A multifunctional motor shaft grinder composite inspection robot

Abstract

This invention discloses a multifunctional composite inspection robot for motor shaft grinding machines. The invention relates to the field of motor shaft inspection technology and includes two mounting plates and a fixing block. Each mounting plate has multiple mounting screw holes on its top sidewall. The top sidewalls of the two mounting plates are fixedly connected to a mounting assembly for mounting the mounting plates on a grinding machine. This invention integrates the fixing of the external threaded section at the end of the motor shaft, the detection of surface damage to the threaded section, the detection of surface defects on the shaft body, and the detection of concentricity and radial runout of the top positioning head, limiting boss, and main shaft into one unit. Through the coordinated operation of the fixing and detection components and the concentricity detection component, a single device can perform one-stop inspection of multiple parts and types of quality parameters of the motor shaft, eliminating the need for multiple clamping and inspections by separate equipment, workstations, and processes, greatly simplifying the inspection process.

Description

Technical Field

[0001] This invention belongs to the field of motor shaft inspection technology, and particularly relates to a multifunctional motor shaft grinding machine composite inspection robot. Background Technology

[0002] The motor shaft is a major component of the motor, and it needs to be inspected after machining.

[0003] Existing grinding machine testing equipment is mostly single-function, capable of performing only one testing item. It cannot integrate the centering and fixing of the external thread section at the end of the motor shaft, the detection of surface damage of the thread section, the identification of surface defects of the shaft body, and the detection of concentricity, radial runout, and roundness of the top positioning head, limiting boss, and main shaft into one unit. It requires separate equipment, separate workstations, and multiple clamping to complete the testing, which is cumbersome and lacks overall consistency. Traditional testing methods mostly use single contact measurement or single vision inspection, which cannot meet the dual requirements of accurate geometric measurement and efficient identification of surface defects at the same time. The detection coverage is limited. At the same time, the existing testing equipment has a single installation and fixing method, insufficient multi-dimensional displacement adjustment capability of the testing mechanism, poor flexibility to adapt to different specifications of motor shafts, and the shaft clamping is mostly single-point fixed, which is prone to problems such as sagging, shaking, and eccentricity, which seriously affects the stability of the testing. Moreover, the detection positioning accuracy is insufficient, the fixed visual inspection angle has blind spots, and the feedback sensitivity of pressure sensor geometric accuracy detection is weak, which cannot achieve full-surface, dead-angle-free, high-precision testing.

[0004] To address these issues, we propose a multifunctional motor shaft grinding machine composite inspection robot. Summary of the Invention

[0005] To achieve the above objectives, the present invention adopts the following technical solution: A multifunctional motor shaft grinding machine composite inspection robot includes two mounting plates and a fixing block. The top sidewalls of the mounting plates are provided with multiple mounting screw holes. The top sidewalls of the two mounting plates are fixedly connected to mounting components for mounting the mounting plates on the grinding machine. The sidewalls of the fixing block are fixedly connected to a fixing and detection component for fixing the external threaded section at the end of the motor shaft and detecting whether there is any damage to the external threaded section. The sidewalls of the fixing block are fixedly connected to a concentricity detection component for detecting the concentricity and whether there is any damage to the positioning head, limiting boss and main shaft outer wall at the top of the motor shaft.

[0006] Preferably, the mounting assembly includes a first electric slide rail fixedly connected to the top sidewalls of two mounting plates, a first sliding plate slidably connected to the top sidewalls of each of the first electric slide rails, a first electric telescopic rod fixedly connected to the top sidewalls of each of the first sliding plates, a second electric slide rail fixedly connected to the inner wall of the fixing block, two second sliding plates slidably connected to the bottom sidewalls of the second electric slide rails, and the telescopic end of the first electric telescopic rod fixedly connected to the bottom sidewall of the corresponding second sliding plate.

[0007] Preferably, the fixed detection assembly includes a first motor fixedly connected to the side wall of the fixed block, a second electric telescopic rod rotatably connected to the side wall of the fixed block, the output end of the first motor passing through the side wall of the fixed block and fixedly connected to one end of the second electric telescopic rod, a fixed cylinder fixedly connected to the telescopic end of the second electric telescopic rod, and a third electric telescopic rod fixedly connected to the inner wall of the fixed cylinder.

