Transfer detection device and method for workpiece with cylindrical side surface

Abstract

The invention relates to the technical field of workpiece machining, and provides a transfer detection device and method for a workpiece with a cylindrical side face, the transfer detection device comprises hoisting equipment, a grabbing mechanism, a rotating platform, a bearing frame, a positioning arm and a perimeter detection assembly, and the hoisting equipment is provided with a lifting weight measuring end; the grabbing mechanism is fixed to the lifting weight measuring end of the hoisting equipment, the lifting weight measuring end is used for measuring the weight of a workpiece, the grabbing mechanism comprises a plurality of clamping fingers, and the clamping fingers are located on the same circumference and can synchronously move in the radius direction of the circle where the clamping fingers are located so as to clamp the workpiece with the cylindrical side face in a matched mode. According to the transfer detection device and method for the workpiece with the cylindrical side face, the grabbing mechanism is arranged, and the perimeter detection assembly is arranged on the clamping fingers of the grabbing mechanism, so that weight measurement is carried out in the transfer process, cylindrical side face perimeter detection is carried out while outer contour scanning is carried out, and the detection efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of workpiece processing, and in particular to a transfer detection device and method for a workpiece with a cylindrical side surface. Background Art

[0002] Workpieces with cylindrical sides are generally formed by casting or die-casting, and need to be cut and polished after forming. Since there are small errors in the precision of polishing and cutting, it is necessary to measure the weight of the workpiece, detect the circumference of the cylindrical side, and scan the outer contour to determine whether the workpiece meets the production requirements. The outer contour scanning can generate a three-dimensional model of the workpiece to determine whether its outer contour meets the requirements.

[0003] For workpieces with cylindrical sides, weight measurement, cylindrical side circumference detection, and outer contour scanning are usually performed separately, requiring multiple workpiece transfers and transportations to be placed in different workstations for detection, which increases the length of the detection line and equipment costs, and the detection efficiency is low. In addition, it is also difficult to apply to workpieces of different specifications and shapes for different workstations. For example, a Chinese patent with publication number CN112536739A discloses a fixture for circular workpieces, which clamps the circular workpiece by using a plurality of clamp arms. In the process of clamping the workpiece, this solution cannot adjust the spacing between the plurality of clamp arms according to the specifications and appearance characteristics of the workpiece to achieve the placement and clamping of the workpiece, resulting in poor applicability in the production process. Summary of the invention

[0004] In view of this, the present invention proposes a transfer detection device and method for workpieces with cylindrical sides. By setting up a gripping mechanism and a circumference detection component on its clamping fingers, weight measurement is achieved during the transfer process, and the circumference of the cylindrical side is detected while scanning the outer contour, thereby improving the detection efficiency. At the same time, multiple positioning arms that are transmission-connected to the carrier frame can change the opening and closing spacing through the movement of the carrier frame, and can directly adapt to the clamping of workpieces of different specifications and shapes.

[0005] The technical solution of the present invention is achieved in this way:

[0006] On the one hand, the present invention provides a transfer detection device for a workpiece with a cylindrical side, comprising a lifting device, a gripping mechanism, a rotating platform, a carrier, a positioning arm and a circumference detection component, wherein:

[0007] The lifting equipment has a lifting and weighing end;

[0008] The gripping mechanism is fixed on the lifting and weighing end of the lifting equipment, and the lifting and weighing end is used to weigh the workpiece. The gripping mechanism includes a plurality of clamping fingers, each of which is located on the same circumference and can move synchronously along the radius direction of the circle to cooperate in clamping the workpiece with a cylindrical side surface.

[0009] The rotating platform is arranged opposite to the gripping mechanism and is used to drive the workpiece to rotate;

[0010] The carrier is arranged on the rotating platform and can move toward or away from the rotating platform, and the carrier is used to place the workpiece;

[0011] There are multiple positioning arms, all of which are hinged on the rotating platform and annularly distributed on the outside of the carrier. Each of the positioning arms is transmission-connected to the carrier. When the carrier approaches the rotating platform, the free end of each positioning arm moves toward the center of the carrier to clamp the workpiece. When the carrier moves away from the rotating platform, the free end of each positioning arm moves toward the side away from the carrier.

[0012] The circumference detection component is arranged on at least one of the clamping fingers. When the workpiece rotates, the circumference detection component (6) abuts against the cylindrical side surface of the workpiece to detect the circumference of the cylindrical side surface.

