Long object automatic detection device and detection method

Abstract

The application discloses a long object automatic detection equipment and a detection method. The equipment comprises a detection station base, a moving detection platform and a positioning rotary translation unit. The detection station base comprises a base support, a power module and a belt tensioning mechanism. The positioning rotary translation unit comprises an axial conveying module, a circumferential rotating module, a power transmission module, a segmented lifting mechanism and a positioning module. The long object automatic detection equipment is arranged in parallel on one side of a puncher during use, and a mechanical hand is arranged between the long object automatic detection equipment and the puncher. The method comprises the steps of workpiece feeding, detection of a through hole, detection of a top hole and overall scanning detection. The application can detect whether the dimensions of a workpiece are qualified immediately after the workpiece is manufactured, realizes one-side production and one-side detection, and is suitable for workpieces of different specifications.

Description

Technical Field

[0001] This invention relates to the field of new energy component testing technology, and in particular to an automatic testing device and method for long objects. Background Technology

[0002] In the new energy photovoltaic industry, it is often necessary to process long objects. One of the most common long objects is a circular hollow tube, which serves as a mounting bracket for solar panels in a solar servo system that moves with the sun. The front end of the tube is a necked section, which facilitates the connection of two tubes end to end.

[0003] However, if the dimensions of the multiple sets of connecting holes, including through holes and top holes, distributed in an array on the pipe fittings, are not promptly inspected after manufacturing to ensure they meet the required standards, it may lead to batch rework or scrapping of the pipe fittings. Current technology still relies on manual measurement, which cannot track production quality issues in a timely manner, easily resulting in batches of defective products. Summary of the Invention

[0004] To address the aforementioned shortcomings, this invention provides an automatic inspection device and method for long objects. The device immediately inspects the dimensions of the workpiece after it is manufactured to ensure compliance with standards, enabling simultaneous production and inspection. It is also adaptable to workpieces of different lengths, hole spacings, and hole sizes.

[0005] In order to achieve the objectives of this invention, the following technologies are proposed: An automatic detection device for long objects is set up parallel to one side of a punching machine during use, and a robotic arm is set between the device and the punching machine.

[0006] The automatic detection equipment for long objects includes a detection station base, a mobile detection platform, and a positioning, rotation, and translation unit; The testing station base includes a base bracket and a power module that drives itself to slide along the length of the base bracket; The mobile inspection platform is slidably set along the length of the inspection station base, including a pair of cantilever plates. An electrical cabinet with an opening on one side is installed at the lower end of one side of the top plate. The power module is installed in the opening of the electrical cabinet. An industrial control computer and three three-dimensional acquisition modules arranged circumferentially with their acquisition ends facing the outer periphery of the workpiece are installed on the inner side of one cantilever plate. A laser displacement sensor is installed on the inner side of the other cantilever plate. The positioning, rotation, and translation unit includes: Multiple axial conveying modules are arrayed at the upper end of the base support along its length direction to detect whether there is a workpiece on it and move the workpiece along its axis. Multiple circumferential rotation modules, each located at one end of the axial conveying module, are used to rotate the workpiece along its circumference. The segmented lifting mechanism, which is installed on the base bracket, is used for the alternating lifting of parts of the axial transmission module and the circumferential rotation module. The positioning module includes a clamping mechanism located at one end of the upper surface of the base support for clamping or releasing the workpiece and detecting through holes. One end of the clamping mechanism is provided with a stop mechanism for blocking one end of the workpiece and detecting when the workpiece contacts it.

[0007] Furthermore, the base support includes a rectangular tube-shaped support body. Multiple support bases arranged along the length of the support body are fixed to the lower end of the support body. A pair of vertically arranged first slide rails are fixed to one side of the support body, and a pair of first sliders are slidably fitted onto the first slide rails. A sliding contact line power supply system is fixed to one side of the support base, with a sliding contact line power input interface at one end. The power module includes a drive mounting plate fixed to the outer side of the first sliders. A pair of first idler wheels are mounted on the side of the drive mounting plate, vertically passing through its side and arranged along the length of the support body. The lower side is also vertically fixed with a first motor, the output end of which is equipped with a first reducer. The output end of the first reducer is provided with a first synchronous pulley. One end of the outer periphery of the first synchronous pulley is wrapped with a first synchronous belt that is tensioned in a V-shape between a first idler pulley, a first synchronous pulley, and another first idler pulley. A zigzag sliding contact line electrode connecting plate is also installed on one side of the drive mounting plate. The vertical part below it is in contact with and electrically connected to the sliding contact line power supply system. The detection station base also includes a pair of belt tensioning mechanisms respectively located at both ends of one side of the base bracket for tensioning the first synchronous belt.

[0008] Furthermore, the axial conveying module includes a transmission fixing group and a conveying lifting group; the transmission fixing group includes a worm gear; the conveying lifting group includes a pair of axial conveying rollers with a first guide wheel below them, and a positioning sensor between the two axial conveying rollers; the circumferential rotation module includes a rotation mechanism lifting group and a rotation lifting fixing group; the rotation mechanism lifting group includes a pair of circumferential rotating rollers with a second guide wheel below them; the rotation lifting fixing group includes a first gear for driving the circumferential rotating rollers to rotate.

[0009] Furthermore, the transmission fixing assembly also includes an upper mounting plate with an opening on its surface. A left mounting plate and a right mounting plate are fixedly connected to the lower end face of the upper mounting plate. A first tension spring is mounted on the side of the left mounting plate opposite to the right mounting plate. A first transmission shaft passes between the left and right mounting plates, and a fixed seat sprocket is provided on its outer periphery. A chain passes through the opening in the upper mounting plate on the outer periphery of the fixed seat sprocket, and the bottom end of the chain's inner periphery fits into the bottom of the fixed seat sprocket's outer periphery. A worm gear is mounted on the end of the first transmission shaft located on the outer side of the right mounting plate. Holes are opened at the four corners of the surface of the upper mounting plate, and a straight section is mounted at the lower end of the opening. Equipped with linear bearings, a second slide rail is mounted on the side of the left mounting plate opposite to the right mounting plate. The sliding end of the slide rail is equipped with a tension wheel for tensioning the chain. During operation, the hook at one end of the first tension spring is connected to the sliding end of the second slide rail. A lifting sprocket shaft is mounted between the two axial conveying rollers. A lifting sprocket is provided on the outer circumference of the shaft. The upper end of the inner circumference of the chain is fitted to the upper part of the outer circumference of the lifting sprocket. A position sensor is installed on one side of the support base for vertically upward detection of the workpiece's position. A pair of support base mounting top plates are fixed at the lower end of the support base. Each support base mounting top plate has two guide shafts passing through the linear bearings at its lower end. The first guide wheel is located below the guide shaft.