[0008] Preferably, the telescopic end of the third electric telescopic rod is fixedly connected to a mounting cylinder, the inner wall of the mounting cylinder is provided with a fixing thread, the inner wall of the fixed cylinder is provided with a first groove, the inner wall of the first groove is fixedly connected to a third electric slide rail, the side wall of the third electric slide rail is slidably connected to a third sliding plate, the side wall of the third sliding plate is fixedly connected to a fourth electric telescopic rod, and the telescopic end of the fourth electric telescopic rod is fixedly connected to a first vision sensor.

[0009] Preferably, the concentricity detection component includes two first U-plates symmetrically fixedly connected to the sidewalls of a fixed block. A first round rod is rotatably connected to the inner wall of the first U-plate. A second motor is fixedly connected to the sidewall of the first U-plate. The output end of the second motor passes through the sidewall of the first U-plate and is fixedly connected to one end of the first round rod. A side plate is fixedly connected to the rod wall of the first round rod. A connecting plate is fixedly connected to the sidewall of the side plate.

[0010] Preferably, a fourth electric slide rail is fixedly connected to the inner wall of the connecting plate, a fourth slide plate is slidably connected to the side wall of the fourth electric slide rail, a fifth electric slide rail is fixedly connected to the side wall of the fourth slide plate, two fifth slide plates are slidably connected to the side wall of the fifth slide rail, and a fifth electric telescopic rod is fixedly connected to the side wall of each fifth slide plate.

[0011] Preferably, a second U-plate is fixedly connected to the telescopic end of one of the fifth electric telescopic rods, a second round rod is rotatably connected to the inner wall of the second U-plate, a third motor is fixedly connected to the side wall of the second U-plate, the output end of the third motor passes through the side wall of the second U-plate and is fixedly connected to one end of the second round rod, a first support rod is fixedly connected to the rod wall of the second round rod, a detection plate is fixedly connected to one end of the first support rod, and multiple clamping plates are fixedly connected to the side wall of the detection plate.

[0012] Preferably, two symmetrical sliding grooves are formed on the inner walls of both ends of the card plate. A slider is slidably connected to the inner wall of each sliding groove. The two sliders are rotatably connected to the same detection wheel on the side wall of opposite end. A pressure sensor is fixedly connected to the inner wall of one end of each sliding groove. A detection spring is fixedly connected to the detection end of each pressure sensor. One end of each detection spring is fixedly connected to the side wall of the corresponding slider.

[0013] Preferably, the telescopic end of another fifth electric telescopic rod is fixedly connected to a third U-plate, the inner wall of the third U-plate is rotatably connected to a third round rod, the side wall of the third U-plate is fixedly connected to a fourth motor, the output end of the fourth motor passes through the side wall of the third U-plate and is fixedly connected to one end of the third round rod, the rod wall of the third round rod is fixedly connected to a fourth U-plate, the inner wall of the fourth U-plate is rotatably connected to a fourth round rod, the side wall of the fourth U-plate is fixedly connected to a fifth motor, and the output end of the fifth motor passes through the side wall of the fourth U-plate and is fixedly connected to one end of the fourth round rod.

[0014] Preferably, a second support rod is fixedly connected to the wall of the fourth round rod, a second vision sensor is fixedly connected to one end of the second support rod, an auxiliary slide plate is slidably connected to the side wall of the fourth electric slide rail, a sixth electric telescopic rod is fixedly connected to the side wall of the auxiliary slide plate, and a clamp is fixedly connected to the telescopic end of the sixth electric telescopic rod.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows: This invention integrates the fixing of the external threaded section at the end of the motor shaft, the detection of surface damage to the threaded section, the detection of surface defects on the shaft body, and the detection of concentricity and radial runout of the top positioning head, limiting boss, and main shaft into one unit. Through the coordinated cooperation of the fixing detection component and the concentricity detection component, a single device can perform one-stop detection of multiple parts and types of quality parameters of the motor shaft. This eliminates the need for multiple clamping and detection operations by separate equipment, workstations, and processes, greatly simplifying the detection process and improving the overall integrity and continuity of the detection. At the same time, it adopts a combination of contact geometric precision detection and optical vision detection, which can not only achieve accurate measurement of geometric parameters such as concentricity, roundness, and radial runout, but also efficiently identify appearance defects such as surface scratches, bumps, burrs, defects, and burns. The detection coverage is wide, effectively solving the problems of single function and poor integration of traditional detection methods.