[0013] On the basis of the above technical solution, preferably, it further comprises a pressure detection component, wherein the pressure detection component is arranged on at least one of the clamping fingers, and the pressure detection component is used to detect the interaction force between the clamping fingers and the workpiece.

[0014] Further preferably, the pressure detection assembly includes a fixing seat, a pressure sensor, a guide column, a movable plate, a force guide plate and an elastic member, wherein:

[0015] The fixing seat is fixed on the clamping finger;

[0016] The pressure sensor is fixed in the fixing seat;

[0017] One end of the guide column passes through the fixing seat and is slidably connected with the fixing seat;

[0018] The movable plate is fixed to the other end of the guide column and is used to contact the workpiece;

[0019] The force guide plate is slidably arranged on the guide column and abuts against the detection end of the pressure sensor;

[0020] The elastic member is arranged between the force guiding plate and the movable plate.

[0021] On the basis of the above technical solution, preferably, the gripping mechanism further includes a fixing frame, a linkage arm and a linear drive member, wherein:

[0022] The fixing frame is fixed on the lifting and weighing end of the lifting equipment;

[0023] The number of linkage arms is consistent with the number of clamping fingers, and both are movably arranged on a fixed frame, and the clamping fingers are fixed on the linkage arms one by one;

[0024] The linear drive member is fixed on the fixed frame and is transmission-connected with each linkage arm.

[0025] On the basis of the above technical solution, preferably, it further includes a connecting frame and a transmission assembly, wherein:

[0026] The connecting frame is fixed on the rotating platform, and each of the positioning arms is hinged on the connecting frame;

[0027] The transmission assembly is arranged on the connecting frame to transmission-connect each positioning arm and the supporting frame.

[0028] Further preferably, the transmission assembly includes a guide rod and a connecting rod, wherein:

[0029] The guide rod is slidably arranged on the connecting frame, and one end of the guide rod is fixed to the bearing frame;

[0030] The number of the connecting rods is consistent with the number of the positioning arms, and one end of the connecting rods is hinged to the end of the guide rod away from the bearing frame, and the other end is hinged to the positioning arm.

[0031] On the basis of the above technical solution, preferably, the circumference detection component includes a detection cylinder, an encoder and a roller, wherein:

[0032] Check the fixation of the cylinder and the clamping fingers;

[0033] The encoder is fixed on the output end of the detection cylinder;

[0034] The roller is fixed on the rotating end of the encoder, and the detection cylinder is used to push the roller to make it contact with the cylindrical side surface of the workpiece.

[0035] Further preferably, the gripping mechanism further comprises a weighing bracket, and the fixing frame is fixedly connected to the lifting and weighing end of the lifting equipment via the weighing bracket.

[0036] On the basis of the above technical solution, preferably, it further comprises a reset driving member, which is arranged opposite to the rotating platform and has a movable end, and the movable end of the reset driving member selectively pushes the carrier away from the rotating platform.

[0037] On the other hand, the present invention provides a transfer detection method for a workpiece having a cylindrical side surface, which is implemented based on the above-mentioned transfer detection device, and the method comprises the following steps:

[0038] S1, the gripping mechanism grips the cylindrical side of the workpiece through multiple gripping fingers;

[0039] S2, the lifting equipment transfers the gripping mechanism and the workpiece through the weighing lifting end, and places the workpiece on the carrier. During the transfer process, the weighing lifting end obtains the total weight of the gripping mechanism and the workpiece, and obtains the weight of the workpiece based on the deadweight of the gripping mechanism;

[0040] S3, after the workpiece is placed on the carrier, it is clamped by multiple positioning arms, the clamping fingers release the workpiece, and the gripping mechanism does not move away from the workpiece;

[0041] S4, the rotating platform drives the workpiece to rotate, and during the rotation process, the circumference feature of the cylindrical side of the workpiece is obtained through the circumference detection component;

[0042] S5. Each clamping finger clamps the workpiece again, and the workpiece is transferred to other workstations by the lifting equipment.