[0010] Furthermore, the rotating mechanism lifting assembly includes a lifting mounting plate, on the upper end of one side of which is provided a pair of second synchronous wheels, with each circumferential rotating roller respectively located at one end of the second synchronous wheels. On the other side of the lifting mounting plate, a pair of first linear guides are vertically provided, with a lifting connecting block mounted at the lower end of one of the first linear guides, and a second guide wheel located at the lower end of one side of the lifting connecting block. The rotating lifting fixing assembly includes a rotating mechanism mounting plate, on one side of which are fixed two sets of second sliders respectively slidably engaged with the first linear guides. Another second linear guide is also provided on one side of the rotating mechanism mounting plate, its sliding... The rotating mechanism mounting plate is equipped with a vertical sliding plate, and a second idler wheel is provided on one side of the vertical sliding plate. A fourth stud located below the vertical sliding plate is also fixed on one side of the rotating mechanism mounting plate. A second tension spring is assembled between the lower end of the vertical sliding plate and the fourth stud. A shaft is assembled at the bottom end of the rotating mechanism mounting plate and passes through both sides of it. A third synchronous wheel is provided at one end of the shaft and located below the second idler wheel. A first gear is provided at the other end of the shaft. A second synchronous belt is wound around the lower end of the outer periphery of the first gear. The second synchronous belt is wound from the outside to the inside around the upper end of the outer periphery of the two second synchronous wheels and around the lower end of the outer periphery of the second idler wheel.

[0011] Furthermore, the positioning, rotating and translating unit also includes a power transmission module that passes through the base bracket. It includes a second motor located on the outer side of one end of the base bracket, and a second reducer is provided at its output end. The output end of the second reducer is connected to a plurality of connecting shafts arranged in sequence at intervals. A worm gear that meshes with a worm wheel and a second gear that meshes with a first gear are fixedly sleeved on its outer periphery.

[0012] Furthermore, the segmented lifting mechanism includes an electric cylinder located on the outer side of one end of the base support. Its output end is connected to multiple arrayed translational drive shafts. Each adjacent translational drive shaft is connected to a segmented assembly, which includes a power connection plate. A rotating mechanism slide plate and a transmission mechanism slide plate are fixedly mounted on its upper surface. Starting from the direction closest to the electric cylinder and moving away from the electric cylinder, the rotating mechanism slide plate's grooves are sequentially formed into a high horizontal section, an inclined section, and a low horizontal section. The transmission mechanism slide plate's grooves are sequentially formed into a low horizontal section, an inclined section, and a high horizontal section. A second guide wheel engages with the rotating mechanism slide plate. Inside the chute, the first guide wheel is fitted into the chute of the transmission mechanism chute plate. When the second guide wheel is in the high horizontal section of its chute, the first guide wheel is in the low horizontal section of its chute. When the second guide wheel is in the low horizontal section of its chute, the first guide wheel is in the high horizontal section of its chute. The segmented assembly also includes a lifting mechanism fixing plate that is slidably fitted into the base bracket. A side plate is provided on its inner side, and a guide rail base plate is mounted on one side of its lower end. A third linear guide rail is installed on the upper surface of the guide rail base plate along its length. The power connection plate is fixedly installed on the sliding end of the third linear guide rail.

[0013] Furthermore, the clamping mechanism includes a vertical mounting plate, one side of which is provided with a third reducer. The lower end of the third reducer is provided with an output end connected to a third motor. The output end of the third reducer passes through the vertical mounting plate and is connected to a third gear. The other side of the vertical mounting plate is equipped with a pair of horizontal fourth linear guides. The sliding end of each fourth linear guide is respectively fixed with a clamping connecting plate. The lower end face of the upper clamping connecting plate and the upper end face of the lower clamping connecting plate are both provided with teeth. The teeth are all engaged with the third gear. The lower clamping connecting plate is equipped with a first positioning clamp on one side, and the upper clamping connecting plate is equipped with a second positioning clamp on one side. The opposite surfaces of the upper ends of the first and second positioning clamps are respectively provided with arc portions for clamping workpieces. The first and second positioning clamps are respectively provided with a first limit sensor on one side. The upper end sides of the first and second positioning clamps are both open and provided with positioning sensors. One end of the positioning sensor is provided with a positioning pin.

[0014] Furthermore, the stopping mechanism includes a vertical mounting plate, on one side of which is mounted a fourth reducer. One end of the fourth reducer has an output end connected to a fourth motor. The output end of the fourth reducer passes through the vertical mounting plate and is connected to a fourth gear. On the other side of the vertical mounting plate, a pair of fifth linear guides are vertically mounted. The sliding end of the fifth linear guides is provided with a rack that meshes with the fourth gear. Reinforcing blocks are respectively mounted on both ends of the vertical mounting plate. A baffle is mounted on one side of the rack. A fifth stud passes through the baffle. One end of the fifth stud is provided with a second limit sensor that passes through the vertical mounting plate.

[0015] An automatic detection method for long objects using an automatic long object detection device includes the following steps: S100: The workpiece is unloaded from the punching machine by the robot and loaded onto the axial conveying module. The axial conveying module moves the workpiece toward the positioning module. When the position sensor of at least one axial conveying module detects the workpiece, S200 is executed. S200: When the positioning sensor of the axial conveying module closest to the positioning module detects the workpiece, the stop mechanism rises, the axial conveying module continues to move the workpiece in the original direction, and after moving a distance equivalent to the predetermined diameter of the hole, the workpiece is rotated 180° circumferentially by the circumferential rotation module. It is determined whether a through hole is detected before the workpiece comes into contact with the stop mechanism. If so, the movement of the workpiece is stopped immediately when it is detected, and then S300 is executed. If not, S500 is executed. S300: First, make the axis of the through hole of the workpiece horizontal, then move the detection platform to determine whether the laser displacement sensor has detected the top hole. If yes, execute S400; otherwise, execute S500. S400: The clamping mechanism clamps the pipe fitting, then the moving inspection platform returns to one end of the workpiece, and then moves to the other end of the workpiece. During the movement, the 3D acquisition module scans and determines whether the length, hole diameter, hole spacing, necking length, necking R angle, necking outer diameter, coaxiality, ellipticity, hole offset, hole angle, straightness, and wall thickness of the workpiece are correct. If yes, then execute S600; otherwise, execute S500. S500: The robotic arm unloads the workpiece onto a non-conforming product platform; S600: The robot unloads the workpiece onto a qualified product platform.