[0016] This invention achieves stable installation and adjustable position of the entire device on the grinding machine through the installation components. The cooperation of components such as the first electric slide rail, the first electric telescopic rod, and the second electric slide rail enables multi-dimensional displacement adjustment of the detection mechanism, adapting to the detection needs of motor shafts of different specifications. It is convenient to assemble and adjust, and highly adaptable. The fixed detection component uses a threaded engagement method to center and fix the end of the motor shaft. Combined with the auxiliary support of the clamping plate for the main shaft, it avoids single-point clamping sagging, wobbling, or eccentricity of the shaft, significantly improving shaft stability during the detection process and ensuring the authenticity and reliability of the detection data. The concentricity detection component achieves precise positioning of the detection position through multi-stage electric slide rails, sliding plates, and electric telescopic rods. Through the coordinated operation of the detection wheel, slider, detection spring, and pressure sensor, the radial runout and concentricity error of the shaft are converted into pressure signal changes, resulting in sensitive detection feedback and high positioning accuracy. Simultaneously, dual vision sensors perform zoned detection of the threaded section and the shaft body, combined with an adjustable-angle vision detection mechanism, achieving full-surface, multi-angle, and blind-spot-free coverage, effectively avoiding detection blind spots and improving detection accuracy and consistency. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the structure of the present invention from other angles; Figure 3 This is a cross-sectional view of part of the structure of the present invention; Figure 4 This is a partial structural diagram of the present invention. Figure 1 ; Figure 5 This is a partial structural diagram of the present invention. Figure 2 ; Figure 6 For the present invention Figure 5 Enlarged view of part A; Figure 7 This is a partial structural diagram of the present invention. Figure 3 .

[0018] In the diagram: 1. Mounting plate; 2. Fixing block; 3. Mounting screw hole; 4. Mounting assembly; 41. First electric slide rail; 42. First sliding plate; 43. First electric telescopic rod; 44. Second electric slide rail; 45. Second sliding plate; 5. Fixing detection assembly; 51. First motor; 52. Second electric telescopic rod; 53. Fixing cylinder; 54. Third electric telescopic rod; 55. Mounting cylinder; 56. Fixing thread; 57. First groove; 58. Third electric slide rail; 59. Third sliding plate; 510. Fourth electric telescopic rod; 511. First vision sensor; 6. Concentricity detection assembly; 61. First U-plate; 62. First round rod; 63. Second motor; 64. Side plate; 65. Connecting plate; 66. 67. Fourth electric slide rail; 68. Fifth electric slide rail; 69. Fifth slide rail; 610. Fifth electric telescopic rod; 611. Second U-shaped plate; 612. Second round rod; 613. Third motor; 614. First support rod; 615. Detection plate; 616. Clamping plate; 617. Slide groove; 618. Slider; 619. Detection wheel; 620. Pressure sensor; 621. Detection spring; 622. Third U-shaped plate; 623. Third round rod; 624. Fourth motor; 625. Fourth U-shaped plate; 626. Fourth round rod; 627. Fifth motor; 628. Second support rod; 629. Second vision sensor; 630. Auxiliary slide rail; 631. Sixth electric telescopic rod; 632. Clamping plate. Detailed Implementation

[0019] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0020] The following electrical components are all electrically connected to the external PLC controller. Reference Figures 1-7 A multifunctional motor shaft grinding machine composite inspection robot includes two mounting plates 1 and a fixing block 2. The top sidewalls of the mounting plates 1 are provided with multiple mounting screw holes 3. The top sidewalls of the two mounting plates 1 are fixedly connected to mounting components 4 for mounting the mounting plates 1 on the grinding machine. The sidewalls of the fixing block 2 are fixedly connected to a fixing and detection component 5 for fixing the external thread section at the end of the motor shaft and detecting whether there is any damage to the external thread section. The sidewalls of the fixing block 2 are fixedly connected to a concentricity detection component 6 for detecting the concentricity and whether there is any damage to the positioning head, limiting boss and main shaft outer wall at the top of the motor shaft.

[0021] In this embodiment, the mounting assembly 4 includes two mounting plates 1 with their top sidewalls fixedly connected to a first electric slide rail 41. The top sidewalls of the first electric slide rail 41 are slidably connected to a first slide plate 42. The top sidewalls of the first slide plate 42 are fixedly connected to a first electric telescopic rod 43. The inner wall of the fixing block 2 is fixedly connected to a second electric slide rail 44. The bottom sidewalls of the second electric slide rail 44 are slidably connected to two second slide plates 45. The telescopic ends of the first electric telescopic rods 43 are fixedly connected to the bottom sidewalls of the corresponding second slide plates 45.

