Buoy detection method and detection equipment thereof

Abstract

The invention belongs to the technical field of detection equipment, and discloses a buoy detection method and detection equipment thereof.The buoy detection method comprises the steps that after a buoy is clamped and fixed, a test rod extends into a center hole of the buoy, the inner wall of the center hole of the buoy is detected, the buoy with the inner wall detected is rotated, and the peripheral face of the buoy is scanned when the buoy rotates; the outer wall of the buoy is detected, one end face of the buoy with the detected outer wall is scanned, the buoy is turned over, and the other end face of the buoy is scanned. According to the buoy detection method, the inner wall, the peripheral surface and the two end surfaces of the center hole of the buoy can be detected in sequence according to the detection steps, the buoy detection process can be standardized, the buoy can be detected in all directions, the detection efficiency is improved, the risks of wrong detection and missing detection during buoy detection are reduced, and the detection accuracy is improved. And the detection result of the assembled float-type liquid level sensor is more accurate.

Description

Technical Field

[0001] The present invention relates to the technical field of detection equipment, and particularly relates to a method for detecting a float and a detection device therefor. Background Art

[0002] In the SCR system (Selective Catalytic Reduction technology), the SCR urea tank sensor is one of the essential components. The urea tank sensor has the functions of detecting the urea concentration, liquid level and temperature in the urea tank, and also has the ability to thaw frozen urea. The urea tank sensor usually consists of components such as a plastic head, a heating component, a float-type liquid level sensor, and a urea pipe. Among them, the float-type liquid level sensor includes a vertical guide rod and a float movably sleeved on the vertical guide rod, and the purpose of detecting the liquid level height is achieved by the up and down floating of the float in the urea. Before the float-type liquid level is assembled, it is necessary to detect the flatness of the peripheral surface, end surface and inner wall of the central hole of the float to ensure that the float can move smoothly along the vertical guide rod as the liquid level changes. However, most of the existing float detections are carried out manually. When manually detecting the float, the detection process is not standardized, the detection efficiency is low, and the manual detection is prone to be carried out according to the personal detection habits, and there are easily missed detections and misdetections of detection items during the float detection, resulting in inaccurate detection results of the assembled float-type liquid level sensor.

[0003] Therefore, there is an urgent need for a method for detecting a float and a detection device therefor to solve the above technical problems. Summary of the Invention

[0004] The first object of the present invention is to provide a method for detecting a float, which can comprehensively detect the inner wall, peripheral surface and end surface of the float, and solve the problems that in manual detection, the detection process is not standardized, the manual detection is prone to be carried out according to the personal habits, resulting in low detection efficiency, and there are easily missed detections and misdetections of detection items during the float detection, leading to inaccurate detection results of the assembled float-type liquid level sensor.

[0005] To achieve this purpose, the present invention adopts the following technical solutions:

[0006] Step 1: After clamping and fixing the float, insert a test rod into the central hole of the float to detect the inner wall of the central hole of the float;

[0007] Step 2: Rotate the float that has completed the inner wall detection, and scan the outer peripheral surface of the float while the float is rotating to detect the outer wall of the float;

[0008] Step 3: Scan one end surface of the float that has completed the outer wall detection, turn the float over, and scan the other end surface of the float.

[0009] As a preferred technical solution of the buoy detection method, between the step 1 and the step 2, there is also a step 10: putting the buoy with unqualified inner wall detection into the first recycling bin;

[0010] Between the step 2 and the step 3, there is also a step 20: putting the buoy with unqualified outer wall detection into the second recycling bin.

[0011] The second object of the present invention is to provide a buoy detection device. To achieve this object, the present invention adopts the following technical solutions:

[0012] A buoy detection device includes:

[0013] An inner wall detection mechanism, the inner wall detection mechanism includes a test rod;

[0014] An outer wall detection mechanism, the outer wall detection mechanism includes a rotating member and a first scanning member;

[0015] An end face detection mechanism, the end face detection mechanism includes a clamping and flipping assembly and a second scanning member;

[0016] An auxiliary detection mechanism, the auxiliary detection mechanism includes a transfer mechanism;

[0017] After the buoy is transported to the inner wall detection mechanism by the transfer mechanism and the inner wall detection is completed by the test rod passing through the central hole of the buoy, it is transported to the outer wall detection mechanism and the rotating member rotates the buoy, and after the first scanning member completes the outer wall scanning of the buoy, it is transported to the end face detection mechanism and the clamping and flipping assembly clamps and flips the buoy by 180°, and the second scanning member completes the scanning of the two end faces of the buoy.

[0018] As a preferred technical solution of the buoy detection device, the buoy detection device further includes a vibration mechanism, a feeding mechanism and a flipping mechanism. The buoy is placed on the vibration mechanism, and the vibration mechanism is used to adjust the buoy to a horizontal state and transport the buoy to the feeding mechanism. The feeding mechanism is placed between the vibration mechanism and the flipping mechanism, and the feeding mechanism is used to convey the horizontally placed buoy to the flipping mechanism. The flipping mechanism is used to flip the buoy, and the transfer mechanism can transport the buoy located on the flipping mechanism to the inner wall detection mechanism.

[0019] As a preferred technical solution of the buoy detection device, the buoy detection device further includes a frame. The vibration mechanism is disposed on one side of the frame. The feeding mechanism, the flipping mechanism, the transfer mechanism, the inner wall detection mechanism, the outer wall detection mechanism, and the end face detection mechanism are all disposed on the frame. The feeding mechanism, the inner wall detection mechanism, the outer wall detection mechanism, and the end face detection mechanism are arranged at intervals along a first direction. The flipping mechanism is disposed at the discharge end of the feeding mechanism. The rotating mechanism is opposite to the inner wall detection mechanism, the outer wall detection mechanism, and the end face detection mechanism.

[0020] As a preferred technical solution of the buoy detection device, the feeding mechanism includes a conveyor belt assembly and two side baffles. The conveyor belt assembly is attached to the discharge port of the vibration mechanism and is used to convey the buoy. The two side baffles are respectively disposed on both sides of the conveyor belt assembly.

[0021] The flipping mechanism includes a first lifting member, a flipping member, and an inserting member. The first lifting member is drivingly connected to the flipping member. The inserting member includes a main body and an output end. The main body is connected to the flipping member. The flipping member can drive the inserting member to flip, so that the output end selectively faces the buoy in the feeding mechanism, and the output end can be inserted into the central hole of the buoy.