[0016] The beneficial effects of this technical solution are as follows: 1. Inspection is carried out immediately after the workpiece is manufactured, achieving seamless connection between production and inspection. If there is a problem with the production equipment, it can prevent a large number of unqualified products from being produced. Real-time quality inspection facilitates timely adjustment and maintenance of the production equipment, improving the efficiency of production quality inspection.

[0017] 2. It has a high level of automation and can perform multiple inspections on holes and the main body of the workpiece without manual operation.

[0018] 3. It can adapt to workpieces of different lengths, hole spacings, and hole sizes, and has strong versatility. Attached Figure Description

[0019] Figure 1 The overall three-dimensional view of the detection equipment according to an embodiment of this application is shown. Figure 1 .

[0020] Figure 2The overall three-dimensional view of the detection equipment according to an embodiment of this application is shown. Figure 2 .

[0021] Figure 3 The overall three-dimensional view of the detection equipment according to an embodiment of this application is shown. Figure 3 .

[0022] Figure 4 The power module of the detection device according to an embodiment of this application is shown.

[0023] Figure 5 A front view of the belt tensioning mechanism of the detection device according to an embodiment of this application is shown.

[0024] Figure 6 A top view of the belt tensioning mechanism of the detection device according to an embodiment of this application is shown.

[0025] Figure 7 A three-dimensional view of the mobile detection platform of the detection device according to an embodiment of this application is shown. Figure 1 .

[0026] Figure 8 A three-dimensional view of the mobile detection platform of the detection device according to an embodiment of this application is shown. Figure 2 .

[0027] Figure 9 A three-dimensional view of the mobile detection platform of the detection device according to an embodiment of this application is shown. Figure 3 .

[0028] Figure 10 A perspective view of the positioning, rotation, and translation unit of the detection device according to an embodiment of this application is shown.

[0029] Figure 11 A perspective view of the axial transmission module of the detection device according to an embodiment of this application is shown.

[0030] Figure 12 A side view of the transmission fixing assembly of the detection device according to an embodiment of this application is shown.

[0031] Figure 13 A perspective view of the transmission fixing assembly of the testing device according to an embodiment of this application is shown.

[0032] Figure 14 A side view of the conveyor lifting assembly of the detection device according to an embodiment of this application is shown.

[0033] Figure 15 A perspective view of the conveyor lifting assembly of the detection equipment according to an embodiment of this application is shown.

[0034] Figure 16 A perspective view of the circumferential rotation module of the detection device according to an embodiment of this application is shown.

[0035] Figure 17A perspective view of the rotating mechanism lifting assembly of the detection equipment according to an embodiment of this application is shown.

[0036] Figure 18 A perspective view of the rotating lifting and fixing assembly of the detection device according to an embodiment of this application is shown.

[0037] Figure 19 A perspective view of the power transmission module of the testing equipment according to an embodiment of this application is shown.

[0038] Figure 20 A perspective view of the segmented lifting mechanism of the detection equipment according to an embodiment of this application is shown.

[0039] Figure 21 A side view of the clamping mechanism of the detection device according to an embodiment of this application is shown.

[0040] Figure 22 A front sectional view of the clamping mechanism of the testing device according to an embodiment of this application is shown.

[0041] Figure 23 A side cross-sectional view of the clamping mechanism of the testing device according to an embodiment of this application is shown.

[0042] Figure 24 A top view of the stopping mechanism of the detection device according to an embodiment of this application is shown.

[0043] Figure 25 A partial top sectional view of the stopping mechanism of the detection device according to an embodiment of this application is shown.

[0044] Figure 26 A perspective view of the stopping mechanism of the detection device according to an embodiment of this application is shown.

[0045] Figure 27 A flowchart illustrating the main steps of the detection method according to an embodiment of this application is shown. Detailed Implementation

[0046] The present application will be further described below with reference to the accompanying drawings and embodiments.

[0047] like Figures 1 to 26 The illustrated automatic long object inspection device includes an inspection station base 1, a mobile inspection platform 2, and a positioning, rotating, and translating unit 3. The inspection station base 1 includes a base support 11, a power module 12, and a belt tensioning mechanism 13. The positioning, rotating, and translating unit 3 includes an axial transmission module 4, a circumferential rotation module 5, a power transmission module 6, a segmented lifting mechanism 7, and a positioning module 8. During use, this automatic long object inspection device is positioned parallel to one side of a drilling machine, with a robotic arm installed between it and the drilling machine.

[0048] The base bracket 11 includes a rectangular tube-shaped bracket body 111. Multiple openings are provided on both sides of the bracket body 111. Multiple support bases 112 arranged along the length of the bracket body 111 are fixed at the lower end of the bracket body 111. A pair of vertically arranged first slide rails 113 are fixed on one side of the bracket body 111. A pair of first sliders 114 are slidably engaged with the first slide rails 113. Limit blocks 115 are fixed at both ends of the first slide rails 113. A synchronous belt guard plate 116 located between the two first slide rails 113 is also mounted on one side of the bracket body 111. The synchronous belt guard plate 116 includes a C-shaped part. Multiple mounting grooves 117 are provided along the length of the upper surface of the bracket body 111. A machine base fixed to both sides of the upper surface of the bracket body 111 is mounted above the mounting grooves 117. A sliding contact line power supply system 118 is fixed on one side of the support base 112, and a sliding contact line power input interface 119 is provided at one end of the system.

[0049] The power module 12 is slidably fitted to one side of the base bracket 11. The power module 12 includes a drive mounting plate 121 fixed to the outer side of the first slider 114. Two pairs of fixing blocks 122 are mounted on one side of the drive mounting plate 121. A first idler wheel 123 is vertically mounted between the two fixing blocks 122 in each pair. A first motor 124 is also vertically fixed to the lower end of one side of the drive mounting plate 121. A first reducer 126 is mounted on its output end. Specifically, the first reducer 126 is fixed to the drive module 124 by a reducer mounting plate 125. On one side of the mounting plate 121, the output end of the first reducer 126 is provided with a first synchronous pulley 127. One end of the outer periphery of the first synchronous pulley 127 is wrapped with a first synchronous belt 128 that is V-shaped and tensioned between a first idler pulley 123, the first synchronous pulley 127, and another first idler pulley 123. One side of both ends of the first synchronous belt 128 is formed with teeth. On one side of the drive mounting plate 121, a zigzag sliding contact line electrode connecting plate 129 is also mounted, and the vertical part below it is in contact with and electrically connected to the sliding contact line power supply system 118.