[0022] Specifically, the mounting screw hole 3 is used to fix the mounting plate 1 to the grinding machine body with bolts to achieve the overall positioning and installation of the machine. The first electric slide rail 41 is used to drive the first slide plate 42 to move horizontally to achieve the axial feed and displacement of the motor shaft. The first slide plate 42 is used to support the first electric telescopic rod 43 and transmit horizontal displacement. The first electric telescopic rod 43 is used to drive the fixed block 2 to lift and adjust the height position of the detection mechanism. The second electric slide rail 44 is used to drive the two second slide plates 45 to move relative to each other or in opposite directions to adjust the overall installation span. The second slide plate 45 is used to connect the first electric telescopic rod 43 and the fixed block 2 to achieve coordinated adjustment of height and span.

[0023] In this embodiment, the fixed detection component 5 includes a first motor 51 fixedly connected to the side wall of the fixed block 2, a second electric telescopic rod 52 rotatably connected to the side wall of the fixed block 2, the output end of the first motor 51 passing through the side wall of the fixed block 2 and fixedly connected to one end of the second electric telescopic rod 52, a fixed cylinder 53 fixedly connected to the telescopic end of the second electric telescopic rod 52, and a third electric telescopic rod 54 fixedly connected to the inner wall of the fixed cylinder 53. The telescopic end of the third electric telescopic rod 54 is fixedly connected to the mounting cylinder 55. The inner wall of the mounting cylinder 55 is provided with a fixing thread 56. The inner wall of the fixing cylinder 53 is provided with a first groove 57. The inner wall of the first groove 57 is fixedly connected to the third electric slide rail 58. The side wall of the third electric slide rail 58 is slidably connected to the third slide plate 59. The side wall of the third slide plate 59 is fixedly connected to the fourth electric telescopic rod 510. The telescopic end of the fourth electric telescopic rod 510 is fixedly connected to the first vision sensor 511.

[0024] Specifically, the first motor 51 drives the second electric telescopic rod 52, the fixed cylinder 53, and the mounting cylinder 55 to rotate, enabling them to engage and loosen with the threaded section of the motor shaft. The second electric telescopic rod 52 drives the fixed cylinder 53 and the mounting cylinder 55 to move axially closer to or further away from the end of the motor shaft. The fixed cylinder 53 covers the external threaded section at the end of the motor shaft, providing a closed detection space for thread damage detection. The third electric telescopic rod 54 drives the mounting cylinder 55 to make axial fine adjustments, ensuring that the open end faces of the mounting cylinder 55 and the fixed cylinder 53 remain coaxial and coplanar. The mounting cylinder 55 engages with the external threaded section at the end of the motor shaft via its inner wall fixing thread 56, achieving centering and fixing of the motor shaft. The groove 56 is used to cooperate with the external thread section of the motor shaft to achieve axial locking and circumferential synchronous rotation. The first groove 57 is used to accommodate and install the third electric slide rail 58 to avoid structural interference. The third electric slide rail 58 is used to drive the third slide plate 59 to move axially along the thread section to achieve full scanning of the first vision sensor 511. The third slide plate 59 is used to support the fourth electric telescopic rod 510 and the first vision sensor 511 to achieve axial displacement transmission. The fourth electric telescopic rod 510 is used to adjust the radial detection distance between the first vision sensor 511 and the thread section. The first vision sensor 511 is used to collect surface images of the external thread section at the end of the motor shaft to detect surface defects such as thread profile, scratches, bumps, and defects.

