A device and method for detecting the inner diameter of a tapered bearing sleeve.

Abstract

This invention relates to a device and method for detecting the inner diameter of tapered bearing sleeves, belonging to the field of bearing testing technology. The device includes a worktable, a support column, a testing table, an inner diameter detection mechanism, a clamping and moving assembly, and a clamping assembly. The method includes: acquiring the gripping resistance of the grippers; determining the gripper number; performing an inner diameter detection pressing operation and acquiring the pressing resistance and pressing height; acquiring the contact pressing height; if the contact pressing height is not equal to the reference pressing height, outputting an abnormal workpiece signal; when the contact pressing height is equal to the reference pressing height, performing an inner diameter detection expansion operation and acquiring the expansion resistance and expansion distance; acquiring the contact expansion distance; when the contact expansion distance is not equal to the reference expansion distance, outputting a workpiece inner diameter abnormal signal; when the contact expansion distance is equal to the reference expansion distance, outputting a workpiece inner diameter qualified signal. This invention improves the accuracy of inner diameter detection for tapered bearing sleeves.

Description

Technical Field

[0001] This invention relates to the field of bearing testing technology, and in particular to a device and method for testing the inner diameter of a tapered bearing sleeve. Background Technology

[0002] Tapered roller bearing sleeves are core precision components of tapered roller bearings, widely used in machinery, automotive transmissions, and other fields. They are primarily used to work with rolling elements to provide rotational support and load transfer. The inner bore of the tapered roller bearing sleeve has a tapered structure, and the accuracy of its inner diameter directly determines the bearing's assembly clearance, rotational accuracy, and service life. Therefore, after machining, its inner diameter must be inspected and screened to ensure product quality before leaving the factory.

[0003] Currently, the industry commonly uses manual measuring tools or specialized automated testing devices to inspect the inner diameter of tapered bearing sleeves. Automated inner diameter inspection devices, which use clamping components to transfer the workpiece and employ openable / closable inspection plates to measure the inner diameter, can replace manual labor for automated dimensional inspection of batches of workpieces, effectively improving inspection efficiency and meeting the quality inspection needs of routine production.

[0004] Regarding the aforementioned technologies, existing tapered bearing sleeve inner diameter detection devices have a single functional structure, which cannot realize the step-by-step detection operation of pressure pre-screening and expansion measurement. They are prone to rigid pressure between the detection plate and the workpiece with a small inner diameter, causing damage to the detection plate and transmission sliding parts. Furthermore, they can only rely on a single expansion parameter to determine the detection result, resulting in poor stability of the detection result. Summary of the Invention

[0005] To improve the accuracy of tapered bearing sleeve inner diameter detection and reduce the probability of damage to the detection component from rigid impact, this invention provides a device and method for detecting the inner diameter of tapered bearing sleeves.

[0006] In a first aspect, the present invention provides an inner diameter detection device for a tapered bearing sleeve, which adopts the following technical solution: An inner diameter detection device for a tapered bearing sleeve includes a worktable, a support column fixedly connected to the worktable, a detection table fixedly connected to the support column, an inner diameter detection mechanism fixedly connected to the worktable, a clamping and moving assembly fixedly connected to the support column, and a clamping assembly fixedly connected to the clamping and moving assembly. The clamping and moving assembly includes a clamping and moving base, a moving drive component fixedly connected to the clamping and moving base, a moving block fixedly connected to the moving drive component, a limiting block slidably connected to the moving block, and a clamping drive component fixedly connected to the moving block. A waste trough is provided at the end of the testing platform away from the support column; The inner diameter detection mechanism includes an inner diameter detection base, an inner diameter detection lifting base fixedly connected to the inner diameter detection base, an inner diameter detection moving base slidably connected to the inner diameter detection lifting base, a rotating component fixedly connected to the inner diameter detection moving base, a detection retraction drive component fixedly connected to the rotating component, and a detection piece fixedly connected to the detection retraction drive component.

[0007] By adopting the above technical solution, and by setting up a step-by-step inner diameter detection mechanism and clamping components, the workpiece height can be initially screened by pressing down, and then the inner diameter of the workpiece can be detected by expanding. The step-by-step detection method can detect abnormalities such as workpiece misplacement or foreign matter ingress in advance, reducing the frequency of rigid impact on the detection plate. At the same time, the inner diameter is determined by combining the two parameters of pressing height and expansion distance, which effectively improves the accuracy and stability of the detection results. The waste tank can directly and temporarily store abnormal workpieces, simplifying the handling process of abnormal workpieces.

[0008] Optionally, the clamping assembly includes a clamping base fixedly connected to the clamping drive and a gripper slidably connected to the clamping base.

[0009] By adopting the above technical solution, multiple grippers can slide and retract synchronously, stably clamping the tapered bearing sleeves at different inspection stations and improving the reliability of clamping and positioning.

[0010] Secondly, the present invention provides a method for detecting the inner diameter of a tapered bearing sleeve, applied to the inner diameter detection device for a tapered bearing sleeve as described above, and employing the following technical solution: A method for detecting the inner diameter of a tapered bearing sleeve includes: The gripping resistance of the grippers is obtained in response to the workpiece movement signal; When the gripper's gripping resistance falls within the preset effective gripping resistance range, the working gripper number is determined. When a working gripper number exists, perform an inner diameter detection pressing operation and obtain the pressing resistance and pressing height in real time; When the downward pressure falls within the preset resistance range, the downward pressure height is obtained; If the contact pressing height is not equal to the preset reference pressing height, an abnormal workpiece signal will be output. When the contact compression height is equal to the reference compression height, the inner diameter detection expansion operation is performed, and the expansion resistance and expansion distance are obtained in real time; When the expansion resistance falls within the preset range of resistance to expansion, the resistance to expansion is obtained; When the contact expansion distance is not equal to the preset reference expansion distance, an abnormal workpiece inner diameter signal is output. When the contact expansion distance equals the reference expansion distance, the workpiece inner diameter is output as qualified.

[0011] By adopting the above technical solution, the workpiece position deviation can be automatically corrected during the inspection process without the need for additional position calibration of the tapered bearing sleeve. At the same time, the unqualified workpieces with too small an inner diameter are screened out by the pre-inspection of the pressing height, and the final inner diameter is judged by the expansion inspection. The step-by-step inspection reduces the wear and tear of the inspection mechanism and improves the accuracy of the inner diameter inspection. The whole process realizes the automated step-by-step inspection of the inner diameter of the tapered bearing sleeve, eliminating the need for manual measurement of each one, effectively improving the efficiency of the inner diameter inspection and reducing the error of manual inspection.