[0022] As a preferred technical solution of the buoy detection device, the transfer mechanism includes a first driving member, a first placement plate, a second driving member, a second placement plate, a connecting cross beam, a plurality of clamping jaws, and a third driving member. The first placement plate is opposite to the outer wall detection mechanism. The first driving member is drivingly connected to the first placement plate and is used to drive the first placement plate to reciprocate along a second direction. The second direction is perpendicular to the first direction. The second placement plate is disposed on the first placement plate. The second driving member is disposed on the second placement plate. The second driving member is drivingly connected to the connecting cross beam. The second driving member is used to drive the connecting cross beam to reciprocate along the first direction. The plurality of clamping jaws are disposed on the connecting cross beam at intervals. The third driving member is vertically disposed and is drivingly connected to the second placement plate.

[0023] As a preferred technical solution of the buoy detection device, the inner wall detection mechanism further includes a first placement member, a clamping member, and a second lifting member. The transfer mechanism can transfer the buoy to the first placement member. The clamping member can selectively clamp the buoy. The first placement member is located below the test rod and can drive the buoy to rotate. The second lifting member is drivingly connected to the test rod.

[0024] As a preferred technical solution of the buoy detection device, the rotating member and the first scanning member are oppositely arranged. The transfer mechanism can transfer the buoy of the inner wall detection mechanism to the rotating member. The rotating member can selectively fix the buoy and drive the buoy to rotate. The first scanning member includes a pushing member and a first scanning camera. The pushing member is drivingly connected to the first scanning camera, and the pushing member can move the first scanning camera closer to or farther away from the rotating member.

[0025] As a preferred technical solution of the buoy detection device, the end face detection mechanism further includes a second placement member for placing the buoy. The clamping and flipping assembly includes a fixture and a rotating wheel member. The rotating wheel member includes a rotating wheel. The fixture is connected to the rotating wheel. The fixture can clamp the buoy from the second placement member. The second scanning member includes a third lifting member and a second scanning camera. The third lifting member can drive the second scanning camera to move along a third direction, and the second scanning camera can rotate relative to the third lifting member. The second scanning camera faces the end face of the buoy.

[0026] Compared with the prior art, the advantages of the buoy detection method provided by the present invention are as follows:

[0027] The buoy detection method provided by the present invention can sequentially detect the inner wall of the central hole, the outer peripheral surface and the two end faces of the buoy according to the detection steps, standardize the process of buoy detection, and conduct a comprehensive detection of the buoy, which not only greatly improves the efficiency of buoy detection, but also reduces the risk of missing detection items and misdetection during buoy detection, making the detection result of the assembled buoy type liquid level sensor more accurate.

[0028] Compared with the prior art, the technical advantages of the buoy detection device provided by the present invention are as follows:

[0029] The buoy detection device provided by the present invention transports the buoy to the inner wall detection mechanism through a transfer mechanism. The test rod in the inner wall detection mechanism penetrates into the central hole of the buoy to complete the flatness detection of the inner wall plane of the central hole of the buoy. Subsequently, the transfer mechanism transports the buoy that has completed the inner wall detection mechanism to the outer wall detection mechanism and specifically places it on the rotating part of the outer wall detection mechanism. The rotating part drives the buoy to rotate, and the first scanning part is opposite to the rotating part. The first scanning part scans the outer peripheral surface of the buoy to detect the flatness of the outer peripheral surface of the buoy. Subsequently, the transfer mechanism transports the buoy from the outer wall detection mechanism to the end face detection mechanism and specifically places it on the clamping and flipping mechanism. The clamping and flipping mechanism clamps and fixes the buoy, and the second scanning part scans the buoy and its opposite end face. When the second scanning part completes the scanning, the clamping and flipping mechanism will drive the buoy to perform a 180° flip so that the other end face of the buoy is opposite to the second scanning part, thereby enabling the second scanning part to scan the two end faces of the buoy. The entire detection process is fully automated and does not require manual participation, enabling comprehensive detection of the inner wall, peripheral surface, and end face of the central hole of the buoy. While greatly improving the detection efficiency of the buoy, it solves the problem that existing manual detection is prone to missing or misdetecting detection items, resulting in inaccurate detection results of the assembled buoy type liquid level sensor. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 is a schematic flow chart of the buoy detection method provided by the present invention;

[0031] Figure 2 is a schematic structural diagram of the buoy detection device provided by the present invention;

[0032] Figure 3 is a schematic structural diagram of the feeding mechanism and flipping mechanism of the buoy detection device provided by the present invention;

[0033] Figure 4 is a schematic structural diagram of the transfer mechanism of the buoy detection device provided by the present invention;

[0034] Figure 5 is a schematic structural diagram of some components of the inner wall detection mechanism of the buoy detection device provided by the present invention;

[0035] Figure 6 is a schematic structural diagram of the clamping part in the buoy detection device provided by the present invention;

[0036] Figure 7 is a schematic structural diagram of the first scanning part in the buoy detection device provided by the present invention;

[0037] Figure 8 is a schematic structural diagram of the second scanning part in the buoy detection device provided by the present invention;

[0038] Figure 9It is a schematic structural diagram of the clamping and flipping assembly in the buoy detection device provided by the present invention.

[0039] In the figure:

[0040] 100, buoy;

[0041] 1, frame; 2, vibration mechanism;

[0042] 3, feeding mechanism; 31, conveyor belt assembly; 32, side baffle;

[0043] 4, flipping mechanism; 41, first lifting member; 42, flipping member; 43, insertion member;

[0044] 5, transfer mechanism; 51, first driving member; 52, first placement plate; 53, second driving member; 54, second placement plate; 55, connecting cross beam; 56, clamping jaw; 57, third driving member; 58, guiding member; 581, backing plate; 582, guiding column;

[0045] 6, inner wall detection mechanism; 61, first placement member; 62, clamping member; 621, first rotating part; 622, conveyor belt; 623, clamping part; 624, driving component; 63, second lifting member; 64, test rod;

[0046] 7, outer wall detection mechanism; 71, rotating member; 72, first scanning member; 721, pushing member; 722, first scanning camera;

[0047] 8, end face detection mechanism; 81, clamping and flipping assembly; 811, fixture; 812, rotating wheel member; 82, second scanning member; 821, third lifting member; 822, second scanning camera; 83, second placement member;

[0048] 9, first recycling bin; 10, second recycling bin; 11, third recycling bin; 12, placement table. Detailed implementation manners

[0049] The present invention will be further described in detail below with reference to the drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the present invention, rather than limiting the present invention. Additionally, it should be noted that for the convenience of description, only the parts related to the present invention are shown in the drawings, rather than all the structures.