[0050] There is a pair of belt tensioning mechanisms 13, which are respectively located at both ends of one side of the base bracket 11. Each belt tensioning mechanism 13 includes a mounting base plate 131 fixed to one side of the mounting base plate. A tension support plate 132 is mounted on one end of the mounting base plate 131, and a screw 134 is passed through its side. Specifically, the tension support plate 132 has an opening on its side and a nut 133 is mounted on one side of the tension support plate 132. The screw 134 is passed through the opening of the tension support plate 132 and fixed by the nut 133. A toothed belt pressure plate 136 is mounted on one side of the mounting base plate 131, and its toothed part meshes with the toothed part of the first synchronous belt 128. The mounting base plate 131 is also equipped with a belt upper pressure plate 135, which is used to press the first synchronous belt 128 against the surface of the toothed belt pressure plate 136.

[0051] The mobile inspection platform 2 is slidably engaged with the inspection station base 1 and slides along the length of the inspection station base 1. It includes a pair of cantilever plates 21. An n-shaped top plate 22 is fixedly connected to the upper end of the cantilever plates 21. Observation windows 23 are provided on both sides of the top plate 22. Warning lights 24 are installed on the upper end of the top plate 22. An electrical cabinet 25 with an opening on one side is installed on the lower end of one side of the top plate 22. The power module 12 is installed inside the opening of the electrical cabinet 25. An industrial control computer 26 and three three-dimensional acquisition modules 27 arranged in a circle with their acquisition ends facing the outer periphery and the top of the workpiece 9, respectively, are installed on the inner side of one cantilever plate 21. Specifically, the three-dimensional acquisition module 27 adopts a Gocator 2530 3D line laser profile sensor. A laser displacement sensor 28 is installed on the inner side of the other cantilever plate 21, and its laser emission direction is facing the top of the outer periphery of the workpiece 9.

[0052] There are multiple axial transmission modules 4, which are arranged in an array along the length of the base support 11 on the upper end of the base support 11. Each axial transmission module 4 is respectively installed inside the mounting slot 117. The axial transmission module 4 includes a transmission fixing group 41 and a transmission lifting group 43.

[0053] The transmission fixing assembly 41 includes an upper mounting plate 411 fixedly mounted on a machine base, with an opening on its surface. A left mounting plate 412 and a right mounting plate 413 are fixedly connected to the lower end face of the upper mounting plate 411. A first stud 414 is mounted on the side of the left mounting plate 412 opposite to the right mounting plate 413. A first tension spring 415 is mounted on the outer end of the first stud 414. A first transmission shaft 416 passes between the left mounting plate 412 and the right mounting plate 413, and the first transmission shaft 416 extends to the outside of the right mounting plate 413. Specifically, the lower part of the side of both the left mounting plate 412 and the right mounting plate 413 has a shaft opening. The first transmission shaft 416 passes through the two shaft openings in sequence. A fixed seat sprocket 417 is provided on the outer periphery of the first transmission shaft 416. A fixed seat sprocket 417 is provided on the outer periphery of the fixed seat sprocket 417. A chain 418 passes through the opening of the upper mounting plate 411, and the bottom end of the inner circumference of the chain 418 is fitted to the bottom of the outer circumference of the fixed seat sprocket 417. The end of the first drive shaft 416 located on the outer side of the right mounting plate 413 is equipped with a worm gear 419. The four corners of the surface of the upper mounting plate 411 are respectively opened, and a linear bearing 420 is installed at the lower end of the opening position. The side of the left mounting plate 412 is also equipped with a second slide rail 421 relative to the side of the right mounting plate 413. The sliding end of the second slide rail 421 is equipped with a side mounting plate 422. One side of the side mounting plate 422 is equipped with a tensioning wheel 423 for tensioning the chain 418. The lower end face of the side mounting plate 422 is fixed with a second stud 424, which has a through hole. During operation, the hook at one end of the first tension spring 415 is hooked into the through hole of the second stud 424.

[0054] The conveying and lifting assembly 43 includes a pair of axial conveying rollers 431 for contacting the workpiece 9 and moving it along the axis. A lifting sprocket shaft 432 is assembled between the two axial conveying rollers 431. A lifting sprocket 433 is provided on the outer periphery of the lifting sprocket shaft 432. The upper end of the inner periphery of the chain 418 is engaged with the upper part of the outer periphery of the lifting sprocket 433. Both ends of the lifting sprocket 433 are provided with side bearings 434 that abut against the axial conveying rollers 431. The lifting sprocket shaft 432 passes through the side bearings 434. A support seat 435 covering the upper end of the chain 418 is also provided between the two axial conveying rollers 431. The support seat has an opening on its side, and the side bearings 434 are assembled on the support seat. The support base 435 has an opening on one side, and a positioning sensor 436 is installed on one side of the support base 435 for vertically upward positioning detection of the workpiece 9. A pair of support base mounting top plates 437 are fixed at the lower end of the support base 435. Each support base mounting top plate 437 has two guide shafts 438 that pass through the linear bearing 420 at its lower end. Support base mounting base plates 439 are provided at intervals below each support base mounting top plate 437. The upper end of each support base mounting base plate 439 is fixedly connected to the bottom end of the two guide shafts 438. The lower end of the two support base mounting base plates 439 is provided with a V-shaped tripod 440, and the bottom end of the tripod 440 is provided with a first guide wheel 441.

[0055] There are multiple circumferential rotation modules 5, which are respectively located at one end of each axial transmission module 4. The circumferential rotation module 5 includes a rotation mechanism lifting group 51 and a rotation lifting fixing group 52.

[0056] The rotating mechanism lifting assembly 51 includes a lifting mounting plate 514. A pair of second synchronous wheels 512 are provided at the upper end of one side of the plate. Each second synchronous wheel 512 is provided at one end with a circumferential rotating roller 511 for contacting the workpiece 9 and causing it to rotate circumferentially. A pair of first linear guide rails 513 are vertically provided on the other side of the lifting mounting plate 514. A lifting connecting block 515 is mounted at the lower end of one of the first linear guide rails 513. A second guide wheel 516 is provided at the lower end of one side of the lifting connecting block 515.