[0012] Optionally, it also includes a method for performing a foreign object detection pressing operation in response to an abnormal inner diameter signal of the workpiece, the method comprising: In response to an abnormal signal in the workpiece's inner diameter, the inner diameter detection mechanism is controlled to perform a reset operation. After the reset operation is performed, the inner diameter detection mechanism is controlled to perform the foreign object detection and pressing operation according to the reference expansion distance, and the foreign object pressing resistance is obtained in real time. When the resistance to the foreign object pressing down does not fall within the preset rigid resistance range, a signal indicating that the foreign object can be peeled off is output. In response to the removable foreign object signal, the inner diameter detection mechanism is controlled to continue performing the foreign object detection and pressing operation according to the reference pressing height, and the inner diameter detection mechanism is controlled to perform the rotational cutting operation. When the resistance to pressing down on the foreign object falls within the range of rigid resistance, the control inner diameter detection mechanism stops performing the foreign object detection pressing operation and outputs an abnormal workpiece signal.

[0013] By adopting the above technical solution, the reasons for the workpiece's inner diameter being too small can be further investigated, distinguishing whether the workpiece itself is not properly processed or whether foreign objects attached to the inner diameter cause abnormal test results. For peelable foreign objects, the removal and peeling process can be automatically completed, allowing the originally unqualified workpiece to meet the inner diameter requirements again, reducing unnecessary workpiece waste and improving the adaptability of the testing device to working conditions.

[0014] Optionally, methods for controlling the inner diameter measuring mechanism to perform the rotational cutting operation include: After the foreign object detection and pressing operation is completed, the current station number is determined based on the working gripper number, and the clamping component corresponding to the working gripper number is controlled to perform clamping and fixing operation according to the reference station clamping position corresponding to the current station number. After the clamping and fixing operation is performed, the preset rotation parameters are found, and the inner diameter detection mechanism is controlled to perform the rotational cutting operation according to the rotation parameters.

[0015] By adopting the above technical solution, the workpiece position is kept stable during the removal operation, avoiding workpiece displacement during the rotational removal process, which could lead to incomplete removal of foreign objects or accidental damage to the inner wall of the workpiece, thus improving the stability and reliability of the foreign object removal operation.

[0016] Optionally, methods for performing the clamping and fixing operation include: During the clamping and fixing operation, the clamping abutment pressure is acquired in real time, and the clamping abutment pressure is divided into a first clamping pressure and a second clamping pressure; When the first clamping pressure and the second clamping pressure do not exist simultaneously, output a clamping offset signal; In response to the clamping offset signal, determine the number of the positioning gripper and the number of the offset gripper; Stop the gripper corresponding to the positioning gripper number from performing the gripper retraction operation; The gripper corresponding to the offset gripper number continues to perform the gripper retraction operation; When both the first clamping pressure and the second clamping pressure are present, the clamping and fixing operation is performed.

[0017] By adopting the above technical solution, the clamping position can be automatically corrected to ensure that both jaws can stably abut against the outer wall of the workpiece, avoiding inaccurate positioning during rotational cutting due to workpiece displacement, improving the accuracy of foreign object removal, and reducing the probability of damage to the inner wall of qualified workpieces during cutting operations.

[0018] Optional, also includes: When an offset gripper number exists, the number of consecutive offset gripper numbers is accumulated; When the number of consecutive offset gripper numbers exceeds the preset threshold for the number of reliable gripper deviations, the final gripping position is determined based on the gripping and fixing operation; The final gripping position is used as the reference gripping position for output.

[0019] By adopting the above technical solution, the positional deviation of the gripper itself can be self-corrected, eliminating the need for manual periodic correction of the gripper position. This ensures that both grippers can stably abut against the outer wall of the workpiece, avoiding inaccurate positioning during rotational cutting due to workpiece offset, and improving the accuracy of foreign object removal.

[0020] Optionally, if the contact pressing height is not equal to the reference pressing height, the method for outputting an abnormal workpiece signal includes: Obtain the preset reference tapered bearing sleeve height; When the pressing height is equal to the height of the reference tapered bearing sleeve, an abnormal workpiece signal is output to perform an abnormal workpiece recovery operation; When the contact pressing height is less than the height of the reference tapered bearing sleeve, a foreign object interference signal is output to the workpiece.

[0021] By adopting the above technical solution, it is possible to further distinguish the causes of height abnormalities, and to differentiate whether the workpiece itself is not sized properly or whether the insufficient pressing height is caused by foreign objects attached to the bottom of the workpiece's inner diameter. This facilitates targeted handling, improves the accuracy of anomaly investigation, reduces misjudgments caused by foreign object interference, and lowers the probability of qualified workpieces being mistakenly recycled.

[0022] Optionally, specific methods for performing abnormal workpiece recovery operations include: Determine the current workstation number and the corresponding reference workstation clamping position based on the work gripper number; Perform the clamping operation according to the reference clamping position; Obtain the workpiece recovery sliding parameters corresponding to the current workstation number; After the clamping operation is performed, the clamping movement operation and clamping release operation are performed according to the workpiece recovery sliding parameters.

[0023] By adopting the above technical solution, the recycling and unloading of defective workpieces can be completed automatically, eliminating the need for manual sorting of defective workpieces, thus improving the automation level of the inspection operation and reducing the workload of manual sorting.

[0024] Optionally, it also includes a method for performing a foreign object detection and pressing operation when a foreign object interferes with the workpiece signal, the method comprising: In response to the interference signal from a foreign object on the workpiece, an inner diameter detection and expansion operation is performed. After performing the inner diameter detection expansion operation, an abnormal inner diameter signal of the workpiece is output. In response to an abnormal signal in the inner diameter of the workpiece, a foreign object detection and pressing operation is performed.

[0025] By adopting the above technical solution, the subsequent foreign object detection and processing of workpieces with high anomalies caused by foreign object interference can be carried out automatically without the need for additional manual transfer of workpieces. This allows the entire anomaly investigation and processing process to be automatically connected, further improving the automation level of the detection operation.

[0026] In summary, the present invention has at least one of the following beneficial technical effects: 1. A two-level detection logic of initial judgment of pressure height and precise measurement of expansion distance is adopted to effectively distinguish two types of causes of abnormal inner diameter of tapered bearing sleeve: one is that the inner diameter of the workpiece itself is not qualified, and the other is the detection interference caused by foreign objects attached to the inner wall of the tapered bearing sleeve. 2. For peelable foreign objects on the inner wall, the detection plate can be rotated to automatically scrape and clean them without manual intervention, which greatly reduces the probability of misjudgment in size detection and avoids the scrapping of qualified workpieces due to foreign object problems, thus improving the utilization rate of workpieces; 3. The detection plate expansion process can automatically correct workpiece placement misalignment. Combined with real-time acquisition of the clamping pressure of the dual grippers, it can intelligently identify gripper misalignment faults and dynamically compensate for the clamping position. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the structure of an inner diameter detection device for a tapered bearing sleeve according to an embodiment of this application; Figure 2 This is a schematic diagram of the structure of a clamping and moving component in an embodiment of this application; Figure 3 This is an exploded view of a clamping component in an embodiment of this application; Figure 4 This is an exploded schematic diagram of the inner diameter detection mechanism in the embodiments of this application; Figure 5 This is a flowchart of a method for detecting the inner diameter of a tapered bearing sleeve according to an embodiment of this application.