[0050] In the description of the present invention, unless otherwise clearly defined and limited, the terms "connected", "connected to", and "fixed" shall be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral body; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two components or the interaction relationship between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0051] In the present invention, unless otherwise clearly defined and limited, the first feature being "above" or "below" the second feature may include the direct contact between the first and second features, or may include the situation where the first and second features are not in direct contact but in contact through other features between them. Moreover, the first feature being "above", "over", and "on top of" the second feature includes that the first feature is directly above and obliquely above the second feature, or simply means that the horizontal height of the first feature is higher than that of the second feature. The first feature being "below", "beneath", and "underneath" the second feature includes that the first feature is directly below and obliquely below the second feature, or simply means that the horizontal height of the first feature is lower than that of the second feature.

[0052] In the description of this embodiment, the orientation or positional relationships such as "above", "below", "right", etc. are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of description and simplifying the operation, rather than indicating or implying that the device or component referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present invention. In addition, the terms "first" and "second" are only used for distinction in description and have no special meaning.

[0053] Embodiment 1

[0054] As Figure 1 shown, this embodiment provides a buoy detection method for detecting a buoy, and the buoy detection method includes the following steps:

[0055] After clamping and fixing the buoy, insert the test rod into the central hole of the buoy to detect the inner wall of the central hole of the buoy. Among them, the test rod detects the flatness of the inner wall of the central hole of the buoy through the principle of waveform detection, and the detection result has high accuracy. After detecting the central hole of the buoy once, the buoy can be rotated and the inner wall of the central hole of the buoy can be detected again to further ensure the accuracy of the detection result. Regarding waveform detection, it is a commonly used technical solution in the detection field and does not belong to the key protection content of the present invention.

[0056] Rotate the buoy that has completed the inner wall inspection, and scan the outer peripheral surface of the buoy while it is rotating to inspect the outer wall of the buoy. Among them, use the first scanning camera to scan the outer peripheral surface of the buoy. The first scanning camera is located on one side of the buoy and faces the buoy. Rotating the buoy is to enable the first scanning camera to scan the outer peripheral surface of the buoy in all directions to ensure the accuracy of the outer wall inspection result.

[0057] Scan one end face of the buoy that has completed the outer wall inspection, flip the buoy, and scan the other end face of the buoy. Among them, use the second scanning camera to scan the end face of the buoy. The second scanning camera is located above the buoy and faces the buoy. When the second scanning camera completes the scan of one end face of the buoy, flip the buoy. At this time, the other end face of the buoy faces the second scanning camera, and the second scanning camera can then scan both end faces of the buoy to detect the flatness of the end faces of the buoy.

[0058] The buoy inspection method provided in this embodiment can sequentially inspect the inner wall of the central hole, the outer peripheral surface, and the two end faces of the buoy according to the inspection steps, standardize the buoy inspection process, and conduct a comprehensive inspection of the buoy. This not only greatly improves the inspection efficiency of the buoy but also reduces the risk of missing inspection items and misinspection during the buoy inspection, making the inspection result of the assembled buoy level sensor more accurate.

[0059] Preferably, between step 1 and step 2, there is also step 10: Put the buoy with unqualified inner wall inspection into the first recycling bin. When the inner wall of the central hole of the buoy is unqualified, it will not be subjected to outer wall inspection and end face inspection, but will be put into the first recycling bin for subsequent processing. In this way, not only are unqualified buoys screened out, but also subsequent inspection processes are avoided, improving the inspection efficiency of the buoy. Further, between step 2 and step 3, there is also step 20: Put the buoy with unqualified outer wall inspection into the second recycling bin. In this way, unqualified buoys can be distinguished, that is, buoys with unqualified inner wall inspection are put into the first recycling bin, and buoys with unqualified outer wall inspection are put into the second recycling bin, facilitating subsequent repair of unqualified buoys by the staff.

[0060] Embodiment 2

[0061] As Figure 2As shown in the figure, this embodiment provides a buoy detection device that can use the buoy detection method in Embodiment 1 to detect a buoy. The buoy detection device includes an inner wall detection mechanism 6, an outer wall detection mechanism 7, an end face detection mechanism 8, and an auxiliary detection mechanism. The auxiliary detection mechanism includes a transfer mechanism 5. The inner wall detection mechanism 6 includes a test rod 64 that can selectively extend into the central hole of the buoy 100. Subsequently, the inner wall detection mechanism 6 detects the flatness of the inner wall surface of the central hole of the buoy 100. The outer wall detection mechanism 7 includes a rotating member 71 and a first scanning member 72. The rotating member 71 can drive the buoy 100 to rotate, and the first scanning member 72 is used to scan the outer wall of the buoy 100 to scan the outer peripheral surface of the buoy 100 to determine the flatness of the outer wall of the buoy 100 and whether there are damages. The end face detection mechanism 8 includes a clamping and flipping assembly 81 that can clamp the buoy 100 and drive the buoy 100 to flip by 180°. The second scanning member 82 can scan the end face of the buoy 100. The transfer mechanism 5 is used to transfer the buoy 100.

[0062] For the buoy detection device provided in this embodiment, the buoy 100 is transferred to the inner wall detection mechanism 6 by the transfer mechanism 5. The test rod 64 in the inner wall detection mechanism 6 penetrates into the central hole of the buoy 100 to complete the detection of the flatness of the inner wall of the central hole of the buoy 100. Subsequently, the transfer mechanism 5 transfers the buoy 100 that has completed the inner wall detection mechanism 6 to the outer wall detection mechanism 7 and specifically places it on the rotating member 71 of the outer wall detection mechanism 7. The rotating member 71 drives the buoy 100 to rotate. The first scanning member 72 is opposite to the rotating member 71, and the first scanning member 72 scans the outer peripheral surface of the buoy 100 to detect the flatness of the outer peripheral surface of the buoy 100. Subsequently, the transfer mechanism 5 transfers the buoy 100 from the outer wall detection mechanism 7 to the end face detection mechanism 8 and specifically places it on the clamping and flipping assembly 81. The clamping and flipping assembly 81 clamps and fixes the buoy 100, and the second scanning member 82 scans the buoy 100 and its opposite end face. When the second scanning member 82 completes the scanning, the clamping and flipping assembly 81 will drive the buoy to flip by 180° so that the other end face of the buoy 100 is opposite to the second scanning member 82, thereby enabling the second scanning member 82 to scan the two end faces of the buoy 100. The entire detection process is fully automated and does not require manual participation, enabling a comprehensive detection of the inner wall, circumferential surface, and end face of the central hole of the buoy 100. While greatly improving the detection efficiency of the buoy 100, it solves the problem that existing manual detection is prone to missing and misdetecting detection items, resulting in inaccurate detection results of the assembled buoy type liquid level sensor.