[0057] The rotating lifting and fixing assembly 52 includes a rotating mechanism mounting plate 521. Two sets of second sliders 522, which are slidably fitted onto a first linear guide rail 513, are fixed to one side of the rotating mechanism mounting plate 521. A second linear guide rail 523 is also provided on one side of the rotating mechanism mounting plate 521, with a vertical sliding plate at its sliding end. A second idler wheel 524 is provided on one side of the vertical sliding plate. A third stud 525 is fixed to the lower end of the vertical sliding plate. A fourth stud 527 located below the vertical sliding plate is also fixed to one side of the rotating mechanism mounting plate 521. A second tension spring 526 is assembled between the third stud 525 and the fourth stud 527. The bottom end of the rotating mechanism mounting plate 521... The device is equipped with shafts that pass through both sides. One end of the shaft is provided with a third synchronous pulley 529 located below the second idler pulley 524, and the other end is provided with a first gear 528. A second synchronous belt is wound around the lower end of the outer periphery of the first gear 528. The second synchronous belt is wound around the upper end of the outer periphery of the two second synchronous pulleys 512 from the outside to the inside, and is also wound around the lower end of the outer periphery of the second idler pulley 524. The other side of the rotating mechanism mounting plate 521 is provided with a rotating mechanism fixing plate 530 fixedly mounted on the machine base. The upper end of the rotating mechanism fixing plate 530 is provided with a pair of first reinforcing ribs 531 that are fixed to the rotating mechanism mounting plate 521 from the side.

[0058] The power transmission module 6 is mounted on the base bracket 11 and includes a second motor 61 located on the outer side of one end of the base bracket 11. The output end of the second motor 61 is equipped with a second reducer 62. The second reducer 62 is fixedly mounted on one end face of the bracket body 111 through a motor connecting plate 63. The output end of the second reducer 62 is connected to a plurality of connecting shafts 65 arranged in sequence and spaced apart through a connecting sleeve 64. Each connecting shaft 65 has a pair of fixing plates 67 extending outside the opening and slidingly engaging with the opening on one side of the bracket body 111 on its outer peripheral side away from the end of the connecting sleeve 64. A worm 66 meshing with a worm gear 419 is provided between the two fixing plates 67. A second gear 68 meshing with a first gear 528 is provided at one end of one fixing plate 67. A universal joint 69 is provided at the end of the connecting shaft 65. Except for the universal joint 69 farthest from the connecting sleeve 64, the other universal joints 69 are connected to the two connecting shafts 65 at both ends.

[0059] The segmented lifting mechanism 7 is also mounted on the base bracket 11, including an electric cylinder 711 located on the outer side of one end of the base bracket 11. The electric cylinder 711 is fixedly mounted on one end face of the bracket body 111 via an electric cylinder connecting plate 710. The output end of the electric cylinder 711 passes through one end of the bracket body 111 and is connected to an electric cylinder connecting sleeve 712. Multiple translational drive shafts 713 are arranged in an axial array at one end of the electric cylinder connecting sleeve 712. A segmented assembly is provided between each adjacent translational drive shaft 713. The segmented assembly includes a pair of connecting screws 716. Each connecting screw 716 is provided with a lower connecting block 714 and an upper connecting block 715 between it and the nearest translational drive shaft 713. One end of the connecting screw 716 is clamped between the lower connecting block 714 and the upper connecting block 715 and connected to the translational drive shaft 713. A power connecting plate 717 is assembled between the other ends of the two connecting screws 716. A rotary mechanism slide plate 722 and a transmission mechanism slide plate 723 are fixedly installed on its upper end face. Starting from the direction closest to the electric cylinder 711 and moving away from the electric cylinder 711... The sliding groove of the rotating mechanism slide plate 722 is sequentially formed with a high horizontal section, an inclined section, and a low horizontal section. The sliding groove of the transmission mechanism slide plate 723 is sequentially formed with a low horizontal section, an inclined section, and a high horizontal section. The second guide wheel 516 is fitted into the sliding groove of the rotating mechanism slide plate 722, and the first guide wheel 441 is fitted into the sliding groove of the transmission mechanism slide plate 723. When the second guide wheel 516 is located in the high horizontal section of its sliding groove, the first guide wheel 441 is located in the low horizontal section of its sliding groove. When it is in the low horizontal section of the slide, the first guide wheel 441 is located in the high horizontal section of the slide. The segmented assembly also includes a lifting mechanism fixing plate 718 that is slidably fitted to the opening on the other side of the bracket body 111. The inner side of the plate is provided with a side plate 719. The side plate 719 includes a horizontal part and a vertical part. A guide rail base plate 720 is mounted on one side of the lower end of the vertical part. A third linear guide rail 721 is installed on the upper surface of the guide rail base plate 720 along its length direction. The power connection plate 717 is fixedly installed on the sliding end of the third linear guide rail 721.

[0060] The positioning module 8 includes a clamping mechanism 81 and a stopping mechanism 83 located at one end of the upper surface of the base bracket 11 and assembled inside the same mounting groove 117.

[0061] The clamping mechanism 81 includes a hanging plate 811, with a vertical mounting plate 813 at its lower end and a pair of mounting side plates 812 at both ends of the vertical mounting plate 813. One side of the vertical mounting plate 813 is provided with a third reducer 816 and a pair of second reinforcing ribs 814 on both sides of the third reducer 816. The lower end of the third reducer 816 is provided with a third motor 815 whose output end is connected to the third reducer 816. The output end of the third reducer 816 passes through the vertical mounting plate 813 and is connected to a third gear 817. The other side of the vertical mounting plate 813 is fitted with a pair of horizontal fourth linear guides 818. A clamping connecting plate 819 is fixed to the sliding end of each fourth linear guide 818. The lower end face of the upper clamping connecting plate 819 and the lower clamping connecting plate... The upper surface of 819 is provided with teeth, which mesh with the third gear 817. The lower clamping connecting plate 819 is equipped with a first positioning clamp 820 on one side, and the upper clamping connecting plate 819 is equipped with a second positioning clamp 821 on one side. The upper ends of the first positioning clamp 820 and the second positioning clamp 821 are respectively provided with arc-shaped portions for clamping the workpiece 9. The first positioning clamp 820 and the second positioning clamp 821 are respectively provided with a first limit sensor 822 on one side. The upper ends of the first positioning clamp 820 and the second positioning clamp 821 are both open and provided with a positioning sensor 823. One end of the positioning sensor 823 is provided with a positioning pin 824, and both ends of the positioning pin 824 are provided with openings at the intersection with the axis.