[0043] The transfer detection device and method of the workpiece with cylindrical side surface of the present invention has the following beneficial effects compared with the prior art:

[0044] (1) By setting a gripping mechanism and setting a circumference detection component on its clamping finger, weight measurement can be achieved during the transfer process, and the circumference of the cylindrical side can be detected while the outer contour is scanned, thereby improving the detection efficiency. At the same time, multiple positioning arms that are transmission-connected to the carrier frame can change the opening and closing spacing through the movement of the carrier frame, and can directly adapt to the clamping of workpieces of different specifications and shapes;

[0045] (2) A pressure detection component is set. During the clamping process, the rubber pad on the clamping finger is deformed, and the movable plate is displaced by a distance equal to the deformation of the rubber pad, and the guide column is caused to slide synchronously. The displacement is directly converted into the compression of the elastic member. After the elastic member is compressed, pressure is applied to the force guide plate, so that the pressure sensor can detect the pressure on the force guide plate, thereby inferring the clamping force on the workpiece. For workpieces of different specifications or weights, the corresponding clamping force can be set to achieve stable clamping;

[0046] (3) By setting up a connecting frame and a transmission assembly, when the carrier frame is subjected to the gravity of the workpiece, the carrier frame can move downward and drive the guide rod to move up and down on the connecting frame, so that the end of the connecting rod connected to the guide rod moves downward, and the other end of the connecting rod moves toward the carrier frame under the action of tension, thereby driving the positioning arm to rotate on the connecting frame, so that each positioning arm rotates synchronously to clamp and position the workpiece, and the workpiece is clamped by the positioning arm driven by the gravity and displacement of the workpiece through the transmission assembly. No sensors, drive components and program settings are required, and adaptive clamping operations of multiple specifications and multiple workpieces can be achieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0048] Figure 1Stereogram of the transfer and detection device for cylindrical side workpiece of the present invention;

[0049] Figure 2 Stereogram of the gripping mechanism of the transfer and detection device for cylindrical side workpiece of the present invention;

[0050] Figure 3 Stereogram of the finger of the transfer and detection device for cylindrical side workpiece of the present invention;

[0051] Figure 4 Stereogram of the other finger of the transfer and detection device for cylindrical side workpiece of the present invention;

[0052] Figure 5 Structural schematic diagram of the pressure detection component of the transfer and detection device for cylindrical side workpiece of the present invention;

[0053] Figure 6 Stereogram of the carrier and positioning arm of the transfer and detection device for cylindrical side workpiece of the present invention;

[0054] Figure 7 is Figure 1 Schematic diagram of enlarged structure at position A in;

[0055] Figure 8 Schematic diagram of the steps of the transfer and detection method for cylindrical side workpiece of the present invention. Detailed implementation mode

[0056] Next, in combination with the embodiments of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.

[0057] As Figures 1-7 shown, the transfer and detection device for cylindrical side workpiece of the present invention is used for weighing, transferring, outer contour scanning assistance and cylindrical side perimeter detection of the workpiece. The cylindrical side refers to the side of the workpiece with cylindrical part features, such as large stainless steel pots, etc. This device specifically includes a hoisting device 1, a gripping mechanism 2, a rotating platform 3, a carrier 4, a positioning arm 5 and a perimeter detection component 6.

[0058] The hoisting device 1 has a lifting and weighing end. Specifically, the hoisting device 1 can be directly selected as a suspension arm, and the lifting and weighing end is the lifting end of the suspension arm. The workpiece is transferred and moved through the hoisting device 1.

[0059] The gripping mechanism 2 is fixed to the lifting and weighing end of the hoisting device 1, and the lifting and weighing end is used to weigh the workpiece. The gripping mechanism 2 includes a plurality of fingers 21. Each of the fingers 21 is located on the same circumference and can move synchronously along the radial direction of the circle where it is located to cooperate with clamping the workpiece with a cylindrical side surface. After the gripping mechanism 2 clamps the workpiece, the lifting and weighing end can drive the gripping mechanism 2 and the workpiece to move. During the movement, the load on the lifting and weighing end is the sum of the gripping mechanism 2 and the workpiece, and the gripping mechanism 2 can remove its own weight through a tare operation, so that the weight of the workpiece can be obtained.

[0060] In this embodiment, the number of fingers 21 is set to four and they are connected in transmission with each other to form a synchronous linkage structure. During the clamping process, each finger 21 can contact the workpiece synchronously and apply pressure to the outside of the workpiece, and the workpiece can be clamped and transported through static friction.