[0063] In this embodiment, the buoy detection device further includes a vibration mechanism 2, a feeding mechanism 3, and a flipping mechanism 4. The buoy 100 is placed on the vibration mechanism 2, and the vibration mechanism 2 is used to adjust the buoy 100 to a horizontal state. Specifically, during the operation of the vibration mechanism 2, vibrations are generated, and the vertically placed buoy 100 is finally converted into a horizontal state under the action of the vibrations. The feeding mechanism 3 is disposed between the vibration mechanism 2 and the flipping mechanism 4, that is, the output end of the vibration mechanism 2 is docked with the feeding mechanism 3, and the buoy 100 conveyed from the vibration mechanism 2 will enter the feeding mechanism 3. The output end of the feeding mechanism 3 is docked with the flipping mechanism 4, and the horizontally placed buoy 100 will be conveyed to the flipping mechanism 4 through the feeding mechanism 3. The flipping mechanism 4 is used to flip the buoy 100, and the transfer mechanism 5 can transfer the buoy 100 located at the flipping mechanism 4 to the inner wall detection mechanism 6. When the flipping mechanism 4 flips the buoy 100, the placement angle of the buoy 100 is more convenient for the transfer mechanism 5 to pick it up. The settings of the vibration mechanism 2, the feeding mechanism 3, and the flipping mechanism 4 can further improve the automation degree of the buoy detection device. The staff only needs to place the buoy 100 into the vibration mechanism 2, and the remaining process can be automatically completed by the buoy detection device, thus further releasing the labor force and reducing the workload of the staff.

[0064] Exemplarily, the vibration mechanism 2 selects a vibrating bowl. A vibrating bowl is a feeding device that can automatically arrange disordered workpieces or parts in an orderly manner through vibration and convey them to the next process, so as to enable the vibration mechanism 2 to sequentially drive the buoys 100 in a flat state to the feeding mechanism 3 in an orderly manner. The working principle of the vibrating bowl mainly depends on the cooperation of a pulse electromagnet and a spring plate. The pulse electromagnet under the hopper can make the hopper vibrate in the vertical direction, and the inclined spring plate drives the hopper to perform a torsional vibration around its vertical axis. The parts in the hopper are vibrated and rise along the spiral track, and during the rising process, they pass through a series of track screening or posture changes, and finally enter the assembly or processing position automatically in a unified state according to the requirements of assembly or processing. Among them, the vibrating bowl has been widely used in manufacturing industries such as electronics, hardware, plastics, watch industry, batteries, food, connectors, medical devices, pharmaceuticals, toys, stationery, and daily necessities. It is a conventional device in the manufacturing industry and will not be elaborated here.

[0065] In this embodiment, Figure 2As shown, the float detection device also includes a frame 1, a vibration mechanism 2 is placed on one side of the frame 1, a feeding mechanism 3, an inner wall detection mechanism 6, an outer wall detection mechanism 7 and an end face detection mechanism 8 are all placed on the frame 1, and the feeding mechanism 3, the inner wall detection mechanism 6, the outer wall detection mechanism 7 and the end face detection mechanism 8 are arranged in a spaced relationship along the first direction, which not only makes the layout of the float 100 detection device reasonable and the occupied space miniaturized. At the same time, it is convenient for the transfer mechanism 5 to drive the float 100 to move between the inner wall detection mechanism 6, the outer wall detection mechanism 7 and the end face detection mechanism 8. Furthermore, the flipping mechanism 4 is placed at the discharge end of the feeding mechanism 3 to realize the rapid flipping of the flat float 100, and at the same time makes the layout of the feeding mechanism 3 and the flipping mechanism 4 more compact and reasonable. The transfer mechanism 5 is opposite to the inner wall detection mechanism 6, the outer wall detection mechanism 7 and the end face detection mechanism 8, so that the transfer mechanism 5 can quickly transfer the buoy 100 between the inner wall detection mechanism 6, the outer wall detection mechanism 7 and the end face detection mechanism 8, thereby improving the rationality of the transfer path of the buoy 100 between the inner wall detection mechanism 6, the outer wall detection mechanism 7 and the end face detection mechanism 8.

[0066] For example, Figure 2 and Figure 3 As shown in , the feeding mechanism 3 includes a conveyor belt assembly 31 and two side baffles 32. The conveyor belt assembly 31 is placed under the transmission plate and fits the side of the transmission plate, and is used to transfer the buoy 100 to the flip mechanism 4. The two side baffles 32 are respectively placed on both sides of the conveyor belt assembly 31 to prevent the buoy 100 from falling during the transmission process, and ensure that the buoy 100 is stably transmitted on the conveyor belt assembly 31. Among them, the conveyor belt assembly 31 includes two rotating parts and a conveyor belt. The two rotating parts are arranged at intervals and have the same rotation speed. The conveyor belt assembly 31 is placed between the two rotating parts. As the two rotating parts rotate synchronously, the conveyor belt will be driven to rotate, so as to transfer the buoy 100 of the vibration mechanism 2 to the flip mechanism 4. The rotating part includes a driving motor and a rotating wheel. The rotating wheel is arranged at the output end of the driving motor, and the driving motor drives the rotating wheel to rotate.