[0025] In this embodiment, the concentricity detection component 6 includes two first U-plates 61 symmetrically fixedly connected to the sidewalls of the fixed block 2. A first round rod 62 is rotatably connected to the inner wall of the first U-plate 61. A second motor 63 is fixedly connected to the sidewall of the first U-plate 61. The output end of the second motor 63 passes through the sidewall of the first U-plate 61 and is fixedly connected to one end of the first round rod 62. A side plate 64 is fixedly connected to the rod wall of the first round rod 62. A connecting plate 65 is fixedly connected to the sidewall of the side plate 64. The inner wall of the connecting plate 65 is fixedly connected to the fourth electric slide rail 66, the side wall of the fourth electric slide rail 66 is slidably connected to the fourth slide plate 67, the side wall of the fourth slide plate 67 is fixedly connected to the fifth electric slide rail 68, the side wall of the fifth slide rail is slidably connected to two fifth slide plates 69, and the side wall of each fifth slide plate 69 is fixedly connected to the fifth electric telescopic rod 610. One of the fifth electric telescopic rods 610 has a telescopic end fixedly connected to a second U-plate 611. The inner wall of the second U-plate 611 is rotatably connected to a second round rod 612. The side wall of the second U-plate 611 is fixedly connected to a third motor 613. The output end of the third motor 613 passes through the side wall of the second U-plate 611 and is fixedly connected to one end of the second round rod 612. The rod wall of the second round rod 612 is fixedly connected to a first support rod 614. One end of the first support rod 614 is fixedly connected to a detection plate 615. The side wall of the detection plate 615 is fixedly connected to multiple clamping plates 616. Two symmetrical grooves 617 are opened on the inner walls of both ends of the plate 616. A slider 618 is slidably connected to the inner wall of each groove 617. The two sliders 618 are rotatably connected to the same detection wheel 619 on the side wall of opposite end. A pressure sensor 620 is fixedly connected to the inner wall of one end of each groove 617. A detection spring 621 is fixedly connected to the detection end of each pressure sensor 620. One end of each detection spring 621 is fixedly connected to the side wall of the corresponding slider 618. Another fifth electric telescopic rod 610 has a telescopic end fixedly connected to a third U-plate 622. The inner wall of the third U-plate 622 is rotatably connected to a third round rod 623. The side wall of the third U-plate 622 is fixedly connected to a fourth motor 624. The output end of the fourth motor 624 passes through the side wall of the third U-plate 622 and is fixedly connected to one end of the third round rod 623. The rod wall of the third round rod 623 is fixedly connected to a fourth U-plate 625. The inner wall of the fourth U-plate 625 is rotatably connected to a fourth round rod 626. The side wall of the fourth U-plate 625 is fixedly connected to a fifth motor 627. The output end of the fifth motor 627 passes through the side wall of the fourth U-plate 625 and is fixedly connected to one end of the fourth round rod 626. The fourth round rod 626 is fixedly connected to the second support rod 628. One end of the second support rod 628 is fixedly connected to the second vision sensor 629. The side wall of the fourth electric slide rail 66 is slidably connected to the auxiliary slide plate 630. The side walls of the auxiliary slide plate 630 are all fixedly connected to the sixth electric telescopic rod 631. The telescopic ends of the sixth electric telescopic rod 631 are all fixedly connected to the clamping plate 632.

[0026] Specifically, the third U-plate supports the third round rod 623 and the fourth motor 624 to form the first-stage angle adjustment mechanism. The fourth motor 624 drives the third round rod 623 to rotate, thereby adjusting the pitch angle of the second vision sensor 629. The third round rod 623 drives the fourth U-plate to deflect and adjust the pitch attitude of the vision detection. The plate supports the fourth round rod 626 and the fifth motor 627 to form the second-stage angle adjustment mechanism. The fifth motor 627 drives the fourth round rod 626 to rotate, thereby adjusting the circumferential angle of the second vision sensor 629. The fourth round rod 626 drives the second support rod 628 and the second vision sensor 629 to deflect, thereby achieving multi-angle and all-round detection. The second support rod 628 connects the fourth round rod 626 and the second vision sensor 629 to ensure a stable detection angle. The second vision sensor 629 collects images of the motor shaft positioning head, the limiting boss, and the surface of the main rod to detect defects such as scratches, bumps, burrs, and burns. The auxiliary slide plate 630 moves along the fourth electric slide rail 66 to drive the clamping plate 632 to the shaft clamping position. The sixth electric telescopic rod 631 drives the clamping plate 632 to feed radially, thereby achieving centering clamping and auxiliary support for the main rod of the motor shaft. The clamping plate 632 clamps the motor shaft during the disassembly of the threaded section to prevent the shaft from sagging or becoming eccentric, thus ensuring detection accuracy.