[0061] The rotating platform 3 is arranged opposite to the gripping mechanism 2 and is used to drive the workpiece to rotate. Specifically, in this embodiment, a movable workbench is provided. The workbench can be arranged on a track or can move on the ground by setting universal wheels. The rotating platform 3 is arranged on the workbench and can rotate relative to the workbench. In order to enable the rotating platform 3 to rotate, a reduction motor is arranged on the workbench and the rotating platform 3 is fixed to the reduction motor.

[0062] The carrier 4 is arranged on the rotating platform 3 and can move towards or away from the rotating platform 3. The carrier 4 is used to place the workpiece. The carrier 4 can only move in the direction perpendicular to the horizontal plane on the rotating platform 3 and cannot rotate relative to the rotating platform 3. That is, when the rotating platform 3 rotates, it will drive the carrier 4 to rotate together, and the workpiece placed on the carrier 4 will also rotate together. Specifically, the carrier 4 is a cross-shaped bracket, and its cross-shaped setting can adapt to the bottom of most workpieces for placement, and at the same time will not additionally occupy the structural layout space.

[0063] The number of positioning arms 5 is multiple, and they are all hinged to the rotating platform 3 and are annularly distributed outside the carrier 4. Each of the positioning arms 5 is in transmission connection with the carrier 4. Since the carrier 4 is arranged on the rotating platform 3 so that it can slide vertically, after the workpiece is placed on the carrier 4, the carrier 4 will move towards the rotating platform 3 under the action of the gravity of the workpiece, which can drive each positioning arm 5 to move synchronously, and then clamp the workpiece.

[0064] Specifically, when the carrier 4 approaches the rotating platform 3, the free ends of each positioning arm 5 all move towards the center of the carrier 4 to clamp the workpiece. When the carrier 4 moves away from the rotating platform 3, the free ends of each positioning arm 5 move towards the side away from the carrier 4.

[0065] In addition, on the positioning arm 5, a pulley is provided. The pulley is a component where the positioning arm 5 directly contacts the workpiece. The provided pulley enables each positioning arm 5 to allow the gripping mechanism 2 to directly grasp and move the workpiece in the vertical direction after the workpiece is clamped in place, without the need for the positioning arm 5 to expand, further improving the transfer efficiency.

[0066] The perimeter detection assembly 6 is provided on at least one of each finger 21. When the workpiece rotates, the perimeter detection assembly 6 abuts against the cylindrical side surface of the workpiece to detect the perimeter of the cylindrical side surface.

[0067] Specifically, after the workpiece is placed on the carrier 4 and the fingers 21 release the workpiece, the rotating platform 3 can drive the workpiece to rotate. The external contour of the workpiece is scanned by the set robot work position. At the same time, the perimeter detection assembly 6 contacts the cylindrical side surface of the workpiece whose perimeter needs to be measured. During the rotation of the workpiece, the perimeter of the cylindrical side surface is synchronously detected.

[0068] Since the workpiece is clamped by the fingers 21, and during the clamping process, different workpiece specifications and errors may affect the clamping. If the clamping form is directly used for workpiece clamping, it may lead to insufficient or excessive clamping force. Therefore, a pressure detection assembly 7 is also provided. A rubber cushion plate is provided on the fingers 21, and the workpiece is clamped through the deformation of the rubber cushion plate. At the same time, the pressure detection assembly 7 is provided on at least one of each finger 21, and the pressure detection assembly 7 is used to detect the interaction force between the finger 21 and the workpiece.

[0069] In this embodiment, since the number of fingers 21 is set to four, in order to improve the detection accuracy, the number of pressure detection assemblies 7 is set to two, and they are respectively provided on two opposite fingers 21.

[0070] Specifically, the pressure detection assembly 7 includes a fixed seat 71, a pressure sensor 72, a guide post 73, a movable plate 74, a force guide plate 75 and an elastic member 76. The fixed seat 71 is fixed on the finger 21. The pressure sensor 72 is fixed inside the fixed seat 71. One end of the guide post 73 penetrates the fixed seat 71 and is slidably connected to the fixed seat 71. The movable plate 74 is fixed to the other end of the guide post 73 and is used to contact the workpiece. The force guide plate 75 is slidably arranged on the guide post 73 and abuts against the detection end of the pressure sensor 72. The elastic member 76 is arranged between the force guide plate 75 and the movable plate 74.