[0067] Exemplarily, the flipping mechanism 4 includes a first lifting member 41, a flipping member 42, and an inserting member 43. The first lifting member 41 is drivingly connected to the flipping member 42. The first lifting member 41 can drive the flipping member 42 to reciprocate along the third direction, that is, the first lifting member 41 can adjust the position of the flipping member 42 in the height direction. The inserting member 43 is connected to the flipping member 42. As the first lifting member 41 drives the flipping member 42 to move, the height of the inserting member 43 can be adjusted. The inserting member 43 includes a main body and an output end. The main body is connected to the flipping member 42. The flipping member 42 can drive the inserting member 43 to flip, so that the output end is selectively opposite to the floating cylinder 100 in the feeding mechanism 3, and the output end can be inserted into the central hole of the floating cylinder 100. Specifically, when flipping the floating cylinder 100 conveyed by the feeding mechanism 3 through the flipping mechanism 4, the flipping member 42 can be first operated to make the output end of the inserting member 43 face the floating cylinder 100 in the feeding mechanism 3, and the first lifting member 41 is operated to adjust the height of the inserting member 43 so that the output end is opposite to the central hole of the floating cylinder 100. Then, the inserting member 43 is driven to insert the output end into the central hole of the floating cylinder 100. The flipping member 42 is operated again to drive the inserting member 43 to drive the floating cylinder 100 to flip, so that the floating cylinder 100 is adjusted from a horizontal state to a vertical state. The first lifting member 41 includes a first bracket and a lifting motor. The lifting motor is fixedly arranged on the first bracket. The flipping member 42 is connected to the output end of the lifting motor. The flipping member 42 includes a rotating motor and a turntable. The turntable is connected to the output end of the rotating motor. The rotating motor can drive the turntable to rotate. The main body of the inserting member 43 is fixedly connected to the turntable. When the rotating motor drives the turntable to rotate, the inserting member 43 can be flipped. The specific structures and working principles of the lifting motor and the rotating motor can refer to the prior art and will not be elaborated here. In this embodiment, the third direction is the direction where the Z-axis is located.

[0068] Exemplarily, as Figure 2 and Figure 4As shown in the figure, the transfer mechanism 5 includes a first driving member 51, a first placement plate 52, a second driving member 53, a second placement plate 54, a connecting cross beam 55, a plurality of clamping jaws 56 and a third driving member 57. Among them, the first placement plate 52 faces the outer wall detection mechanism 7. The first driving member 51 is drivingly connected to the first placement plate 52 and is used to drive the first placement plate 52 to reciprocate in the second direction, and the second direction is perpendicular to the first direction, that is, the first driving member 51 can drive the first placement plate 52 to approach or move away from the direction where the outer wall detection mechanism 7 is located. The second placement plate 54 is placed on the first placement plate 52. When the first driving member 51 drives the first placement plate 52 to move, it will drive the second placement plate 54 to move synchronously. The second driving member 53 is placed on the second placement plate 54, and the second driving member 53 is drivingly connected to the connecting cross beam 55. Among them, the connecting cross beam 55 is placed along the first direction, and the second driving member 53 is used to drive the connecting cross beam 55 to reciprocate in the first direction. A plurality of clamping jaws 56 are arranged at intervals on the connecting cross beam 55. The third driving member 57 is vertically placed and is drivingly connected to the second placement plate 54, and the third driving member 57 is used to drive the second placement plate 54 to reciprocate in the third direction. In this embodiment, the first direction is the direction where the X-axis is located, and the second direction is the direction where the Y-axis is located.

[0069] Specifically, when it is necessary to transfer the buoy 100 at the flipping mechanism 4, it is necessary to operate the first driving member 51 to make the connecting cross beam 55 face the flipping mechanism 4, operate the second driving member 53 to make the clamping jaws 56 on the connecting cross beam 55 approach the flipping mechanism 4, operate the insert 43 to retract the output end, and then drive the clamping jaws 56 to act to clamp the buoy 100. Then operate the second driving member 53 again to make the clamping jaws 56 clamping the buoy 100 face the inner wall detection mechanism 6, and operate the first driving member 51 again to make the buoy 100 approach the inner wall detection mechanism 6 until it is located at the inner wall detection mechanism 6. Among them, both the first driving member 51 and the second driving member 53 can be selected as driving cylinders. The first driving member 51 can be fixed to the tabletop of the frame 1 through a support to ensure the stability of the assembly of the first driving member 51. Among them, for the specific structure and working principle of the clamping jaws 56, reference can be made to the prior art and will not be elaborated here.

[0070] Preferably, the transfer mechanism 5 further includes a first guiding component and a second guiding component. The first guiding component includes a support base, a first guiding portion, and a second guiding portion. The first guiding portion is disposed on the support base, and the second guiding portion is disposed on the bottom surface of the first placing plate 52. The first placing plate 52 is located above the support base. The first guiding portion and the second guiding portion are in guiding cooperation, so that when the first driving member 51 drives the first placing plate 52 to move, the first placing plate 52 can move smoothly. One of the first guiding portion and the second guiding portion is a guide rail, and the other is a guide block. The second guiding component includes a third guiding portion and a fourth guiding portion. The third guiding portion is disposed on the front surface of the second placing plate 54, and the fourth guiding portion is disposed on the connecting cross beam 55, so as to ensure that when the second driving member 53 drives the connecting cross beam 55 to move along the second direction, the connecting cross beam 55 can move smoothly. Specifically, one of the third guiding portion and the fourth guiding portion is a guide rail, and the other is a guide block.

[0071] Wherein, the third driving member 57 is located below the first placing plate 52 and on one side of the support base. A through hole is provided on the first placing plate 52. The output end of the third driving member 57 passes through the through hole and is connected to the second placing plate 54. The main body of the third driving member 57 is fixed to the first placing plate 52. The third driving member 57 can be a cylinder.

[0072] Furthermore, the transfer mechanism 5 further includes a guiding member 58. The guiding member 58 includes a backing plate 581 and a guiding column 582 which are fixedly connected. A guiding hole is provided on the first placing plate 52. The backing plate 581 is fixedly connected to the bottom surface of the second placing plate 54, and the guiding column 582 is disposed in the guiding hole. Thus, when the third driving member 57 drives the second placing plate 54 to move along the third direction, the guiding column 582 moves along the guiding hole, which can play a guiding role in the movement of the second placing plate 54, so that the second placing plate 54 moves more smoothly along the third direction, and the stability during the operation of the transfer mechanism 5 is improved. On the other hand, when the output end of the third driving member 57 retracts, at this time, the backing plate 581 can play a supporting role for the second placing plate 54, avoiding excessive local stress at the connection between the second placing plate 54 and the output end of the third driving member 57, and making the stress on the second placing plate 54 uniform. When the second driving member 53 drives the connecting cross beam 55 to move along the second direction, the side of the connecting cross beam 55 with more extended area relative to the second placing plate 54 has a greater gravity, and at this time, the degree of local stress on the second placing plate 54 will be increased. In this embodiment, the transfer mechanism 5 includes four guiding members 58. The four guiding members 58 are respectively disposed at the four corner positions of the second placing plate 54. Four guiding holes are provided on the first placing plate 52. The four guiding holes correspond to the guiding columns 582 in the four guiding members 58 one by one. Thus, the four corners of the second placing plate 54 can be supported, further reducing the degree of local stress on the second placing plate 54 and improving the uniformity of the overall stress on the second placing plate 54.