[0028] The parts referred to by the numbers in the above attached figures are as follows: 1. Workbench; 2. Support column; 21. First support column; 22. Second support column; 23. Third support column; 3. Inspection table; 31. Waste trough; 4. Inner diameter inspection mechanism; 41. Inner diameter inspection base; 42. Inner diameter inspection lifting base; 421. Inner diameter inspection sliding groove; 43. Inner diameter inspection moving base; 44. Rotating assembly; 441. Rotating disc; 442. Rotating column; 45. Inspection inward retraction drive component; 46. Inspection plate; 5. Clamping moving assembly; 51. Clamping moving base; 52. Moving drive component; 53. Moving block; 54. Limiting block; 55. Clamping drive component; 6. Clamping assembly; 61. Clamping base; 611. Gripper sliding groove; 62. Gripper; 621. First gripper; 622. Second gripper; 63. Gripper translation drive component. Detailed Implementation

[0029] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments.

[0030] This invention discloses a device for detecting the inner diameter of a tapered bearing sleeve. (Refer to...) Figure 1 An inner diameter detection device for a tapered bearing sleeve includes a worktable 1, a support column 2, a detection table 3, an inner diameter detection mechanism 4, a clamping and moving assembly 5, and a clamping assembly 6.

[0031] One end of the workbench 1 is fixedly connected to one end of the support column 2. The support column 2 is divided into a first support column 21, a second support column 22, and a third support column 23. The first support column 21, the second support column 22, and the third support column 23 are arranged in an array.

[0032] The end of the first support column 21 furthest from the workbench 1 is fixedly connected to one end of the testing table 3. (Refer to...) Figure 1 The end of the testing table 3 away from the first support column 21 is provided with a waste trough 31, which is used to temporarily place workpieces that fail the inner diameter test.

[0033] Reference Figure 2 The clamping and moving assembly 5 includes a clamping and moving base 51, a moving drive 52, a moving block 53, a limiting block 54, and a clamping drive 55.

[0034] One end of the clamping movable base 51 is fixedly connected to the end of the third support column 23 away from the worktable 1. The end of the clamping movable base 51 away from the third support column 23 is fixedly connected to the moving drive component 52. The driving end of the moving drive component 52 is fixedly connected to the moving block 53. One end of the limiting block 54 is fixedly connected to the end of the second support column 22 away from the worktable 1. One end of the moving block 53 is slidably connected to the end of the limiting block 54 away from the second support column 22. The moving drive component 52 drives the moving block 53 to slide along the length direction of the limiting block 54. One end of the clamping drive component 55 is fixedly connected to the end of the moving block 53 away from the limiting block 54.

[0035] Reference Figure 2 , Figure 3The clamping assembly 6 includes a clamping base 61 and a gripper 62. One side of the clamping base 61 is fixedly connected to the driving end of the clamping drive 55. A gripper sliding groove 611 is provided at the end of the clamping base 61 near the worktable 1 for the gripper 62 to slide. One end of the gripper 62 is embedded in the gripper sliding groove 611 and slides along the length of the groove 611. The gripper 62 includes a first gripper 621 and a second gripper 622. A gripper translation drive 63 is fixedly connected to the side of the first gripper 621 near the second gripper 622. The driving end of the gripper translation drive 63 is fixedly connected to the outer side walls of the first gripper 621 and the second gripper 622, respectively, for controlling the clamping and releasing of the first gripper 621 and the second gripper 622. When the moving drive 52 drives the moving block 53 to slide along the length direction of the limiting block 54, the moving block 53 drives the clamping drive 55 to slide, thereby driving the clamping base 61, which is fixedly connected to the clamping drive 55, to slide along the length direction of the limiting block 54. The clamping drive 55 drives the clamping base 61 away from and towards the inspection table 3, so as to cooperate with the moving drive 52 to drive the clamping base 61 to move the gripper 62 to clamp the tapered bearing sleeve to the next station. When the gripper 62 moves to the last station, the clamping drive 55 needs to control the gripper 62 to move away from the inspection table 3, and cooperate with the moving drive 52 to control the gripper 62 to move back to the previous station. Then, the clamping drive 55 drives the clamping base 61 to drive the gripper 62 to approach the inspection table 3 to clamp the tapered bearing sleeve and check whether the tapered bearing sleeve has fallen into the corresponding inspection station. Pressure sensors are fixedly installed on the inner sidewalls of the first gripper 621 and the second gripper 622 to determine whether the gripper is abutting the outer sidewall of the tapered bearing sleeve.

[0036] Reference Figure 4 The inner diameter detection mechanism 4 includes an inner diameter detection base 41, an inner diameter detection lifting base 42, an inner diameter detection moving base 43, a rotating assembly 44, a detection retraction drive component 45, and a detection plate 46.

[0037] One end of the inner diameter detection base 41 is fixedly connected to the worktable 1. One side of the inner diameter detection lifting base 42 is fixedly connected to the side of the inner diameter detection base 41 near the detection table 3. The side of the inner diameter detection lifting base 42 near the detection table 3 has an inner diameter detection sliding groove 421 for the inner diameter detection moving base 43 to slide. A linear sensor is installed in the inner diameter detection sliding groove 421. The inner diameter detection moving base 43 is embedded in the inner diameter detection sliding groove 421 and slides along the length of the inner diameter detection sliding groove 421. The linear sensor can obtain the moving distance of the inner diameter detection moving base in real time, thereby determining the pressing height of the detection piece. The rotating assembly 44 includes a rotating disk 441 and a rotating column 442. The end of the inner diameter detection moving base 43 near the worktable 1 is fixedly connected to the rotating disk 441. One end of the rotating column 442 is rotatably connected to the rotating disk 441. One end of the detection retraction drive 45 is fixedly connected to the end of the rotating column 442 away from the rotating disk 441. There are two detection plates 46. The detection retraction drive 45 has two drive ends, and pressure sensors are fixedly installed at the ends of the two drive ends. The pressure sensors are fixedly connected to the two detection plates 46 respectively. The two drive ends are used to drive the two detection plates 46 to move closer or further apart, and the pressure sensors are used to detect the expansion resistance experienced by the detection plates 46. The end of the detection plate 46 away from the detection retraction drive 45 is arc-shaped, and the arc-shaped sidewall is in contact with the inner sidewall of the tapered bearing sleeve. A miniature pressure sensor module is mounted at the bottom of the detection plate 46 to collect the pressure generated by the contact between the detection plate 46 and the tapered bearing sleeve in real time, in order to determine whether the detection plate 46 is in contact with the tapered bearing sleeve.