[0071] The fixed seat 71 is U-shaped, and the movable plate 74 passes through the rubber pad. When the rubber pad is in contact with the workpiece, the movable plate 74 also contacts the workpiece. During the clamping process, the rubber pad is deformed, and the movable plate 74 is displaced a distance equal to the deformation of the rubber pad, and the guide column 73 slides synchronously. The displacement will be directly converted into the compression of the elastic member 76. After the elastic member 76 is compressed, pressure can be applied to the force guide plate 75, so that the pressure sensor 72 can detect the pressure on the force guide plate 75, thereby inferring the clamping force on the workpiece. For workpieces of different specifications or weights, stable clamping can be achieved by setting the corresponding clamping force.

[0072] In addition, the elastic member 76 can be selected as a spring, and the elastic member 76 is directly mounted on the guide column 73. Furthermore, in order to make the structure more stable and the force transmission more accurate, the number of guide columns 73 is set to two, and they are parallel to each other and fixed on the movable plate 74 at the same time.

[0073] In this embodiment, the gripping mechanism 2 also includes a fixed frame 22, a linkage arm 23 and a linear drive member 24. The fixed frame 22 is fixed on the lifting and weighing end of the lifting equipment 1. The number of linkage arms 23 is consistent with the number of clamping fingers 21, and they are all movably arranged on the fixed frame 22. The clamping fingers 21 are fixed on the linkage arms 23 one by one. The linear drive member 24 is fixed on the fixed frame 22 and is connected to each linkage arm 23 in transmission.

[0074] The fixing frame 22 can adopt a cross-shaped profile frame. The linkage arm 23 adopts a quadrilateral structure because it needs to withstand the relative force when the workpiece is clamped. At the same time, a curved rod hinged to the four linkage arms 23 is provided on the linear drive member 24. The linear drive member 24 drives the linkage arm 23 to rotate by pushing the curved rod downward, so that the clamping fingers 21 are away from the workpiece without rotating. Conversely, the linear drive member 24 drives the curved rod upward to move, which will make each clamping finger 21 close to the workpiece for clamping.

[0075] The linear drive member 24 can be selected as an electric push rod, which is fixed on the fixing frame 22, and its output end passes through the fixing frame 22. A cross bracket is installed on its output end, and four curved rods are hinged to each end of the bracket.

[0076] In this embodiment, a connecting frame 8 and a transmission assembly 9 are also provided. The connecting frame 8 is fixed on the rotating platform 3. Each of the positioning arms 5 is hinged on the connecting frame 8. The transmission assembly 9 is provided on the connecting frame 8 to transmit and connect each of the positioning arms 5 and the supporting frame 4. The connecting frame 8 is the main supporting structure of the transmission assembly 9 and the positioning arms 5. It is formed by fixing multiple components and has good mechanical properties to support the workpiece.

[0077] After the workpiece is placed on the carrier 4, the carrier 4 moves downward under the pressure of the workpiece's gravity, and then the transmission assembly 9 can drive each positioning arm 5 to rotate synchronously, so that the free end of the positioning arm 5 rotates towards the center of the carrier 4. In addition, in this embodiment, the number of positioning arms 5 is set to four. Since the free ends of the positioning arms 5 can open and close interactively, the volume of the workpiece that can be clamped by them can be within the maximum and minimum opening and closing strokes, and it can be applicable to the same kind of workpieces with different specifications or other types of workpieces, having strong applicability.

[0078] Specifically, the transmission assembly 9 includes a guide rod 91 and a connecting rod 92. The guide rod 91 is slidably arranged on the connecting frame 8 and is fixed to the carrier 4 at one end. The number of connecting rods 92 is the same as the number of positioning arms 5, and one end is hinged to the end of the guide rod 91 away from the carrier 4, and the other end is hinged to the positioning arm 5.

[0079] A sleeve is arranged on the connecting frame 8 and sleeved outside the guide rod 91, so that the guide rod 91 can slide on the connecting frame 8. At the same time, the guide rod 91 is set to four, corresponding to the four positioning arms 5 respectively. When the carrier 4 is affected by the gravity of the workpiece, the carrier 4 can move downward and drive the guide rod 91 to move downward on the connecting frame 8, so that the end of the connecting rod 92 connected to the guide rod 91 moves downward. The other end of the connecting rod 92 will move towards the carrier 4 under the action of the pulling force, and then drive the positioning arm 5 to rotate on the connecting frame 8, so that each positioning arm 5 rotates synchronously to clamp and position the workpiece.