[0073] Exemplarily, as Figure 2 、 Figure 5 and Figure 6 shown, the inner wall detection mechanism 6 further includes a first placement member 61, a clamping member 62, and a second lifting member 63. Specifically, the transfer mechanism 5 transfers the buoy 100 located on the flipping mechanism 4 to the first placement member 61. The clamping member 62 faces the first placement member 61. When the transfer mechanism 5 moves the buoy 100 to the first placement member 61, the clamping member 62 can selectively clamp the buoy 100 to fix the buoy 100. The first placement member 61 is located below the test rod 64 and can drive the buoy 100 to rotate. The second lifting member 63 is drivingly connected to the test rod 64, and the second lifting member 63 can move the test rod 64 along the third direction, that is, the second lifting member 63 can make the test rod 64 reciprocate in the height direction, so that the test rod 64 can selectively extend into the central hole of the buoy 100. Specifically, when using the inner wall detection mechanism 6 to detect the inner wall of the buoy 100, at this time, the buoy 100 has been moved by the transfer mechanism 5 from the flipping mechanism 4 to the first placement member 61. Drive the clamping member 62 to move so that the clamping member 62 clamps the buoy 100 to fix the buoy 100; operate the second lifting member 63 to insert the test rod 64 into the central hole of the buoy 100 to detect the inner wall of the central hole of the buoy 100; operate the second lifting member 63 to move the test rod 64 out of the central hole of the buoy 100, operate the clamping member 62 to release the buoy 100, operate the first placement member 61 to rotate the buoy 100, and then operate the second lifting member 63 to extend the test rod 64 into the central hole of the buoy 100 to detect the inner wall of the buoy 100 in different placement states, so as to improve the accuracy of the flatness detection of the inner wall of the central hole of the buoy 100. Among them, for the specific structure and working principle of the second lifting member 63, reference can be made to the prior art, and no more details will be described here.

[0074] Among them, the clamping member 62 includes two first rotating members 621, a conveyor belt 622, two clamping portions 623, and a driving member 624. The driving member 624 is drivingly connected to one of the first rotating members 621. The conveyor belt 622 is drivingly connected to the two first rotating members 621. The two clamping portions 623 are respectively arranged on opposite sides of the conveyor belt 622 and both extend outward to the same side of the conveyor belt 622. When the driving member 624 rotates forward, the two clamping portions 623 can approach each other to clamp the buoy 100 located on the first placing member 61. When the driving member 624 rotates in the reverse direction, the two clamping portions 623 can move away from each other to release the buoy 100 located on the first placing member 61. Among them, the first placing member 61 includes a second rotating member and a placing groove member. The placing groove member is fixedly connected to the second rotating member. When the second rotating member operates, it will drive the placing groove member to rotate. The buoy 100 is located in the placing groove member. Therefore, when the second rotating member rotates, it can drive the buoy 100 to rotate. Among them, the driving member 624 can be selected as a driving motor, and the first rotating member 621 can be selected as a runner. The runner is arranged at the output end of the driving motor. The second rotating member includes a driving motor and a runner. The runner is arranged at the output end of the driving motor. The placing groove member is fixedly connected to the runner.

[0075] In this embodiment, as Figure 2 and Figure 7 shown in, the rotating member 71 and the first scanning member 72 in the outer wall detection mechanism 7 are arranged opposite to each other, specifically opposite to each other in the second direction. The transfer mechanism 5 can transfer the buoy 100 of the first placing member 61 to the rotating member 71. The rotating member 71 can selectively fix the buoy 100 and drive the buoy 100 to rotate. The first scanning member 72 includes a pushing member 721 and a first scanning camera 722. The pushing member 721 is drivingly connected to the first scanning camera 722. The pushing member 721 can make the first scanning camera 722 approach or move away from the rotating member 71. The arrangement of the pushing member 721 can adjust the focal length between the first scanning camera 722 and the rotating member 71 to achieve focusing between the first scanning camera 722 and the buoy 100, ensuring that the first scanning camera 722 can accurately scan the buoy 100. The working principle of the outer wall detection mechanism 7 is as follows: When the transfer mechanism 5 places the buoy 100 on the rotating member 71, operate the pushing member 721 to focus the first scanning camera 722 on the buoy 100. Subsequently, operate the rotating member 71 to make the buoy 100 rotate 360°, so that the first scanning camera 722 can scan the circumferential surface of the buoy 100 in all directions. Among them, the pushing member 721 can be selected as a cylinder.

[0076] Regarding the transfer mechanism 5 transferring the buoy 100 of the first placing member 61 to the rotating member 71, specifically, operate two first rotating members 621 to move the two clamping portions 623 away from each other, operate the second driving member 53 to make one of the jaws 56 on the connecting crossbeam 55 face the first placing member 61, operate the first driving member 51 to move the jaw 56 on the connecting crossbeam 55 facing the first placing member 61 closer to the first placing member 61, control the jaw 56 to clamp the buoy 100 on the first placing member 61, operate the first driving member 51 to move the buoy 100 clamped by the jaw 56 away from the first placing member 61, operate the second driving member 53 to make the clamped buoy 100 face the rotating member 71 in the outer wall detection mechanism 7, operate the third driving member 57 to adjust the height of the clamped buoy 100, operate the first driving member 51 to move the clamped buoy 100 closer to the rotating member 71, and operate the third driving member 57 to place the buoy 100 on the rotating member 71. The rotating member 71 includes a third rotating member and a fixed fixture. The fixed fixture is placed above the third rotating member and fixedly connected thereto. The fixed fixture is provided with a protruding post. A magnetic induction hole is provided on the end face of the buoy 100. The third driving member 57 adjusts the height of the buoy 100 to avoid collision with the protruding post when the first driving member 51 drives the clamped buoy 100 closer to the rotating member 71. Specifically, the protruding post in the fixed fixture is inserted into the magnetic induction hole of the buoy 100 so that the buoy 100 is stably placed on the fixed fixture of the rotating member 71. The third rotating member can drive the fixed fixture to rotate to drive the buoy 100 placed on the fixed fixture to rotate. Among them, the third rotating member can be selected as a rotating motor.