[0038] Based on the same inventive concept, this invention discloses a method for detecting the inner diameter of a tapered bearing sleeve.

[0039] A method for detecting the inner diameter of a tapered bearing sleeve includes: Step S1: In response to the workpiece movement signal, obtain the gripping resistance of the gripper.

[0040] The workpiece movement signal refers to the trigger signal generated when the moving drive component 52 drives the gripper 62 to move to the designated inspection station, and the gripper translation drive component 63 controls the gripper 62 to retract inwards according to the reference position corresponding to the inspection station, preparing to clamp the workpiece. The inspection station refers to the initial position where the tapered bearing sleeve to be inspected is placed during the inner diameter inspection operation; only one tapered bearing sleeve is placed at each station.

[0041] The reference station clamping position refers to the preset clamping position of the jaws 62 corresponding to each station. It is used to detect whether the tapered bearing sleeve has fallen into the detection station, while preventing the tapered bearing sleeve that has fallen into the detection station from shifting its position.

[0042] The gripping resistance is the pressure value obtained in real time by the pressure sensor installed on the gripping surface of the gripper 62 when the gripper translation drive 63 drives the first gripper 621 and the second gripper 622 to retract.

[0043] Step S2: When the gripper's gripping resistance falls within the preset effective gripping resistance range, determine the working gripper number.

[0044] The effective clamping resistance range refers to the effective clamping resistance interval used to confirm whether the gripper 62 has clamped the tapered bearing sleeve. This interval is determined by data from multiple pre-executed clamping operations. When the gripper 62 fails to clamp the tapered bearing sleeve, the gripper translation drive 63 drives the first gripper 621 and the second gripper 622 to retract into position. At this point, the gripper clamping resistance will be lower than the minimum value of the effective clamping resistance range, meaning the current gripper clamping resistance is 0.

[0045] The working gripper number refers to the number of the gripper 62 that has successfully gripped the tapered bearing sleeve. Each gripper 62 corresponds to a unique number, which facilitates independent control of the grippers 62 at different workstations.

[0046] When the gripping resistance of the jaws falls within the effective gripping resistance range, it indicates that the current jaw 62 has successfully gripped the tapered bearing sleeve to be inspected. At this time, the current jaw 62 can be marked as the working jaw 62 participating in the inner diameter inspection operation.

[0047] When the gripper's gripping resistance does not fall within the effective gripping resistance range, it indicates that there is no tapered bearing sleeve at the current inspection station, so gripper 62 is not associated with the working gripper number.

[0048] Step S3: When a working gripper number exists, perform an inner diameter detection pressing operation and obtain the pressing resistance and pressing height in real time.

[0049] The inner diameter detection pressing operation refers to the operation in which, after confirming the presence of a tapered bearing sleeve at the detection station, the control gripper 62 is released, and the two detection plates 46 of the inner diameter detection mechanism 4 are retracted to the preset minimum shrinkage diameter. Then, the inner diameter detection moving base 43 moves along the length of the inner diameter detection sliding groove 421, driving the detection plates 46 to press vertically downward toward the inner diameter direction of the tapered bearing sleeve.

[0050] The minimum contraction diameter refers to the minimum distance between the ends of the two detection plates 46 that are far away from the detection inward retraction drive 45 when the detection inward retraction drive 45 drives the two detection plates 46 to approach each other to the maximum contraction degree.

[0051] When a working gripper number is present, it indicates that the tapered bearing sleeve is already positioned at the inspection station. Because the gripper 62 may experience a slight, imperceptible shift in position within the gripper sliding groove 611, the gripper 62 needs to release the tapered bearing sleeve without interfering with the inner diameter inspection mechanism 4's inspection of the inner diameter. Even with a slight shift in the gripper 62's position, the operation of determining whether the tapered bearing sleeve has fallen into the inspection station by gripping it will not affect the inner diameter inspection operation of the inner diameter inspection mechanism 4. This is because the inner diameter inspection mechanism 4 controls the detection plate 46 to contract and then press down using the minimum contraction diameter control. When the detection plate 46 is pressed down to a specified height, the detection retraction drive 45 controls the detection plate 46 to expand, causing the outer wall of the detection plate 46 to abut against the inner wall of the tapered bearing sleeve to detect the inner diameter value. During the expansion and inner diameter inspection process controlled by the detection retraction drive 45, the position of the tapered bearing sleeve is automatically corrected.

[0052] The downward pressure resistance is the resistance value obtained in real time by the miniature pressure sensing module installed at the bottom of the detection piece 46 during the downward pressure process of inner diameter detection.

[0053] The downward pressure height refers to the vertical displacement distance of the inner diameter detection moving base 43 from the preset initial position when it slides along the length of the inner diameter detection sliding groove 421. This distance is collected in real time by a linear sensor installed in the inner diameter detection sliding groove 421. The initial position refers to the reference position that the inner diameter detection moving base 43 needs to reset to when the inner diameter detection downward pressure operation is not performed.

[0054] Step S4: When the downward pressure falls into the preset resistance range, obtain the downward pressure height.

[0055] The contact resistance range is the resistance interval corresponding to the resistance generated when the detection piece 46 is pressed down to abut against the bottom of the tapered bearing sleeve and the detection platform 3. It is obtained from multiple pressing test data. When the pressing resistance falls into the contact resistance range, it indicates that the detection piece 46 has abutted against the tapered bearing sleeve. However, at this time, it cannot be determined whether the detection piece 46 has been pressed down to the bottom height of the tapered bearing sleeve. Further judgment needs to be made based on the abutment pressing height.

[0056] The contact pressure height refers to the vertical displacement distance of the inner diameter detection moving base 43 from its initial position when the pressure resistance falls within the preset contact resistance range, that is, the pressure height when the detection piece 46 completes contact.

[0057] Step S5: If the contact pressing height is not equal to the preset reference pressing height, output an abnormal workpiece signal.

[0058] The reference pressing height refers to the pressing height of the test piece 46 against the bottom of the tapered bearing sleeve, which is a fixed value pre-stored in the test system.

[0059] Abnormal workpiece signal refers to two types of abnormal states: the workpiece body size of the tapered bearing sleeve is not up to standard or there is interference from foreign objects on the inner wall. The judgment content of subsequent steps S50 to S52 is derived from the abnormal workpiece signal, which will not be elaborated on here.

