Measuring device

Abstract

The utility model discloses a measuring device which comprises a four-axis servo moving mechanism, a flexible clamping jaw, a grabbing camera, a feeding structure used for feeding samples in batches, an end face diameter detection structure, a weighing structure and an upper computer. An automatic feeding mode is adopted, samples only need to be placed in a hopper, position calculation is carried out through the machine vision technology, the samples are conveyed and grabbed through four shafts and a flexible clamping jaw on the basis of friction force, the samples with the diameter ranging from 6 mm to 20 mm and the length ranging from 50 mm to 240 mm can be grabbed, the length of a V-shaped groove is large, the measuring range of the device is widened, and the measuring precision of the device is improved. The problem that the samples are difficult to be compatible due to various specifications is solved. The device is compact in structure, end face diameter measurement and weight measurement are integrated in one measurement unit, the sample position switching structure is simple, damage to the sample due to conveying in the measurement process is reduced, and the end face diameter and weight of the sample can be measured more accurately.

Description

Technical Field

[0001] The utility model relates to the technical field of cigarette detection, in particular to a measuring device. Background Art

[0002] Cigars are a type of cigarette, made from dried, fermented tobacco. When smoking, one end is lit and then the other end is inhaled to produce smoke. Cigars can be divided into hand-rolled cigars, semi-machine-rolled cigars, and machine-made cigars according to the production method.

[0003] The physical measurement indicators of cigars include the following key parameters: weight, diameter, length, and draw resistance. The measurement devices in the prior art generally have a narrow measurement range and cannot detect samples of various diameters and lengths; and may cause deformation of the sample when grabbing the sample; in addition, the end face diameter measurement and weight measurement in the prior art are often carried out separately in several units, which may cause damage to the sample in the long transmission path between different units, and the detection process is long and inefficient.

[0004] Therefore, it is necessary to develop a measuring device to solve the above problems. Utility Model Content

[0005] The purpose of the utility model is to design a measuring device in order to solve the above problems.

[0006] The utility model achieves the above-mentioned purpose through the following technical solutions:

[0007] A measuring device, comprising:

[0008] Four-axis servo moving mechanism;

[0009] Flexible gripper; the flexible gripper is installed on the output end of the four-axis servo moving mechanism and is used to grab the sample transmitted by the feeding structure;

[0010] Grab the camera;

[0011] A feeding structure for batch feeding of samples; a grabbing camera is arranged at the upper end of the feeding structure and is used to collect position images of the samples transmitted by the feeding structure;

[0012] End face diameter detection structure;

[0013] Weighing structure; the end face diameter detection structure is installed at the upper end of the weighing structure;

[0014] Host computer; the signal port of the host computer is respectively connected with the signal port of the feeding structure, the signal port of the end face diameter detection structure, the signal port of the weighing structure, the signal port of the three-axis servo moving mechanism, the signal port of the flexible gripper, and the signal port of the grabbing camera.

[0015] Specifically, the four-axis servo moving mechanism includes a Y-axis linear guide driven by a Y-axis servo motor, an X-axis linear guide driven by an X-axis servo motor, a Z-axis linear guide driven by a Z-axis servo motor, and a rotary grasping motor. The upper end of the flexible clamp is installed on the output end of the rotary grasping motor, and the rotation plane of the rotary grasping motor is parallel to the horizontal plane; the fixed end of the rotary grasping motor is installed on the moving end of the Z-axis linear guide, the fixed end of the Z-axis linear guide is installed on the moving end of the X-axis linear guide, the fixed end of the X-axis linear guide is installed on the moving end of the Y-axis linear guide, and the fixed end of the Y-axis linear guide is set in a fixed position.

[0016] Specifically, the feeding structure includes a hopper, a first conveyor belt, a second feeding belt, a hopper, a motor a, a motor b, a grabbing light source, and an in-place sensor. The second feeding belt is a transparent conveyor belt. The grabbing light source is arranged below the second feeding belt. The first conveyor belt and the second conveyor belt are arranged on the same horizontal plane. The output end of the first conveyor belt is arranged close to the input end of the second conveyor belt. The in-place sensor is installed on one side of the output end of the second conveyor belt. The hopper is installed above the input end of the first conveyor belt. Motor a is driven and connected to the first conveyor belt, and motor b is driven and connected to the second conveyor belt. The rotation speed of motor b is higher than that of motor a.

[0017] Specifically, a baffle and a baffle driving mechanism for driving the baffle to move vertically are arranged in the hopper, the baffle driving mechanism is fixedly installed in the hopper, the baffle is arranged vertically, and a discharge channel is formed between the bottom of the baffle and the first conveyor belt.

[0018] Specifically, the minimum angle between the baffle and the moving direction of the first conveyor belt is 5-85°.

[0019] Specifically, the end face diameter detection structure includes an end face diameter camera, a fixed inclined plate, a movable inclined plate, and a slide. The fixed inclined plate and the movable inclined plate are both inclined. When the lower end of the movable inclined plate is close to the lower end of the fixed inclined plate, a V-shaped groove is formed between the fixed inclined plate and the movable inclined plate. When the end face diameter is detected, the sample is placed in the V-shaped groove. The fixed inclined plate is set in a fixed position, the outer side of the movable inclined plate is connected to the output end of the slide, the fixed end of the slide is set in a fixed position, and the end face diameter camera is set to face one side of the V-shaped groove.