[0027] The operating principle of the present invention is described as follows: In this invention, when it is necessary to perform surface damage detection, geometric dimension detection, concentricity and radial runout detection on the motor shaft after precision grinding, the second electric slide rail 44 is first started, which drives the two second slide plates 45 to move relative to each other. The distance between the two second slide plates 45 is adjusted so that the overall span of the first electric telescopic rod 43 and the mounting plate 1 is adapted to the outer mounting part of the grinding machine. After the distance is adjusted to the correct position, the second electric slide rail 44 is stopped. The operator places the two mounting plates 1 in the corresponding outer mounting position of the grinding machine and aligns the mounting screw holes 3 with the preset mounting holes of the grinding machine. The mounting plates 1 are then securely installed on the grinding machine body with bolts to achieve the positioning and installation of the whole machine. After the grinding machine completes the grinding of the motor shaft, it controls the first electric telescopic rod 43 to start, driving the fixed block 2 to rise to the same height as the motor shaft; then it controls the first electric slide rail 41 to start, causing the first slide plate 42 to move the fixed cylinder 53 and the mounting cylinder 55 toward the external thread section at the end of the motor shaft. When the fixed cylinder 53 is close to the end of the motor shaft, it controls the first electric slide rail 41 to stop, and controls the third electric telescopic rod 54 to start, driving the mounting cylinder 55 to move axially, so that the end face of the mounting cylinder 55 and the open end face of the fixed cylinder 53 remain coplanar, ensuring subsequent coaxial assembly; Subsequently, the second electric telescopic rod 52 is controlled to start synchronously with the first motor 51, so that the fixed cylinder 53 and the mounting cylinder 55 approach the end of the motor shaft during the rotational feed. The fixing thread 56 on the inner wall of the mounting cylinder 55 is screwed into the external thread section at the end of the motor shaft and gradually sleeved and locked, so as to achieve reliable fixation and centering of the end of the motor shaft. After the fixation is completed, the original clamping mechanism inside the grinding machine releases the clamping of the motor shaft. The motor shaft is supported by the single-point centering of the mounting cylinder 55. The first electric slide rail 41 is controlled to continue to start, so that the first slide plate 42 drives the motor shaft to move horizontally to the inspection station. After reaching the predetermined position, the first electric slide rail 41 is controlled to stop. The second motor 63 is started, driving the first round rod 62 to rotate, causing the side plate 64 and the connecting plate 65 to rotate 90°, so that the fourth electric slide rails 66 on both sides are located on both sides of the motor shaft and are symmetrically arranged, providing a stable detection posture for concentricity detection and surface damage detection. When performing concentricity and radial runout testing, the fourth electric slide rail 66 is controlled to drive the fourth slide plate 67 to move axially, so that the fifth electric slide rail 68 is aligned with the positioning head at the top of the motor shaft; the fifth electric slide rail 68 is controlled to drive the corresponding fifth slide plate 69 to move, so that the detection plate 615 moves to one side of the positioning head; the third motor 613 is controlled to start, driving the second round rod 612 to rotate, adjusting the tilt angle of the first support rod 614 and the detection plate 615, so that the multiple detection wheels 619 on the outer side of the detection plate 615 are adapted to the conical or cylindrical surface contour of the positioning head; after the tilt angle is matched, the third motor 613 is controlled to stop. The fifth electric telescopic rod 610 is extended, causing the outer circumference of multiple detection wheels 619 to elastically contact the outer wall of the positioning head. The detection wheels 619 are compressed by the axial surface, pushing the slider 618 to slide along the groove 617 and compressing the detection spring 621. The pressure sensor 620 detects the pressure signal of the spring 621 in real time. The first motor 51 is controlled to rotate at a low and uniform speed, driving the motor shaft to rotate circumferentially. During the rotation of the motor shaft, if the concentricity, coaxiality, and radial runout of the positioning head are within acceptable limits, the pressure on the detection wheels 619 remains stable, and the output value of the pressure sensor 620 fluctuates within the allowable range. If the positioning head has eccentricity, ellipticity, or excessive runout, the radial backward displacement of the detection wheels 619 increases, the compression of the detection spring 621 changes, and the value of the pressure sensor 620 fluctuates significantly, thus achieving the detection of the geometric accuracy of the positioning head at the top of the motor shaft. After the positioning head test is completed, the control test plate 615 is reset, and the fourth slide plate 67 is driven to move axially through the fourth electric slide rail 66. The concentricity, radial runout, cylindricity and roundness of the motor shaft limit boss, multi-stage shaft shoulder, main rod body and other parts are tested in the same way to achieve composite testing of geometric accuracy of the entire shaft section. After the concentricity test is completed, the control detection plate 615 is reset, and the control fifth electric slide rail 68 drives the fifth slide plate 69 on the other side to move, so that the third U plate moves to the motor shaft detection area; the control corresponding fifth electric telescopic rod 610 is extended, and the detection distance between the second vision sensor 629 and the outer wall of the motor shaft is adjusted. Through the coordinated drive of the fourth motor 624 and the fifth motor 627, the third round rod 623 and the fourth round rod 626 are driven to deflect in linkage, so as to realize the multi-directional adjustment of the detection angle of the second vision sensor 629, so that the second vision sensor 629 can cover the positioning head at the top of the motor shaft, the limiting boss, the shoulders of each level and the surface of the main rod; The first motor 51 is controlled to drive the motor shaft to rotate at a constant speed. The second vision sensor 629 continuously acquires images of the outer surface of the motor shaft, identifies surface scratches, bumps, burrs, pits, grinding burns and other appearance defects, and completes the damage detection of the outer surface of the non-threaded section of the motor shaft. After the surface damage detection is completed, the second vision sensor 629 is reset, the fourth electric slide rail 66 is moved to the position of the auxiliary slide plate 630 to the position of the motor shaft main body, and the sixth electric telescopic rod 631 is extended so that the clamping plate 632 clamps the motor shaft main body from both sides to form an auxiliary support, ensuring that the shaft body does not become eccentric, droop or shake when the clamping position is changed. While maintaining the clamping state of the clamping plate 632, control the first motor 51 and the second electric telescopic rod 52 to rotate in opposite directions, causing the mounting cylinder 55 to rotate in the opposite direction and exit from the external thread section at the end of the motor shaft, thus releasing the fixation of the thread section; then control the mounting cylinder 55 to retract and reset, avoiding obstruction of the detection area; control the second electric telescopic rod 52 to extend, so that the fixing cylinder 53 covers the outside of the external thread section at the end of the motor shaft, forming a closed detection space; The fourth electric telescopic rod 510 is extended, causing the first vision sensor 511 to approach the external thread section; the third electric slide rail 58 is activated, driving the third slide plate 59 to move the first vision sensor 511 along the axial direction of the thread section. At the same time, the first motor 51 drives the motor shaft to rotate slowly. The first vision sensor 511 performs all-round image detection on the thread profile, thread groove, and thread outer wall, identifying defects such as thread bumps, broken teeth, scratches, and damage, and realizing the detection of surface defects on the thread section at the end of the motor shaft. After all tests are completed, control each electric component to reset in sequence, and the clamp 632 releases its grip on the motor shaft, allowing the staff to remove the motor shaft that has completed the composite test.