[0060] When the contact pressing height is not equal to the reference pressing height, it indicates that the inner diameter of the current tapered bearing sleeve does not meet the standard requirements. The inner diameter of the tapered bearing sleeve is too small. The end face of the tapered bearing sleeve close to the detection piece 46 comes into contact with the detection piece 46, preventing the detection piece 46 from pressing down further, so an abnormal workpiece signal is output.

[0061] Step S6: When the contact pressing height is equal to the reference pressing height, perform the inner diameter detection expansion operation and obtain the expansion resistance and expansion distance in real time.

[0062] The inner diameter detection expansion operation refers to the operation in which the detection inner retraction drive 45 drives the two detection plates 46 to move away from each other, so that the arc-shaped sidewall of the detection plate 46 fits tightly against the inner sidewall of the tapered bearing sleeve. The inner raceway of the tapered bearing sleeve is an inclined conical slope, and the inclination angle of the detection plate 46 is consistent with the inclination angle of the inner raceway of the tapered bearing sleeve.

[0063] The expansion resistance is the reaction force from the inner wall of the tapered bearing sleeve that the pressure sensor inside the inner drive component 45 collects in real time during the expansion of the detection piece 46 driven by the inner drive component 45.

[0064] The expansion distance refers to the distance that the two detection plates 46 expand from the minimum contraction diameter, which is collected in real time by a linear sensor installed at the detection inner retraction drive component 45.

[0065] When the pressing height is equal to the reference pressing height, it means that the test piece 46 has moved normally to the bottom position of the tapered bearing sleeve. At this time, the inner diameter of the tapered bearing sleeve can be expanded for testing. The expansion distance obtained during the expansion process determines whether the current inner diameter meets the qualified range.

[0066] Step S7: When the expansion resistance falls within the preset range of resistance to expansion, obtain the resistance to expansion distance.

[0067] The abutment expansion resistance range refers to the preset resistance range corresponding to the reaction force received by the inner drive component 45 when the outer wall of the detection piece 46 is fully in contact with the inner wall of the tapered bearing sleeve. This range is obtained by pre-testing the expansion of tapered bearing sleeves with multiple inner diameters.

[0068] The contact expansion distance refers to the displacement distance of the two detection plates 46 from the minimum contraction diameter position when the expansion resistance falls within the preset contact expansion resistance range. It is used to calculate the actual inner diameter of the current tapered bearing sleeve.

[0069] When the expansion resistance falls within the range of the contact expansion resistance, it indicates that the detection piece 46 has achieved stable contact with the inner wall of the tapered bearing sleeve. At this point, the expansion operation can be stopped, and the current contact expansion distance can be recorded.

[0070] Step S8: When the contact expansion distance is not equal to the preset reference expansion distance, output a workpiece inner diameter abnormality signal.

[0071] The reference expansion distance refers to the distance that the two test pieces 46 expand from the minimum contraction diameter to the inner wall when the tapered bearing sleeve has a standard qualified inner diameter. The processing specifications of the corresponding model of the tapered bearing sleeve are stored in advance in the testing system.

[0072] The abnormal inner diameter signal indicates that the inner diameter of the current tapered bearing sleeve does not meet the preset acceptable range, and further investigation is needed to determine the cause of the abnormal inner diameter.

[0073] When the contact distance is not equal to the reference expansion distance, it indicates that the actual inner diameter of the current tapered bearing sleeve does not meet the preset qualified inner diameter range. At this time, there is still a situation where the inner diameter is unqualified due to the processing defects of the tapered bearing sleeve itself or the impurities adhering to its interior, which requires further judgment.

[0074] Step S9: When the contact expansion distance is equal to the reference expansion distance, output a signal indicating that the workpiece inner diameter is qualified.

[0075] The workpiece inner diameter qualified signal refers to the signal indicating that the inner diameter dimension of the tapered bearing sleeve to be inspected is qualified.

[0076] When the contact expansion distance is equal to the reference expansion distance, it indicates that the actual inner diameter of the current tapered bearing sleeve is within the preset qualified range, and there is no problem of abnormal inner diameter caused by machining size deviation or impurity adhesion. The inner diameter test result is qualified. Subsequently, the qualified workpiece can be transferred to the next processing station by the cooperation of clamping moving component 5 and clamping component 6.

[0077] This also includes a method for performing a foreign object detection and pressing operation in response to an abnormal inner diameter signal of a workpiece, the method comprising: Step S80: In response to the abnormal inner diameter signal of the workpiece, control the inner diameter detection mechanism 4 to perform a reset operation.

[0078] The reset operation refers to the operation in which the inner diameter detection moving base 43 controls the two detection plates 46 to retract inward to the minimum shrinkage diameter, and then moves upward along the inner diameter detection sliding groove 421 to return to the corresponding initial position.

[0079] When a signal indicating an abnormal inner diameter of the workpiece is present, it means that the tapered bearing sleeve has been determined to have an abnormal inner diameter. At this time, it is impossible to determine whether the abnormal inner diameter is caused by foreign matter adhesion. A reset operation needs to be performed first in order to proceed with the subsequent foreign matter detection and pressing operation.

[0080] Step S81: After the reset operation is performed, the inner diameter detection mechanism 4 is controlled to perform the foreign object detection and pressing operation according to the reference expansion distance, and the foreign object pressing resistance is obtained in real time.

[0081] The foreign object detection pressing operation refers to the operation of expanding the detection piece 46 according to the reference expansion distance and then pressing it vertically down to the reference pressing height. At this time, if the inner diameter of the tapered bearing sleeve itself is qualified and there is only a foreign object adhering to the surface, the expanded detection piece 46 will be blocked by the foreign object during the vertical pressing process, generating abnormal resistance. The tapered bearing sleeve is placed with the upper opening larger and the lower opening smaller to allow the detection piece 46, which is adapted to the inner raceway of the tapered bearing sleeve, to be pressed down.

[0082] Foreign object pressure resistance refers to the pressure resistance value collected in real time by the miniature pressure sensing module installed at the bottom of the detection piece 46 during the foreign object detection pressure operation.

[0083] Step S82: When the resistance to the foreign object pressing down does not fall within the preset rigid resistance range, output a signal indicating that the foreign object can be peeled off.

[0084] The rigid resistance range refers to the interval corresponding to the resistance generated by the tapered bearing sleeve with an excessively small inner diameter due to a machining abnormality during the downward pressing process after the detection piece 46 expands to the reference expansion distance. This interval is obtained through multiple rigid resistance experiments. When the resistance of the foreign object pressing down does not fall within this rigid resistance range, it indicates that what is blocking the downward pressing of the detection piece 46 is not the surface of the tapered bearing sleeve with an excessively small inner diameter due to a machining abnormality, but rather a peelable and removable adhered foreign object that will not affect the dimensions of the workpiece itself. Therefore, a peelable foreign object signal is output.

