to sequentially pass the product through the detection loading position, the lateral perpendicularity detection position, and the detection unloading position. The lateral vision detection assembly at the lateral perpendicularity detection position detects the product perpendicularity and sends the product perpendicularity information to the main control system; S5, product unloading, the transfer robot assembly grasps the empty tray at the second tray loading position of the machine table and places it at the blanking station. The four-equal-division rotating platform rotates to rotate the product to the detection unloading position. The main control system controls the transfer robot assembly to grasp the detected product to the good product blanking station or the defective product blanking station of the blanking station for screening and blanking.

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