[0028] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A multifunctional motor shaft grinder composite inspection robot, comprising two mounting plates (1) and a fixed block (2), characterized in that, The top sidewall of each mounting plate (1) is provided with multiple mounting screw holes (3). The top sidewalls of the two mounting plates (1) are fixedly connected to a mounting assembly (4) for mounting the mounting plate (1) on a grinding machine. The sidewall of the fixing block (2) is fixedly connected to a fixing detection assembly (5) for fixing the external thread section at the end of the motor shaft and detecting whether there is any damage to the external thread section. The sidewall of the fixing block (2) is fixedly connected to a concentricity detection assembly (6) for detecting the concentricity and whether there is any damage to the positioning head, limiting boss and main shaft outer wall at the top of the motor shaft.

2. The multifunctional motor shaft grinder composite inspection robot according to claim 1, characterized in that, The mounting assembly (4) includes two mounting plates (1) with their top sidewalls fixedly connected to a first electric slide rail (41). The top sidewalls of the first electric slide rail (41) are slidably connected to a first sliding plate (42). The top sidewalls of the first sliding plate (42) are fixedly connected to a first electric telescopic rod (43). The inner wall of the fixing block (2) is fixedly connected to a second electric slide rail (44). The bottom sidewalls of the second electric slide rail (44) are slidably connected to two second sliding plates (45). The telescopic end of the first electric telescopic rod (43) is fixedly connected to the bottom sidewall of the corresponding second sliding plate (45).

3. The multifunctional motor shaft grinder composite inspection robot according to claim 1, characterized in that, The fixed detection component (5) includes a first motor (51) fixedly connected to the side wall of the fixed block (2), a second electric telescopic rod (52) rotatably connected to the side wall of the fixed block (2), the output end of the first motor (51) passing through the side wall of the fixed block (2) and fixedly connected to one end of the second electric telescopic rod (52), the telescopic end of the second electric telescopic rod (52) is fixedly connected to a fixed cylinder (53), and the inner wall of the fixed cylinder (53) is fixedly connected to a third electric telescopic rod (54).