[0062] The stopping mechanism 83 includes a vertical mounting plate 831, on one side of which is fitted a fixed base plate 832. The upper surface of the fixed base plate 832 is provided with a fourth reducer 835. One end of the fourth reducer 835 is provided with a fourth motor 834 connected to it, and a pair of third reinforcing ribs 833 on both sides. The output end of the fourth reducer 835 passes through the vertical mounting plate 831 and is connected to a fourth gear 836. A pair of fifth linear guides 837 are vertically mounted on the other side of the vertical mounting plate 831. The sliding end of the fifth linear guides 837 is provided with a rack 838 that meshes with the fourth gear 836. Reinforcing blocks 839 are respectively installed on both ends of the vertical mounting plate 831. A baffle 840 is mounted on one side of the rack 838. A fifth stud 841 passes through the baffle 840. One end of the fifth stud 841 is provided with a second limit sensor 842 that passes through the vertical mounting plate 831.

[0063] like Figure 27 As shown, an automatic detection method for long objects using the aforementioned automatic long object detection equipment is operated according to the following steps: S100: The workpiece 9 is unloaded from the drilling machine by the robot and loaded onto the axial conveying module 4. The axial conveying module 4 moves the workpiece 9 toward the positioning module 8. When the position sensor 436 of at least one axial conveying module 4 detects the workpiece 9, S200 is executed. S200: When the positioning sensor 436 of the axial transmission module 4 closest to the positioning module 8 detects the workpiece 9, the stop mechanism 83 is raised, and the axial transmission module 4 continues to move the workpiece 9 in the original direction. After moving a distance equivalent to the predetermined diameter of the hole, the workpiece 9 is rotated 180° circumferentially by the circumferential rotation module 5. It is determined whether a through hole is detected before the workpiece 9 comes into contact with the stop mechanism 83. If so, the movement of the workpiece 9 is stopped immediately when it is detected, and then S300 is executed. If not, S500 is executed. S300: First, make the axis of the through hole of workpiece 9 horizontal, then move the detection platform 2 to determine whether the laser displacement sensor 28 has detected the top hole. If yes, then execute S400; otherwise, execute S500. S400: The clamping mechanism 81 clamps the pipe fitting, then the moving inspection platform 2 returns to one end of the workpiece 9, and then moves to the other end of the workpiece 9. During the movement, the 3D acquisition module 27 scans the workpiece 9 to determine whether the length, hole diameter, hole spacing, necking length, necking R angle, necking outer diameter, coaxiality, ellipticity, hole offset, hole angle, straightness, and wall thickness of the workpiece 9 are correct. If yes, then execute S600; otherwise, then execute S500. S500: The robot arm unloads workpiece 9 to a non-conforming product platform, i.e., the NG product handling platform; S600: The robot arm unloads workpiece 9 onto a qualified product platform.

[0064] The detailed implementation of the above steps using the various components of the long object automatic detection device will be explained below.

[0065] Each axial conveying module 4 uses a positioning sensor 436 to detect whether the workpiece 9 is positioned above it.

[0066] For the axial movement of workpiece 9, the connecting shaft 65 is first rotated by the second motor 61 and the second reducer 62, and then the worm gear 66 causes the worm wheel 419 to rotate, which further drives the chain 418 to move and drives the axial conveying roller 431 to rotate. For the circumferential rotation of workpiece 9, when the connecting shaft 65 rotates, the second gear 68 causes the first gear 528 to rotate, which further causes the third synchronous pulley to rotate, driving the second synchronous belt, which in turn causes the circumferential rotating roller 511 to rotate.

[0067] The axial movement and circumferential rotation of the workpiece 9 mentioned above will not occur simultaneously, but can be selectively achieved through the segmented lifting mechanism 7. Specifically, the electric cylinder 711 causes the power connecting plate 717 to move axially along the translational transmission shaft 713, while the second guide wheel 516 is fitted into the groove of the rotating mechanism slide plate 722, and the first guide wheel 441 is fitted into the groove of the transmission mechanism slide plate 723. As described in the equipment description above, when the first guide wheel 441 is in a high position, the second guide wheel 516 is in a low position, and when the first guide wheel 441 is in a low position, the second guide wheel 516 is in a high position. Therefore, when the first guide wheel 441 drives the axial conveying roller 431 to rise, only the axial conveying roller 431 contacts the workpiece 9, while the circumferential rotating roller 511 does not contact it. Similarly, when the second guide wheel 516 drives the circumferential rotating roller 511 to rise, only the circumferential rotating roller 511 contacts the workpiece 9, while the axial conveying roller 431 does not contact it.

[0068] The detection of the perforation is achieved through the mutual firing of two positioning sensors 823.

[0069] The mobile detection platform 2 moves via a power module 12 that is fixedly mounted thereto. Specifically, the first motor 124 and the first reducer 126 drive the first synchronous wheel 127 to rotate, causing the power module 12 to move along the first slide rail 113 under the reaction force.

[0070] For the detection of the top hole, the laser displacement sensor 28 can detect the displacement change when the workpiece 9 moves, thus achieving the detection.

[0071] The clamping mechanism 81 clamps the pipe fitting in the following way: the third gear 817 is rotated by the third motor 815 and the third reducer 816. The teeth of the upper clamping connecting plate 819 are located on the lower end face, and the teeth of the lower clamping connecting plate 819 are located on the upper end face. Therefore, when the third gear 817 rotates, the two clamping connecting plates 819 respectively drive the first positioning clamp 820 and the second positioning clamp 821 to move in opposite directions. Thus, the distance between the first positioning clamp 820 and the second positioning clamp 821 can be controlled to increase or decrease, thereby realizing the clamping and release of the workpiece 9.

[0072] To determine whether the parameters of each hole and the main body of the workpiece are correct, the point cloud data of the workpiece 9 can be obtained by scanning the 3D acquisition module 27 and sent to the industrial control computer 26. The point cloud data is compared with the preset standard data in the industrial control computer 26. If it exceeds the error range, the workpiece 9 can be considered unqualified.

[0073] Apart from the industrial computer 26 itself, all electrically driven components are electrically connected to the industrial computer 26 for control and feedback.

[0074] The above are only some of the embodiments listed in this application and are not intended to limit this application.