[0077] In this embodiment, as Figure 2 , Figure 8 and Figure 9As shown in the figure, the end face detection mechanism 8 further includes a second placement member 83, where the second placement member 83 is used to place the buoy 100. The clamping and flipping assembly 81 includes a clamp 811 and a rotating wheel member 812. The rotating wheel member 812 includes a rotating wheel, and the clamp 811 is connected to the rotating wheel. The transfer mechanism 5 is used to move the buoy 100 on the rotating member 71 to the second placement member 83. The two clamping plates of the clamp 811 are respectively placed on both sides of the second placement member 83. When the buoy 100 is placed on the second placement member 83, the clamp 811 is operated to make the two clamping plates approach each other to clamp and fix the buoy 100. Among them, the second scanning member 82 includes a third lifting member 821 and a second scanning camera 822. The third lifting member 821 can drive the second scanning camera 822 to move along the third direction, that is, the second scanning camera 822 is placed at the output end of the third lifting member 821. During the process of the third lifting member 821 driving the second scanning camera 822 to move, the focal length between the second scanning camera 822 and the buoy 100 placed on the second placement member 83 can be adjusted. The second scanning camera 822 is rotatably connected to the third lifting member 821, and the second scanning camera 822 faces the end face of the buoy 100, so that the second scanning camera 822 can more comprehensively scan the buoy 100 and its opposite end face. The control principle of the end face detection mechanism 8 is as follows: When the buoy 100 is placed on the second placement member 83, the clamp 811 is operated to clamp and fix the buoy 100. Subsequently, the third lifting member 821 in the second scanning member 82 is operated to adjust the focal length between the second scanning camera 822 and the buoy 100 placed on the second placement member 83. Subsequently, the second scanning camera 822 is used to scan the buoy 100 and its opposite end face. Subsequently, the rotating wheel member 812 is operated to rotate the rotating wheel to drive the clamp 811 to flip, so that the other end face of the buoy 100 faces the second scanning camera 822. Subsequently, the second scanning camera 822 is used to scan the other end face of the buoy 100.

[0078] For the convenience of more clear and comprehensive scanning, the end face detection mechanism 8 includes two second scanning members 82 and two second placement members 83. The two second scanning members 82 and the two second placement members 83 are placed in one-to-one correspondence. When the rotating wheel member 812 rotates to drive the clamp 811 to flip the buoy 100, the buoy 100 is transferred from one second placement member 83 to another second placement member 83. The two second scanning members 82 respectively scan the upper and lower end faces of the buoy 100, so as to more clearly scan the two end faces of the buoy 100.

[0079] Preferably, the buoy detection device further includes a placement table 12. The placement table 12 is placed along the first direction and is located between the transfer mechanism 5 and the outer wall detection mechanism 7. Among them, the first placement member 61 in the inner wall detection mechanism 6, the rotating member 71 in the outer wall detection mechanism 7, and the second placement member 83 in the end face detection structure are all arranged on the placement table 12, making the layout of the buoy detection device more reasonable.

[0080] In this embodiment, the buoy detection device further includes a control panel, wherein the control panel is electrically connected to the vibration mechanism 2, the feeding mechanism 3, the flipping mechanism 4, the transfer mechanism 5, the inner wall detection mechanism 6, the outer wall detection mechanism 7 and the end face detection mechanism 8. A plurality of control buttons are provided on the control panel. By operating the control buttons, the working states of different mechanisms can be controlled. When detecting the buoy 100, the staff can operate different control buttons to control the work of different mechanisms, so as to detect the inner wall, outer peripheral surface and end face of the central hole of the buoy 100, reducing the operation difficulty of the staff for different mechanisms. Preferably, a control module can be added to the control panel, and a control program can be input into the control module to realize the automatic operation of the buoy detection device according to the control program, further reducing the operation difficulty of the staff. The control module and the control program belong to the conventional technical means in the field of electronic control, and will not be elaborated here.

[0081] In this embodiment, the buoy detection device further includes a first recycling bin 9, a second recycling bin 10, a third recycling bin 11 and a storage bin. The first recycling bin 9 is used to recycle the buoys 100 with unqualified inner wall detection, the second recycling bin 10 is used to recycle the buoys 100 with unqualified outer wall detection, and the third recycling bin 11 is used to recycle the buoys 100 with unqualified end face detection. In this way, the categories of the unqualified buoys 100 can be classified, facilitating subsequent repair. The storage bin is used to accommodate the qualified buoys 100.

[0082] The detection steps of the buoy detection device in this embodiment are as follows: Place the buoy 100 to be detected into the vibration mechanism 2, start the vibration mechanism 2 to make the buoy 100 enter the feeding mechanism 3, operate the feeding mechanism 3 to transfer the buoy 100 to the flipping mechanism 4, and the flipping mechanism 4 flips the horizontally placed buoy 100 to a vertical state. Subsequently, the transfer mechanism 5 transfers the buoy 100 placed in the flipping mechanism 4 to the inner wall surface detection mechanism. The test rod 64 in the inner wall detection mechanism 6 detects the inner wall of the central hole of the buoy 100. If the inner wall of the buoy 100 is detected to be qualified, the transfer mechanism 5 transfers the buoy 100 with qualified inner wall detection to the outer wall detection mechanism 7. If the inner wall of the buoy 100 is detected to be unqualified, the transfer mechanism 5 transfers the buoy 100 with unqualified inner wall detection to the first recycling bin 9; Subsequently, the rotating member 71 in the outer wall detection mechanism 7 drives the buoy 100 with qualified inner wall detection to rotate, and the first scanning member 72 performs an all-round scan of the outer peripheral surface of the buoy 100 to detect the outer wall of the buoy 100. For the buoy 100 with qualified outer wall detection, the transfer mechanism 5 transfers it to the end face detection mechanism 8. For the buoy 100 with unqualified outer wall detection, the transfer mechanism 5 transfers it to the second recycling bin 10; Subsequently, the second scanning member 82 in the end face detection mechanism 8 scans the opposite end face of the buoy 100 with qualified outer wall detection. Subsequently, the clamping and flipping mechanism 4 flips the buoy 100 by 180°, and the second scanning member 82 scans the other end face of the buoy 100. For the buoy 100 with qualified end face detection, the transfer mechanism 5 transfers it to the silo. For the buoy 100 with unqualified end face detection, the transfer mechanism 5 transfers it to the third recycling bin 11.

[0083] Obviously, the above embodiments of the present invention are merely examples for clearly explaining the present invention, rather than limiting the implementation manners of the present invention. For those of ordinary skill in the art, various obvious changes, re-adjustments and substitutions can be made without departing from the protection scope of the present invention. It is not necessary and impossible to enumerate all the implementation manners here. Any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention shall be included in the protection scope of the claims of the present invention.