[0085] The "removable foreign matter signal" refers to the signal of a tapered bearing sleeve with foreign matter or impurities that can be peeled off and removed adhering to its surface.

[0086] When the resistance to the downward pressure of the foreign object does not fall within the range of rigid resistance, it indicates that the resistance encountered by the detection piece 46 during the downward pressure process is smaller and the resistance rise process is smoother. It can be confirmed that the object blocking the downward pressure of the detection piece 46 is a peelable foreign object adhering to the surface of the workpiece. At this time, a peelable foreign object signal can be output.

[0087] Step S83: In response to the removable foreign object signal, control the inner diameter detection mechanism 4 to continue performing the foreign object detection and pressing operation according to the reference pressing height, and control the inner diameter detection mechanism 4 to perform the rotational cutting operation.

[0088] The rotary cutting operation refers to the operation in which the detection plate 46 rotates around the axis of the rotating column 442 under the drive of the rotating column 442, and the outer wall of the detection plate 46 can scrape off the peelable foreign matter adhering to the inner wall of the tapered bearing sleeve.

[0089] When a foreign object can be peeled off, it means that the foreign object blocking the downward pressure of the detection plate 46 is only adhered to the inner wall of the tapered bearing sleeve. The foreign object can be removed by rotating the detection plate 46 to scrape it off. At this time, control the detection plate 46 to press down to the reference pressing height, and at the same time start the rotating component 44 to drive the detection plate 46 to rotate, so as to complete the removal and peeling operation of the foreign object.

[0090] Step S84: When the pressure resistance of the foreign object falls within the range of the rigid resistance, the inner diameter detection mechanism 4 is controlled to stop performing the foreign object detection pressure operation and outputs an abnormal workpiece signal.

[0091] When the resistance of the foreign object pressing down falls within the range of rigid resistance, it indicates that the resistance of the current blocking detection plate 46 pressing down has reached the resistance range corresponding to the rigidly machined unqualified workpiece. It is not caused by the adhesion of foreign objects, indicating that the inner diameter of the tapered bearing sleeve itself does not meet the requirements and is an unqualified workpiece with its own machining defects. Therefore, the abnormal workpiece signal is directly output without performing a rotational cutting operation.

[0092] The method for controlling the inner diameter detection mechanism 4 to perform the rotational cutting operation includes: Step S830: After the foreign object detection and pressing operation is completed, the current station number is determined based on the working gripper number, and the clamping component 6 corresponding to the working gripper number is controlled to perform a clamping and fixing operation according to the reference station clamping position corresponding to the current station number.

[0093] The current station number refers to the station number where the tapered bearing sleeve to be inspected is located. Each station number corresponds to a unique working jaw number, which can be obtained by reverse indexing through the working jaw number.

[0094] The clamping and fixing operation refers to clamping the tapered bearing sleeve according to the reference clamping pressure to prevent the tapered bearing sleeve from rotating synchronously during the rotational cutting process, which would cause the rotational scraping operation to lose its effectiveness.

[0095] The reference clamping pressure refers to the preset pressure value that can stably fix the tapered bearing sleeve in the current position without damaging the tapered bearing sleeve.

[0096] Step S831: After the clamping and fixing operation is performed, the preset rotation parameters are found, and the inner diameter detection mechanism 4 is controlled to perform the rotation cutting operation according to the rotation parameters.

[0097] The rotation parameter refers to the preset number of rotations. In this embodiment, it is set to 2 rotations to ensure that the outer wall of the detection piece 46 completely scrapes over the entire inner wall of the tapered bearing sleeve.

[0098] The methods for performing the clamping and fixing operation include: Step S8300: During the clamping and fixing operation, the clamping abutment pressure is acquired in real time. The clamping abutment pressure is divided into a first clamping pressure and a second clamping pressure.

[0099] The clamping pressure refers to the pressure value detected in real time after the clamping surface of the jaw 62 comes into contact with the outer wall of the tapered bearing sleeve when the jaw 62 moves towards the tapered bearing sleeve. The first clamping pressure is the pressure value detected by the pressure sensor corresponding to the first jaw 621 after it comes into contact with the outer wall of the tapered bearing sleeve. The second clamping pressure is the pressure value detected by the pressure sensor corresponding to the second jaw 622 after it comes into contact with the outer wall of the tapered bearing sleeve.

[0100] Step S8301: When the first clamping pressure and the second clamping pressure do not exist simultaneously, output a clamping offset signal.

[0101] The clamping offset signal refers to the signal that the gripper 62 has shifted slightly.

[0102] After the inner diameter detection expansion operation of the previous step is performed, the position of the tapered bearing sleeve has been corrected by the operation of the detection inner retraction drive 45 driving the detection piece 46 to expand outward. At this time, it can be determined whether there is a slight deviation of the jaw 62 by the first clamping pressure and the second clamping pressure.

[0103] The slight deviation of the gripper 62 will not affect the determination of the contact pressing height and the reference pressing height in step S5. This is because when performing the inner diameter detection pressing operation, the detection piece 46 performs the pressing with the minimum contraction diameter. If the contact pressing height is not equal to the reference pressing height, it only indicates that the current tapered bearing sleeve has a dimensional abnormality or foreign matter adhesion problem, which is unrelated to the slight deviation of the gripper 62.

[0104] When the first clamping pressure and the second clamping pressure are not present at the same time, it indicates that the gripper 62 has shifted. At this time, a clamping offset signal can be output to execute the subsequent gripper 62 offset correction process.

[0105] Step S8302: In response to the clamping offset signal, determine the positioning jaw number and the offset jaw number.

[0106] The positioning gripper number refers to the gripper number that has completed the first or second clamping pressure test. The offset gripper number refers to the gripper number for which the corresponding clamping pressure was not detected.

[0107] Step S8303: Control the gripper 62 corresponding to the positioning gripper number to stop performing the gripper retraction operation.

[0108] The jaw retraction operation refers to the movement of jaw 62 towards the tapered bearing sleeve to achieve the clamping action. Since jaw 62 corresponding to the positioning jaw number has already abutted against the tapered bearing sleeve, the retraction action of the positioning jaw 62 needs to be stopped first.

[0109] Step S8304: Control the gripper 62 corresponding to the offset gripper number to continue performing the gripper retraction operation.

[0110] The offset gripper number corresponding to gripper 62 has not completed its contact with the tapered bearing sleeve, so the gripper retraction operation needs to continue.