Claims

1. An automatic detection device for long objects, which is set parallel to one side of a punching machine during use, and a robotic arm is set between the device and the punching machine, characterized in that, Includes a testing station base (1), a mobile testing platform (2), and a positioning, rotating, and translating unit (3); The testing station base (1) includes a base support (11) and a power module (12) that drives itself to slide along the length of the base support (11). The mobile inspection platform (2) is slidably set along the length of the inspection station base (1), including a pair of cantilever plates (21), an electrical cabinet (25) with an opening on one side is mounted on the lower side of one side of the top plate (22), a power module (12) is mounted in the opening of the electrical cabinet (25), an industrial control computer (26) and three three-dimensional acquisition modules (27) arranged along the circumference and with the acquisition end facing the outer periphery of the workpiece (9) are mounted on the inner side of one cantilever plate (21), and a laser displacement sensor (28) is mounted on the inner side of the other cantilever plate (21). The positioning, rotation, and translation unit (3) includes: Multiple axial conveying modules (4) are arrayed on the upper end of the base support (11) along its length direction. These modules are used to detect whether there is a workpiece (9) on the base support (11) by means of a positioning sensor (436) and to move the workpiece (9) along its axial direction. Multiple circumferential rotation modules (5) are respectively located at one end of the axial transmission module (4) to rotate the workpiece (9) along its circumference; The segmented lifting mechanism (7) is installed on the base bracket (11) and is used for alternating lifting of the axial transmission module (4) and the circumferential rotation module (5). The positioning module (8) includes a clamping mechanism (81) located at one end of the upper surface of the base bracket (11) for clamping or releasing the workpiece (9) and detecting through holes. One end of the clamping mechanism (81) is provided with a stop mechanism (83) for blocking one end of the workpiece (9) and detecting when the workpiece (9) contacts.

2. The automatic detection device for long objects according to claim 1, characterized in that, The base support (11) includes a rectangular tube-shaped support body (111). Multiple support bases (112) arranged along the length of the support body (111) are fixed to the lower end of the support body (111). A pair of vertically arranged first slide rails (113) are fixed to one side of the support body (111). A pair of first sliders (114) are slidably fitted onto the first slide rails (113). A sliding contact line power supply system (118) is fixed to one side of the support bases (112), with a sliding contact line power input interface (119) at one end. The power module (12) includes a drive mounting plate (121) fixed to the outer side of the first sliders (114). A pair of first idler wheels (123) are vertically inserted through the side of the drive mounting plate (121) and arranged along the length of the support body (111). The lower end of one side of the plate (121) is also vertically fixed with a first motor (124), and its output end is equipped with a first reducer (126). The output end of the first reducer (126) is provided with a first synchronous pulley (127). One end of the outer periphery of the first synchronous pulley (127) is wrapped with a first synchronous belt (128) that is V-shaped and tensioned between a first idler pulley (123), a first synchronous pulley (127), and another first idler pulley (123). The side of the drive mounting plate (121) is also equipped with a zigzag sliding contact line electrode connecting plate (129), and the vertical part below it is in contact with and electrically connected to the sliding contact line power supply system (118). The detection station base (1) also includes a pair of belt tensioning mechanisms (13) respectively located at both ends of one side of the base bracket (11) for tensioning the first synchronous belt (128).

3. The automatic detection device for long objects according to claim 1, characterized in that, The axial transmission module (4) includes a transmission fixing group (41) and a transmission lifting group (43); the transmission fixing group (41) includes a worm gear (419); the transmission lifting group (43) includes a pair of axial conveying rollers (431), with a first guide wheel (441) below them, and a positioning sensor (436) between the two axial conveying rollers (431); the circumferential rotation module (5) includes a rotation mechanism lifting group (51) and a rotation lifting fixing group (52); the rotation mechanism lifting group (51) includes a pair of circumferential rotating rollers (511), with a second guide wheel (516) below them; the rotation lifting fixing group (52) includes a first gear (528) for driving the circumferential rotating rollers (511) to rotate.

4. The automatic detection device for long objects according to claim 3, characterized in that, The transmission fixing assembly (41) also includes an upper mounting plate (411) with an opening on its surface. A left mounting plate (412) and a right mounting plate (413) are fixedly connected to the lower end face of the upper mounting plate (411). A first tension spring (415) is fitted on the side of the left mounting plate (412) opposite to the right mounting plate (413). A first transmission shaft (416) passes between the left mounting plate (412) and the right mounting plate (413), and a fixed seat sprocket (417) is provided on its outer periphery. The outer periphery of the seat sprocket (417) is provided with a chain (418) that passes through the opening of the upper mounting plate (411), and the chain (418) passes through the opening of the upper mounting plate (411). The bottom end of the inner periphery of the chain (418) is fitted to the bottom of the outer periphery of the fixed seat sprocket (417). The worm gear (419) is assembled on the end of the first drive shaft (416) located on the outside of the right mounting plate (413). The four corners of the surface of the upper mounting plate (411) are respectively opened, and a straight part is assembled at the lower end of the opening position. A linear bearing (420) is provided. A second slide rail (421) is mounted on the side of the left mounting plate (412) opposite to the right mounting plate (413). A tension wheel (423) for tensioning the chain (418) is mounted on its sliding end. During operation, a hook at one end of the first tension spring (415) is connected to the sliding end of the second slide rail (421). A lifting sprocket shaft (432) is mounted between the two axial conveying rollers (431), and a lifting sprocket (433) is provided on its outer circumference. The chain (418)... The upper end of the inner circumference is fitted to the upper part of the outer circumference of the lifting sprocket (433). The position sensor (436) is installed on one side of the support base (435) for vertically upward position detection of the workpiece (9). A pair of support base mounting top plates (437) are fixed at the lower end of the support base (435). Each support base mounting top plate (437) has two guide shafts (438) passing through the linear bearing (420) at the lower end. The first guide wheel (441) is located below the guide shaft (438).

5. The automatic detection device for long objects according to claim 3, characterized in that, The rotating mechanism lifting assembly (51) includes a lifting mounting plate (514), on the upper end of one side of which is provided a pair of second synchronous wheels (512), and each circumferential rotating roller (511) is respectively provided at one end of the second synchronous wheel (512). On the other side of the lifting mounting plate (514), a pair of first linear guides (513) are vertically provided, and a lifting connecting block (515) is mounted on the lower end of one of the first linear guides (513). A second guide wheel (516) is provided at the lower end of one side of the lifting connecting block (515). The rotating lifting fixing assembly (52) includes a rotating mechanism mounting plate (521), on one side of the rotating mechanism mounting plate (521) are fixed two sets of second sliders (522) that are respectively slidably engaged with the first linear guide (513). On one side of the rotating mechanism mounting plate (521), a second linear guide is also provided. The track (523) has a vertical sliding plate at its sliding end. A second idler wheel (524) is provided on one side of the vertical sliding plate. A fourth stud (527) located below the vertical sliding plate is fixed on one side of the rotating mechanism mounting plate (521). A second tension spring (526) is assembled between the lower end of the vertical sliding plate and the fourth stud (527). A shaft is assembled at the bottom end of the rotating mechanism mounting plate (521) and passes through both sides of it. A third synchronous wheel (529) located below the second idler wheel (524) is provided at one end of the shaft. A first gear (528) is provided at the other end of the shaft. A second synchronous belt is wound around the lower end of the outer periphery of the first gear (528). The second synchronous belt is wound from the outside to the inside around the upper end of the outer periphery of the two second synchronous wheels (512) and around the lower end of the outer periphery of the second idler wheel (524).