Claims

1. A buoy detection method, characterized in that: include: Step 1: After the float is clamped and fixed, a test rod is inserted into the center hole of the float to detect the inner wall of the center hole of the float; Step 2: rotating the buoy after the inner wall detection, scanning the outer peripheral surface of the buoy while the buoy rotates, and detecting the outer wall of the buoy; Step 3: Scan one end surface of the buoy that has completed the outer wall detection, turn the buoy over, and scan the other end surface of the buoy.

2. The buoy detection method according to claim 1, characterized in that: The method further includes step 10 between step 1 and step 2: placing the buoy that fails the inner wall inspection into a first recovery box; The method further includes step 20 between step 2 and step 3: placing the buoy that fails the outer wall inspection into a second recovery box.

3. A buoy detection device, characterized in that: include: An inner wall detection mechanism (6), wherein the inner wall detection mechanism (6) comprises a test rod (64); An outer wall detection mechanism (7), the outer wall detection mechanism (7) comprising a rotating member (71) and a first scanning member (72); An end face detection mechanism (8), the end face detection mechanism (8) comprising a clamping and flipping component (81) and a second scanning component (82); An auxiliary detection mechanism, the auxiliary detection mechanism comprising a transport mechanism (5); The float (100) is transferred to the inner wall detection mechanism (6) via the transfer mechanism (5) and the inner wall detection is completed by the test rod (64) passing through the center hole of the float (100). Then, the float (100) is transferred to the outer wall detection mechanism (7) and the float (100) is rotated by the rotating member (71). After the first scanning member (72) completes the outer wall scanning of the float (100), the float is transferred to the end face detection mechanism (8) and the float (100) is clamped and flipped 180° by the clamping and flipping assembly (81). The second scanning member (82) completes the two end face scanning of the float (100).

4. The buoy detection device according to claim 3, characterized in that: The float detection device also includes a vibration mechanism (2), a feeding mechanism (3) and a flipping mechanism (4), wherein the float (100) is placed on the vibration mechanism (2), and the vibration mechanism (2) is used to adjust the float (100) to a horizontal state and transfer the float (100) to the feeding mechanism (3); the feeding mechanism (3) is placed between the vibration mechanism (2) and the flipping mechanism (4), and the feeding mechanism (3) is used to transfer the float (100) in a horizontal state to the flipping mechanism (4), and the flipping mechanism (4) is used to flip the float (100), and the transfer mechanism (5) can transfer the float (100) located at the flipping mechanism (4) to the inner wall detection mechanism (6).

5. The buoy detection device according to claim 4, characterized in that: The float detection device also includes a frame (1), the vibration mechanism (2) is placed on one side of the frame (1), the feeding mechanism (3), the flipping mechanism (4), the transfer mechanism (5), the inner wall detection mechanism (6), the outer wall detection mechanism (7) and the end face detection mechanism (8) are all placed on the frame (1), the feeding mechanism (3), the inner wall detection mechanism (6), the outer wall detection mechanism (7) and the end face detection mechanism (8) are arranged in a spaced relationship along a first direction, the flipping mechanism (4) is placed at the discharge end of the feeding mechanism (3), and the transfer mechanism (5) is opposite to the inner wall detection mechanism (6), the outer wall detection mechanism (7) and the end face detection mechanism (8).

6. The buoy detection device according to claim 4, characterized in that: The feeding mechanism (3) comprises a conveyor belt assembly (31) and two side baffles (32), wherein the conveyor belt assembly (31) is in contact with the discharge port of the vibration mechanism (2) and is used to convey the buoy (100), and the two side baffles (32) are respectively placed on both sides of the conveyor belt assembly (31); The flipping mechanism (4) comprises a first lifting member (41), a flipping member (42) and an inserting member (43); the first lifting member (41) is drivingly connected to the flipping member (42); the inserting member (43) comprises a main body and an output end; the main body is connected to the flipping member (42); the flipping member (42) can drive the inserting member (43) to flip so that the output end selectively faces the float (100) in the feeding mechanism (3); and the output end can be inserted into the center hole of the float (100).

7. The buoy detection device according to claim 5, characterized in that: The transfer mechanism (5) comprises a first driving member (51), a first placing plate (52), a second driving member (53), a second placing plate (54), a connecting beam (55), a plurality of clamps (56) and a third driving member (57). The first placing plate (52) is opposite to the outer wall detection mechanism (7). The first driving member (51) is connected to the driving member of the first placing plate (52) and is used to drive the first placing plate (52) to reciprocate along a second direction, wherein the second direction is perpendicular to the first direction. The second placing plate (54) is placed on the first placing plate (52). The second driving member (53) is placed on the second placing plate (54). The second driving member (53) is drivingly connected to the connecting beam (55). The second driving member (53) is used to drive the connecting beam (55) to reciprocate along the first direction. The plurality of clamps (56) are spaced apart and placed on the connecting beam (55). The third driving member (57) is placed vertically and drivingly connected to the second placing plate (54).

8. The buoy detection device according to claim 3, characterized in that: The inner wall detection mechanism (6) also includes a first placement member (61), a clamping member (62) and a second lifting member (63); the transfer mechanism (5) can transfer the float (100) to the first placement member (61); the clamping member (62) can selectively clamp the float (100); the first placement member (61) is located below the test rod (64) and can drive the float (100) to rotate; the second lifting member (63) is drivingly connected to the test rod (64).

9. The buoy detection device according to claim 3, characterized in that: The rotating member (71) and the first scanning member (72) are arranged opposite to each other, the transfer mechanism (5) can transfer the float (100) of the inner wall detection mechanism (6) to the rotating member (71), the rotating member (71) can selectively fix the float (100) and drive the float (100) to rotate, the first scanning member (72) includes a pushing member (721) and a first scanning camera (722), the pushing member (721) is drivingly connected to the first scanning camera (722), and the pushing member (721) can make the first scanning camera (722) approach or move away from the rotating member (71).

10. The buoy detection device according to claim 3, characterized in that: The end face detection mechanism (8) also includes a second placement member (83) for placing the buoy (100), the clamping and flipping assembly (81) includes a clamp (811) and a rotating wheel member (812), the rotating wheel member (812) includes a rotating wheel, the clamp (811) is connected to the rotating wheel, the clamp (811) can clamp the buoy (100) from the second placement member (83), the second scanning member (82) includes a third lifting member (821) and a second scanning camera (822), the third lifting member (821) can drive the second scanning camera (822) to move along a third direction, and the second scanning camera (822) can rotate relative to the third lifting member (821), and the second scanning camera (822) faces the end face of the buoy (100).

Images