[0080] In this embodiment, the perimeter detection assembly 6 includes a detection cylinder 61, an encoder 62 and a roller 63. The detection cylinder 61 is fixed to the finger 21, the encoder 62 is fixed on the output end of the detection cylinder 61, and the roller 63 is fixed on the rotating end of the encoder 62. The detection cylinder 61 is used to push the roller 63 to contact the cylindrical side surface of the workpiece.

[0081] Specifically, since four fingers 21 are provided, a perimeter detection assembly 6 is respectively arranged on two of the fingers 21. During the detection process, the detection cylinder 61 will push the encoder 62 to move, so that the roller 63 contacts the cylindrical side surface of the workpiece. The workpiece rotates driven by the rotating platform 3, and the encoder 62 can determine the perimeter of the cylindrical side surface of the workpiece by the number of rotations of the roller 63. Specifically, it is also necessary to refer to the rotation angle of the rotating platform 3. When the rotating platform 3 rotates one week, the data detected by the encoder 62 is the perimeter of the cylindrical side surface.

[0082] In this embodiment, in order to obtain the sum of the weights of the gripping mechanism 2 and the workpiece, a weighing bracket 25 is further provided on the gripping mechanism 2. The fixed frame 22 is fixedly connected to the lifting weighing end of the hoisting device 1 through the weighing bracket 25.

[0083] Specifically, the weighing support 25 includes a connecting bracket and four weighing sensors. The connecting bracket is fixed to the boom of the lifting device 1, and the connecting bracket is fixed to the four weighing sensors. The detection ends of the four weighing sensors are connected to the fixing bracket 22. The sum of the pressures detected by the four weighing sensors is the weight of the workpiece and the gripping mechanism 2. In a specific weighing process, when the workpiece is not gripped, the pressure detected by the four weighing sensors can be used as the weight of the gripping mechanism 2. After gripping the workpiece, the weight of the workpiece is the sum of the pressures detected by the four weighing sensors minus the weight of the gripping mechanism 2.

[0084] After obtaining the weight of the workpiece and performing a contour scan on the workpiece, for a solid workpiece, its density can also be determined through the scanned volume and mass to judge whether the material used is qualified.

[0085] In this embodiment, since the workpiece can be directly grabbed and transferred by the gripping mechanism 2 cooperating with the lifting device 1 after the scanning and detection are completed, but the carrier 4 needs to move upward to reset each positioning arm 5, a reset driving member 10 is also provided. The reset driving member 10 is disposed opposite to the rotating platform 3 and has a movable end. The movable end of the reset driving member 10 selectively pushes the carrier 4 away from the rotating platform 3.

[0086] Specifically, the reset driving member 10 can be a cylinder. One end of the reset driving member 10 is fixed to the workbench on which the rotating platform 3 is installed, and the output end can contact the carrier 4 when it extends. After the workpiece is grabbed and transferred away from the carrier 4, the output end of the reset driving member 10 will push the carrier 4 upward to realize the reset action of each positioning arm 5.

[0087] In addition, the contour scanning device in this embodiment can be an industrial camera cooperating with a robot for scanning operations.

[0088] Such as Figures 1-8 As shown, the transfer and detection method for a workpiece with a cylindrical side surface according to the present invention is implemented based on the above transfer and detection device, and specifically includes steps S1 - S5.

[0089] Step S1: The gripping mechanism 2 grips the cylindrical side surface of the workpiece through a plurality of fingers 21.

[0090] During the gripping process, in order to ensure that the fingers 21 stably grip the cylindrical side surface of the workpiece and prevent the workpiece from slipping, a preset clamping force needs to be set for the workpiece, and the pressure detection component 7 is used to detect the interaction force between the fingers 21 and the workpiece. When the detected force reaches the preset clamping force, it is judged as fully clamped.

[0091] Step S2: The hoisting device 1 transfers and grips the workpiece through the weighing and lifting end of the transfer gripping mechanism 2, and places the workpiece on the bearing rack 4. During the transfer process, the weighing and lifting end obtains the total weight of the gripping mechanism 2 and the workpiece, and obtains the weight of the workpiece based on the self-weight of the gripping mechanism 2.