[0111] Step S8305: When both the first clamping pressure and the second clamping pressure are present, perform the clamping and fixing operation.

[0112] When both the first clamping pressure and the second clamping pressure are present, it means that both jaws 62 are properly abutting against the outer wall of the tapered bearing sleeve. At this time, there is no slight deviation of the jaws 62. The jaws 62 can be controlled to retract inward so that the clamping pressure reaches the reference clamping pressure, thus completing the clamping and fixing operation.

[0113] This also includes: Step S83020: When there is an offset gripper number, accumulate the number of consecutive offset gripper numbers.

[0114] The number of times the offset gripper number is the cumulative number of times the same gripper 62 is consecutively identified as an offset gripper number.

[0115] When an offset gripper number exists, it indicates that gripper 62 has been offset multiple times. The cumulative number of offsets needs to be recorded in order to determine the offset sample of gripper 62.

[0116] Step S83021: When the number of consecutive offset gripper numbers exceeds the preset threshold for the number of reliable gripper deviations, the final gripping position is determined based on the gripping and fixing operation.

[0117] The reliable gripper deviation threshold refers to the preset maximum number of consecutive deviations allowed for the same gripper 62.

[0118] The final gripping position refers to the corrected gripping target position when the gripper 62 performs the gripping operation, which is determined by the inward retraction parameters of the gripper 62 during the gripping and fixing operation.

[0119] When the number of consecutive offset gripper numbers exceeds the reliable gripper deviation threshold, it indicates that the positioning accuracy of gripper 62 has a continuous deviation and needs to be corrected by determining the final gripping position through a clamping and fixing operation.

[0120] Step S83022: Output the reference gripping position based on the final gripping position.

[0121] When a final clamping position is found, it indicates that the original reference clamping position of the jaw 62 has a continuous deviation. When performing clamping operations on the tapered bearing sleeve in the future, the corrected final clamping position can be used directly as the reference clamping position to eliminate the continuous positioning deviation of the jaw 62.

[0122] Among them, the methods for outputting an abnormal workpiece signal if the contact pressing height is not equal to the reference pressing height include: Step S50: Obtain the preset reference tapered bearing sleeve height.

[0123] The reference tapered bearing sleeve height refers to the design axial height of a standard qualified tapered bearing sleeve, which is a preset height value stored in the testing system.

[0124] Step S51: When the pressing height is equal to the height of the reference tapered bearing sleeve, output an abnormal workpiece signal to perform an abnormal workpiece recovery operation.

[0125] The abnormal workpiece recovery operation refers to the operation of transferring and recovering the currently inspected tapered bearing sleeve as a workpiece with unqualified machining dimensions. The tapered bearing sleeve is placed with the upper opening larger and the lower opening smaller. When the pressing height reaches the reference tapered bearing sleeve height but no pressure signal is detected between the detection piece 46 and the bottom of the workpiece, it indicates that the inner diameter of the workpiece is too small, causing the detection piece 46 to abut against the tapered bearing sleeve, so it cannot be pressed down to the bottom position. At this time, the tapered bearing sleeve is already a workpiece with unqualified machining, and an abnormal workpiece signal is directly output. It can then be transferred to the waste tank 31 for temporary disposal.

[0126] Step S52: When the contact pressing height is less than the height of the reference tapered bearing sleeve, output a signal indicating foreign object interference with the workpiece.

[0127] Foreign object interference signal refers to an abnormal signal output when a foreign object adheres to the bottom of the inner wall of the tapered bearing sleeve, causing the detection piece 46 to be blocked by the foreign object when it moves downward with the minimum contraction diameter and the contact pressure height is less than the height of the reference tapered bearing sleeve, thus generating a contact pressure signal.

[0128] When the pressing height is less than the height of the reference tapered bearing sleeve, it indicates that the detection piece 46 is not in contact with the end face of the reference tapered bearing sleeve that is away from the detection stage 3. At this time, the detection piece 46 is blocked by the foreign object before reaching the bottom position, and the foreign object interference workpiece signal can be output.

[0129] The specific methods for performing abnormal workpiece recovery operations include: Step S510: Determine the current station number and the reference station clamping position corresponding to the current station number based on the working gripper number.

[0130] Step S511: Perform the clamping operation according to the reference station clamping position.

[0131] The clamping operation refers to the operation of clamping the tapered bearing sleeve with the jaws 62.

[0132] Step S512: Obtain the workpiece recovery sliding parameters corresponding to the current workstation number.

[0133] The workpiece recovery sliding parameter refers to the distance the tapered bearing sleeve held by the gripper 62 driven by the clamping drive 55 moves to the position of the waste trough 31. This parameter is pre-stored in the detection system.

[0134] Step S513: After the clamping operation is performed, the clamping movement operation and clamping release operation are performed according to the workpiece recovery sliding parameters.

[0135] The clamping and moving operation refers to the operation in which the clamping drive 55 moves the jaws 62 and the tapered bearing sleeve to a position above the waste trough 31. The clamping and releasing operation refers to the operation in which the jaws 62 open, allowing the defective tapered bearing sleeve to fall into the waste trough 31 for recycling.

[0136] This also includes a method for outputting an abnormal inner diameter signal of the workpiece when there is foreign object interference with the workpiece signal, the method comprising: Step S520: In response to the foreign object interference signal on the workpiece, perform an inner diameter detection expansion operation.

[0137] The position of the tapered bearing sleeve is corrected by performing an inner diameter detection expansion operation (controlling the detection retraction drive 45 to drive the two detection plates 46 to move outward synchronously). Because it is uncertain whether there is a slight offset in the gripper 62, the inner diameter detection expansion operation needs to be performed before performing the foreign object detection pressing operation to correct the position of the tapered bearing sleeve.

[0138] Step S521: After performing the inner diameter detection expansion operation, output the workpiece inner diameter abnormality signal.

[0139] After the inner diameter detection expansion operation is performed, it indicates that the position correction of the tapered bearing sleeve has been completed. At this time, an abnormal inner diameter signal of the workpiece can be output to trigger the subsequent foreign object detection pressing operation.

[0140] Step S522: In response to the abnormal inner diameter signal of the workpiece, perform a foreign object detection and pressing operation.

[0141] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional modules is used as an example. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device, and unit described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0142] The above description is merely a preferred embodiment of the present invention. The scope of protection of the present invention is not limited to the above embodiments. All technical solutions falling within the scope of the present invention's concept are within the scope of protection of the present invention. It should be noted that for those skilled in the art, any improvements and modifications made without departing from the principles of the present invention should also be considered within the scope of protection of the present invention.