6. The automatic detection device for long objects according to claim 3, characterized in that, The positioning, rotating and translating unit (3) also includes a power transmission module (6) that passes through the base bracket (11). It includes a second motor (61) located on the outer side of one end of the base bracket (11), and a second reducer (62) at its output end. The output end of the second reducer (62) is connected to a plurality of connecting shafts (65) arranged in sequence at intervals. A worm (66) that meshes with a worm wheel (419) and a second gear (68) that meshes with a first gear (528) are fixedly sleeved on its outer periphery.

7. The automatic detection device for long objects according to claim 3, characterized in that, The segmented lifting mechanism (7) includes an electric cylinder (711) located on the outer side of one end of the base bracket (11). Its output end is connected to multiple translation drive shafts (713) arranged in an array. Each adjacent translation drive shaft (713) is provided with a segmented assembly. The segmented assembly includes a power connection plate (717), on which a rotating mechanism slide plate (722) and a transmission mechanism slide plate (723) are fixedly installed. Starting from the direction close to the electric cylinder (711) and moving away from the electric cylinder (711), the slide of the rotating mechanism slide plate (722) is sequentially formed with a high horizontal section, an inclined section, and a low horizontal section. The slide of the transmission mechanism slide plate (723) is sequentially formed with a low horizontal section, an inclined section, and a high horizontal section. The second guide wheel (516) is fitted into the slide of the rotating mechanism slide plate (722). The first guide wheel (441) is fitted into the groove of the transmission mechanism slide plate (723). When the second guide wheel (516) is located in the high horizontal section of its slide, the first guide wheel (441) is located in the low horizontal section of its slide. When the second guide wheel (516) is located in the low horizontal section of its slide, the first guide wheel (441) is located in the high horizontal section of its slide. The segmented assembly also includes a lifting mechanism fixing plate (718) that is slidably fitted into the base bracket (11). A side plate (719) is provided on its inner side. A guide rail base plate (720) is mounted on one side of its lower end. A third linear guide rail (721) is installed on the upper surface of the guide rail base plate (720) along its length direction. A power connection plate (717) is fixedly installed on the sliding end of the third linear guide rail (721).

8. The automatic detection device for long objects according to claim 1, characterized in that, The clamping mechanism (81) includes a vertical mounting plate (813), one side of which is provided with a third reducer (816). The lower end of the third reducer (816) is provided with a third motor (815) whose output end is connected to the third reducer (816). The output end of the third reducer (816) passes through the vertical mounting plate (813) and is connected to a third gear (817). The other side of the vertical mounting plate (813) is equipped with a pair of horizontal fourth linear guides (818). The sliding end of each fourth linear guide (818) is respectively fixed with a clamping connecting plate (819). The lower end face of the upper clamping connecting plate (819) and the upper end face of the lower clamping connecting plate (819) are both provided with teeth, and the teeth are all meshed. On the third gear (817), a first positioning fixture (820) is mounted on one side of the lower fixture connecting plate (819), and a second positioning fixture (821) is mounted on one side of the upper fixture connecting plate (819). The upper ends of the first positioning fixture (820) and the second positioning fixture (821) are respectively provided with arc-shaped portions for clamping the workpiece (9). A first limit sensor (822) is provided on one side of the first positioning fixture (820) and the second positioning fixture (821). The upper ends of the first positioning fixture (820) and the second positioning fixture (821) are both open and provided with positioning sensors (823). One end of the positioning sensor (823) is provided with a positioning pin (824).

9. The automatic detection device for long objects according to claim 1, characterized in that, The stop mechanism (83) includes a vertical mounting plate (831), on one side of which a fourth reducer (835) is mounted. One end of the fourth reducer (835) is provided with an output end connected to a fourth motor (834). The output end of the fourth reducer (835) passes through the vertical mounting plate (831) and is connected to a fourth gear (836). A pair of fifth linear guides (837) are vertically mounted on the other side of the vertical mounting plate (831). The sliding end of the fifth linear guide (837) is provided with a rack (838) meshing with the fourth gear (836). Reinforcing blocks (839) are respectively mounted on both ends of the vertical mounting plate (831). A baffle (840) is mounted on one side of the rack (838). A fifth stud (841) passes through the baffle (840). A second limit sensor (842) passes through the vertical mounting plate (831) at one end of the fifth stud (841).

10. An automatic detection method for long objects, characterized in that, The automatic long object detection device according to any one of claims 1 to 9 includes the following steps: S100: The workpiece (9) is unloaded from the punching machine by the robot and loaded onto the axial conveying module (4). The axial conveying module (4) moves the workpiece (9) toward the positioning module (8). When the position sensor (436) of at least one axial conveying module (4) detects the workpiece (9), S200 is executed. S200: When the position sensor (436) of the axial transmission module (4) closest to the positioning module (8) detects the workpiece (9), the stop mechanism (83) rises, and the axial transmission module (4) continues to move the workpiece (9) in the original direction. After moving a distance equivalent to the predetermined diameter of the hole, the workpiece (9) is rotated 180° in the circumferential direction by the circumferential rotation module (5). It is determined whether the workpiece (9) detects a through hole before it comes into contact with the stop mechanism (83). If so, the movement of the workpiece (9) is stopped immediately when it is detected, and then S300 is executed. If not, S500 is executed. S300: First, make the axis of the through hole of the workpiece (9) horizontal, then move the detection platform (2) to determine whether the laser displacement sensor (28) has detected the top hole. If yes, then execute S400; otherwise, execute S500. S400: The clamping mechanism (81) clamps the pipe fitting, and then the moving inspection platform (2) returns to one end of the workpiece (9), and then moves to the other end of the workpiece (9). During the movement, the three-dimensional acquisition module (27) scans and judges whether the length, hole diameter, hole spacing, necking length, necking R angle, necking outer diameter, coaxiality, ellipticity, hole offset, hole angle, straightness, and wall thickness of the workpiece (9) are correct. If yes, then execute S600; if no, then execute S500. S500: The robot unloads the workpiece (9) onto a non-conforming product platform; S600: The robot unloads the workpiece (9) onto a qualified product platform.

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