[0092] The hoisting device 1 can select a cantilever crane with a rotation function, and drive the workpiece to switch between workstations through the self-rotation of the cantilever crane, or use a movable rotating platform 3. Move the rotating platform 3 under the workpiece, and then place the workpiece on the bearing rack 4.

[0093] During the transfer process, the sum of the pressures detected by the four weighing sensors of the weighing support 25 is the weight of the workpiece and the gripping mechanism 2. In a specific weighing process, the pressures detected by the four weighing sensors can be used as the weight of the gripping mechanism 2 when the workpiece is not gripped. After gripping the workpiece, the weight of the workpiece is the sum of the pressures detected by the four weighing sensors minus the weight of the gripping mechanism 2.

[0094] Step S3: After the workpiece is placed on the bearing rack 4, it is clamped by multiple positioning arms 5, the fingers 21 release the workpiece, and the gripping mechanism 2 does not move away from the workpiece.

[0095] After the workpiece is placed on the bearing rack 4, the fingers 21 release the workpiece. Specifically, the pressure detection component 7 can be used to detect whether the fingers 21 are released. When the pressure received by the pressure detection component 7 is zero, it can be determined that the fingers 21 are basically separated from the workpiece. Under the action of gravity, the workpiece presses the bearing rack 4 to move downward, driving each positioning arm 5 to contact the workpiece, and clamping and positioning are performed by the self-weight of the workpiece. At this time, the perimeter detection component 6 can push the roller 63 to contact the cylindrical side surface of the workpiece.

[0096] Step S4: The rotating platform 3 drives the workpiece to rotate, and obtains the perimeter characteristics of the cylindrical side surface of the workpiece through the perimeter detection component 6 during the rotation process.

[0097] When the rotating platform 3 drives the workpiece to rotate, since the cylindrical side surface of the workpiece contacts the roller 63, the roller 63 rotates together under the action of friction. After the rotating platform 3 rotates one week, the perimeter characteristics of the cylindrical side surface of the workpiece can be obtained.

[0098] In addition, the contour scanning is carried out synchronously during the rotation of the workpiece to save the scanning and detection time.

[0099] Step S5: Each finger 21 clamps the workpiece again, and the hoisting device 1 transfers the workpiece to other workstations.

[0100] The above is only the preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A transfer and detection device for a workpiece with a cylindrical side, characterized in that, It includes a hoisting device (1), a gripping mechanism (2), a rotating platform (3), a bearing frame (4), a positioning arm (5) and a perimeter detection component (6). Among them, The hoisting device (1) has a lifting and weighing end; The gripping mechanism (2) is fixed on the lifting and weighing end of the hoisting device (1). The lifting and weighing end is used to weigh the workpiece. The gripping mechanism (2) includes a plurality of fingers (21). Each of the fingers (21) is located on the same circumference and can move synchronously along the radius direction of the circle where it is located to cooperate with clamping the workpiece with a cylindrical side surface; The rotating platform (3) is arranged opposite to the gripping mechanism (2) and is used to drive the workpiece to rotate; The bearing frame (4) is arranged on the rotating platform (3) and can move towards or away from the rotating platform (3). The bearing frame (4) is used to place the workpiece; The number of positioning arms (5) is multiple, and they are all hinged on the rotating platform (3) and are annularly distributed outside the bearing frame (4). Each positioning arm (5) is in transmission connection with the bearing frame (4). When the bearing frame (4) approaches the rotating platform (3), the free ends of all the positioning arms (5) move towards the center of the bearing frame (4) to clamp the workpiece. When the bearing frame (4) moves away from the rotating platform (3), the free ends of all the positioning arms (5) move towards the side away from the bearing frame (4); The perimeter detection component (6) is arranged on at least one of each finger (21). When the workpiece rotates, the perimeter detection component (6) abuts against the cylindrical side surface of the workpiece to detect the perimeter of the cylindrical side surface.

2. The transfer detection device with a cylindrical side workpiece according to claim 1, characterized in that, It further includes a pressure detection component (7). The pressure detection component (7) is arranged on at least one of each finger (21). The pressure detection component (7) is used to detect the interaction force between the finger (21) and the workpiece.