Claims

1. A device for detecting the inner diameter of a tapered bearing sleeve, characterized in that: It includes a workbench (1), a support column (2) fixedly connected to the workbench (1), a testing table (3) fixedly connected to the support column (2), an inner diameter testing mechanism (4) fixedly connected to the workbench (1), a clamping and moving assembly (5) fixedly connected to the support column (2), and a clamping assembly (6) fixedly connected to the clamping and moving assembly (5). The clamping and moving assembly (5) includes a clamping and moving base (51), a moving drive (52) fixedly connected to the clamping and moving base (51), a moving block (53) fixedly connected to the moving drive (52), a limiting block (54) slidably connected to the moving block (53), and a clamping drive (55) fixedly connected to the moving block (53). The testing platform (3) has a waste trough (31) at one end away from the support column (2); The inner diameter detection mechanism (4) includes an inner diameter detection base (41), an inner diameter detection lifting base (42) fixedly connected to the inner diameter detection base (41), an inner diameter detection moving base (43) slidably connected to the inner diameter detection lifting base (42), a rotating component (44) fixedly connected to the inner diameter detection moving base (43), a detection retraction drive component (45) fixedly connected to the rotating component (44), and a detection piece (46) fixedly connected to the detection retraction drive component (45).

2. The inner diameter detection device for a tapered bearing sleeve according to claim 1, characterized in that: The clamping assembly (6) includes a clamping base (61) fixedly connected to the clamping drive (55) and a gripper (62) slidably connected to the clamping base (61).

3. A method for detecting the inner diameter of a tapered bearing sleeve, applied to the inner diameter detection device for a tapered bearing sleeve as described in any one of claims 1 to 2, characterized in that, include: The gripping resistance of the grippers is obtained in response to the workpiece movement signal; When the gripper's gripping resistance falls within the preset effective gripping resistance range, the working gripper number is determined. When a working gripper number exists, perform an inner diameter detection pressing operation and obtain the pressing resistance and pressing height in real time; When the downward pressure falls within the preset resistance range, the downward pressure height is obtained; If the contact pressing height is not equal to the preset reference pressing height, an abnormal workpiece signal will be output. When the contact compression height is equal to the reference compression height, the inner diameter detection expansion operation is performed, and the expansion resistance and expansion distance are obtained in real time; When the expansion resistance falls within the preset range of resistance to expansion, the resistance to expansion is obtained; When the contact expansion distance is not equal to the preset reference expansion distance, an abnormal workpiece inner diameter signal is output. When the contact expansion distance equals the reference expansion distance, the workpiece inner diameter is output as qualified.

4. The method for detecting the inner diameter of a tapered bearing sleeve according to claim 3, characterized in that, It also includes a method for performing a foreign object detection pressing operation in response to a workpiece inner diameter abnormality signal, the method comprising: In response to the abnormal signal of the inner diameter of the workpiece, the inner diameter detection mechanism (4) is controlled to perform a reset operation; After the reset operation is performed, the inner diameter detection mechanism (4) is controlled according to the reference expansion distance to perform the foreign object detection and pressing operation, and the foreign object pressing resistance is obtained in real time; When the resistance to the foreign object pressing down does not fall within the preset rigid resistance range, a signal indicating that the foreign object can be peeled off is output. In response to the strippable foreign body signal, the inner diameter detection mechanism (4) is controlled to continue performing the foreign body detection pressing operation according to the reference pressing height, and the inner diameter detection mechanism (4) is controlled to perform the rotational cutting operation; When the pressure resistance of the foreign object falls within the range of rigid resistance, the control inner diameter detection mechanism (4) stops performing the foreign object detection pressure operation and outputs an abnormal workpiece signal.

5. The method for detecting the inner diameter of a tapered bearing sleeve according to claim 4, characterized in that, The method for controlling the inner diameter detection mechanism (4) to perform the rotational cutting operation includes: After the foreign object detection and pressing operation is completed, the current station number is determined based on the working gripper number, and the clamping component (6) corresponding to the working gripper number is controlled to perform clamping and fixing operation according to the reference station clamping position corresponding to the current station number. After the clamping and fixing operation is performed, the preset rotation parameters are found, and the inner diameter detection mechanism (4) is controlled to perform the rotation cutting operation according to the rotation parameters.

6. The method for detecting the inner diameter of a tapered bearing sleeve according to claim 5, characterized in that, Methods for performing clamping and fixing operations include: During the clamping and fixing operation, the clamping abutment pressure is acquired in real time, and the clamping abutment pressure is divided into a first clamping pressure and a second clamping pressure; When the first clamping pressure and the second clamping pressure do not exist simultaneously, output a clamping offset signal; In response to the clamping offset signal, determine the number of the positioning gripper and the number of the offset gripper; Stop the gripper (62) corresponding to the position gripper number from performing the gripper retraction operation; The gripper (62) corresponding to the offset gripper number continues to perform the gripper retraction operation; When both the first clamping pressure and the second clamping pressure are present, the clamping and fixing operation is performed.

7. The method for detecting the inner diameter of a tapered bearing sleeve according to claim 6, characterized in that, Also includes: When an offset gripper number exists, the number of consecutive offset gripper numbers is accumulated; When the number of consecutive offset gripper numbers exceeds the preset threshold for the number of reliable gripper deviations, the final gripping position is determined based on the gripping and fixing operation; The final gripping position is used as the reference gripping position for output.

8. The method for detecting the inner diameter of a tapered bearing sleeve according to claim 4, characterized in that, If the contact pressing height is not equal to the reference pressing height, the methods for outputting an abnormal workpiece signal include: Obtain the preset reference tapered bearing sleeve height; When the pressing height is equal to the height of the reference tapered bearing sleeve, an abnormal workpiece signal is output to perform an abnormal workpiece recovery operation; When the contact pressing height is less than the height of the reference tapered bearing sleeve, a foreign object interference signal is output to the workpiece.

9. The method for detecting the inner diameter of a tapered bearing sleeve according to claim 8, characterized in that, The specific methods for performing abnormal workpiece recovery operations include: Determine the current workstation number and the corresponding reference workstation clamping position based on the work gripper number; Perform the clamping operation according to the reference clamping position; Obtain the workpiece recovery sliding parameters corresponding to the current workstation number; After the clamping operation is performed, the clamping movement operation and clamping release operation are performed according to the workpiece recovery sliding parameters.

10. The method for detecting the inner diameter of a tapered bearing sleeve according to claim 8, characterized in that, It also includes a method for performing a foreign object detection and pressing operation when a foreign object interferes with the workpiece signal, the method comprising: In response to the interference signal from a foreign object on the workpiece, an inner diameter detection and expansion operation is performed. After performing the inner diameter detection expansion operation, an abnormal inner diameter signal of the workpiece is output. In response to an abnormal signal in the inner diameter of the workpiece, a foreign object detection and pressing operation is performed.

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