4. The multifunctional motor shaft grinder composite inspection robot according to claim 3, characterized in that, The telescopic end of the third electric telescopic rod (54) is fixedly connected to an installation cylinder (55). The inner wall of the installation cylinder (55) is provided with a fixing thread (56). The inner wall of the fixing cylinder (53) is provided with a first groove (57). The inner wall of the first groove (57) is fixedly connected to a third electric slide rail (58). The side wall of the third electric slide rail (58) is slidably connected to a third sliding plate (59). The side wall of the third sliding plate (59) is fixedly connected to a fourth electric telescopic rod (510). The telescopic end of the fourth electric telescopic rod (510) is fixedly connected to a first visual sensor (511).

5. The multifunctional motor shaft grinder composite inspection robot according to claim 1, characterized in that, The concentricity detection component (6) includes two first U-plates (61) symmetrically fixedly connected to the side wall of the fixed block (2). The inner wall of the first U-plate (61) is rotatably connected to a first round rod (62). The side wall of the first U-plate (61) is fixedly connected to a second motor (63). The output end of the second motor (63) passes through the side wall of the first U-plate (61) and is fixedly connected to one end of the first round rod (62). The rod wall of the first round rod (62) is fixedly connected to a side plate (64). The side wall of the side plate (64) is fixedly connected to a connecting plate (65).

6. The multifunctional motor shaft grinder composite inspection robot according to claim 5, characterized in that, The inner wall of the connecting plate (65) is fixedly connected to a fourth electric slide rail (66), the side wall of the fourth electric slide rail (66) is slidably connected to a fourth slide plate (67), the side wall of the fourth slide plate (67) is fixedly connected to a fifth electric slide rail (68), the side wall of the fifth slide rail is slidably connected to two fifth slide plates (69), and the side wall of each fifth slide plate (69) is fixedly connected to a fifth electric telescopic rod (610).

7. The multifunctional motor shaft grinder composite inspection robot according to claim 6, characterized in that, One of the fifth electric telescopic rods (610) has a telescopic end fixedly connected to a second U-plate (611), the inner wall of the second U-plate (611) is rotatably connected to a second round rod (612), the side wall of the second U-plate (611) is fixedly connected to a third motor (613), the output end of the third motor (613) passes through the side wall of the second U-plate (611) and is fixedly connected to one end of the second round rod (612), the rod wall of the second round rod (612) is fixedly connected to a first support rod (614), one end of the first support rod (614) is fixedly connected to a detection plate (615), and the side wall of the detection plate (615) is fixedly connected to multiple clamping plates (616).

8. The multifunctional motor shaft grinder composite inspection robot according to claim 7, characterized in that, The card plate (616) has two symmetrically arranged sliding grooves (617) on the inner walls at both ends. The inner walls of the sliding grooves (617) are slidably connected to sliders (618). The two sliders (618) are rotatably connected to the same detection wheel (619) on the side wall of opposite ends. The inner walls of one end of the sliding grooves (617) are fixedly connected to pressure sensors (620). The detection ends of the pressure sensors (620) are fixedly connected to detection springs (621). One end of the detection springs (621) is fixedly connected to the side wall of the corresponding slider (618).

9. The multifunctional motor shaft grinder composite inspection robot according to claim 6, characterized in that, Another fifth electric telescopic rod (610) has a third U-plate (622) fixedly connected to its telescopic end. The inner wall of the third U-plate (622) is rotatably connected to a third round rod (623). The side wall of the third U-plate (622) is fixedly connected to a fourth motor (624). The output end of the fourth motor (624) passes through the side wall of the third U-plate (622) and is fixedly connected to one end of the third round rod (623). The rod wall of the third round rod (623) is fixedly connected to a fourth U-plate (625). The inner wall of the fourth U-plate (625) is rotatably connected to a fourth round rod (626). The side wall of the fourth U-plate (625) is fixedly connected to a fifth motor (627). The output end of the fifth motor (627) passes through the side wall of the fourth U-plate (625) and is fixedly connected to one end of the fourth round rod (626).

10. A multifunctional motor shaft grinding machine composite inspection robot according to claim 9, characterized in that, The fourth round rod (626) has a second support rod (628) fixedly connected to its wall. A second vision sensor (629) is fixedly connected to one end of the second support rod (628). An auxiliary slide plate (630) is slidably connected to the side wall of the fourth electric slide rail (66). A sixth electric telescopic rod (631) is fixedly connected to the side wall of the auxiliary slide plate (630). A clamp plate (632) is fixedly connected to the telescopic end of the sixth electric telescopic rod (631).

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