3. The transfer detection device with a cylindrical side workpiece as described in claim 2, characterized in that, The pressure detection component (7) includes a fixed seat (71), a pressure sensor (72), a guide post (73), a movable plate (74), a force guiding plate (75) and an elastic member (76). Among them, The fixed seat (71) is fixed on the finger (21); The pressure sensor (72) is fixed inside the fixed seat (71); One end of the guide post (73) penetrates the fixed seat (71) and is slidably connected to the fixed seat (71); The movable plate (74) is fixed to the other end of the guide post (73) and is used to contact the workpiece; The force guiding plate (75) is slidably arranged on the guide post (73) and abuts against the detection end of the pressure sensor (72); The elastic member (76) is arranged between the force guiding plate (75) and the movable plate (74).

4. The transfer detection device with a cylindrical side workpiece as described in claim 1, characterized in that, The gripping mechanism (2) further includes a fixing frame (22), a linkage arm (23) and a linear driving member (24). Among them, The fixing frame (22) is fixed on the lifting and weighing end of the hoisting device (1); The number of linkage arms (23) is the same as the number of fingers (21), and they are all movably arranged on the fixing frame (22). The fingers (21) are fixedly arranged on the linkage arms (23) in a one-to-one correspondence; The linear driving member (24) is fixed on the fixing frame (22) and is in transmission connection with each linkage arm (23).

5. The transfer detection device with a cylindrical side workpiece according to claim 1, characterized in that, It further includes a connecting frame (8) and a transmission component (9). Among them, The connecting frame (8) is fixed on the rotating platform (3), and each of the positioning arms (5) is hinged on the connecting frame (8); The transmission assembly (9) is arranged on the connecting frame (8) to connect each positioning arm (5) and the supporting frame (4) in a transmission manner.

6. The transfer and detection device with a cylindrical side workpiece as described in claim 5, characterized in that The transmission assembly (9) comprises a guide rod (91) and a connecting rod (92), wherein: The guide rod (91) is slidably arranged on the connecting frame (8), and one end of the guide rod is fixed to the supporting frame (4); The number of the connecting rods (92) is the same as the number of the positioning arms (5), and one end of the connecting rods (92) is hinged to the end of the guide rod (91) away from the supporting frame (4), and the other end is hinged to the positioning arm (5).

7. The transfer detection device with a cylindrical side workpiece according to claim 1, characterized in that, The circumference detection assembly (6) comprises a detection cylinder (61), an encoder (62) and a roller (63), wherein: The detection cylinder (61) is fixed to the clamping finger (21); The encoder (62) is fixed on the output end of the detection cylinder (61); The roller (63) is fixed on the rotating end of the encoder (62), and the detection cylinder (61) is used to push the roller (63) so that it contacts the cylindrical side surface of the workpiece.

8. The transfer and detection device with a cylindrical side workpiece according to claim 4, characterized in that, The gripping mechanism (2) further comprises a weighing bracket (25), and the fixing bracket (22) is fixedly connected to the lifting and weighing end of the lifting equipment (1) via the weighing bracket (25).

9. The transfer and detection device with a cylindrical side workpiece according to claim 1, characterized in that, It also comprises a reset driving member (10), which is arranged opposite to the rotating platform (3) and has a movable end, and the movable end of the reset driving member (10) selectively pushes the carrier frame (4) away from the rotating platform (3).

10. A transfer detection method for a workpiece with a cylindrical side surface, characterized in that, The transfer detection device according to any one of claims 1 to 9 is implemented, and the method comprises the following steps: S1, the gripping mechanism (2) grips the cylindrical side surface of the workpiece through a plurality of gripping fingers (21); S2, the lifting device (1) transfers the gripping mechanism (2) and the workpiece through the weighing lifting end, and places the workpiece on the carrier (4). During the transfer process, the weighing lifting end obtains the total weight of the gripping mechanism (2) and the workpiece, and obtains the weight of the workpiece based on the deadweight of the gripping mechanism (2); S3, after the workpiece is placed on the carrier (4), it is clamped by a plurality of positioning arms (5), the clamping fingers (21) release the workpiece, and the gripping mechanism (2) does not move away from the workpiece; S4, the rotating platform (3) drives the workpiece to rotate, and during the rotation process, the circumference feature of the cylindrical side surface of the workpiece is obtained through the circumference detection component (6); S5. Each clamping finger (21) clamps the workpiece again, and the lifting device (1) moves the workpiece to another workstation.

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