[0020] Specifically, the end face diameter detection structure also includes a positioning block, an end face diameter rotation driver, and an end face diameter sensor for detecting whether the sample is placed in the V-groove. The end face diameter sensor is installed on the outside of one end of the fixed inclined plate. The fixed end of the end face diameter rotation driver is set in a fixed position. The driving end of the end face diameter rotation driver is connected to one side of the first end of the positioning block. The positioning block is formed into a U-shaped structure. After the end face diameter rotation driver rotates, the second end of the positioning block is used to push the end face of the sample to a fixed position in the V-groove.

[0021] Specifically, the weighing structure includes a weighing module and a weighing pan. The weighing pan is arranged below the V-shaped groove, and a first side of the weighing pan is connected to a weighing end of the weighing module.

[0022] Specifically, the measuring device also includes a weighing rotary driver, a rotating shaft, and a blanking plate. The fixed end of the weighing rotary driver is set in a fixed position, the driving end of the weighing rotary driver is connected to the first end of the rotating shaft, the rotating shaft is set horizontally, one side of the rotating shaft is connected to one side of the lower end of the blanking plate, and a plurality of single hooks are set at the upper end of the blanking plate. The plurality of single hooks are parallel to each other and a gap is set between two adjacent single hooks. The weighing pan is formed into a V-shaped long strip structure, and a plurality of V-shaped notches are set on the weighing pan. The plurality of V-shaped notches are parallel to each other and a gap is set between two adjacent V-shaped notches. The plurality of single hooks pass through the plurality of V-shaped notches from bottom to top and are used to move the samples placed in the weighing pan that have been tested for end face diameter to the next workstation.

[0023] Specifically, the measuring device also includes a feeding notch, a connecting rod, a rotating cylinder, and a vacuum generator. A notch is horizontally arranged at the upper end of the feeding notch, one end of the feeding notch is connected to the first end of the connecting rod, the output end of the rotating cylinder is connected to the second end of the connecting rod, the fixed end of the rotating cylinder is set at a fixed position, and a plurality of vacuum adsorption holes are arranged at the bottom of the notch. The vacuum generator is connected to the vacuum adsorption holes through a pipeline. When not working, the feeding notch is placed at the lower side of the feeding plate.

[0024] The beneficial effects of the utility model are:

[0025] This application adopts an automatic feeding mode. It only needs to put the sample into the hopper, use machine vision technology to calculate the position, and use friction as the basis. A four-axis plus flexible clamp is used to transport and grasp the sample. It can grasp samples with a diameter range of 6-20mm and a length range of 50-240mm. The length of the V-groove is relatively long, which expands the measurement range of the device and solves the problem of compatibility of multiple sample specifications.

[0026] The device has a compact structure and combines end face diameter measurement and weight measurement in one measuring unit. The sample position switching structure is simple, which reduces damage to the sample caused by transportation during the measurement process and can more accurately measure the end face diameter and weight of the sample. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 This is a schematic diagram of the structure of this application;

[0028] Figure 2 It is a structural schematic diagram of the feeding structure in this application;

[0029] Figure 3 It is a schematic diagram of the structure of the hopper in this application;

[0030] Figure 4This is a schematic diagram of the structure of the hopper screw motor in this application;

[0031] Figure 5 This is a schematic diagram of the structure of the end face diameter and weight measurement position in this application;

[0032] Figure 6 It is a structural schematic diagram of the weight measurement position in this application;

[0033] Figure 7 This is a schematic diagram of the structure of the blanking plate in this application;

[0034] Figure 8 This is a schematic diagram of the structure in which the sample is placed on a weighing pan in this application;

[0035] Fig. 9 This is a schematic diagram of the structure of the positioning block in this application;

[0036] Fig.10 It is a schematic diagram of the structure of the vacuum adsorption hole in this application;

[0037] Fig.11 This is a schematic diagram of the matching structure of the weighing pan and the blanking plate in this application;

[0038] In the figure: 1-Y-axis servo motor, 2-X-axis servo motor, 3-Z-axis servo motor, 4-rotating grab motor, 5-grabbing detection sensor, 6-grabbing camera, 7-second conveyor belt (transparent), 8-grabbing light source, 9-first conveyor belt, 10-hopper, 11-end diameter detection light source, 12-sample, 13-moving inclined plate, 14-weighing module, 15-flexible clamping claw, 16-baffle, 17-hopper screw motor, 18-in-place sensor, 19-motor a, 20-motor b, 21-hopper front panel, 22-weighing rotary drive Actuator, 23-fixed inclined plate, 24-slide, 25-end diameter lens, 26-end diameter camera, 27-rotating cylinder, 28-positioning block, 29-end diameter rotation driver, 30-end diameter sensor, 31-feeding sensor, 32-feeding notch, 33-weighing pan, 331-V-notch, 34-feeding plate, 341-single hook, 35-vacuum generator, 36-vacuum adsorption hole, 37-rotating shaft, 38-fixed plate, 39-screw, 40-nut, 41-connector, 42-baffle linear guide, 43-slider. DETAILED DESCRIPTION

[0039] In order to make the purpose, technical scheme and advantages of the embodiments of the present invention clearer, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0040] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the present invention to be protected, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0041] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0042] In the description of the present utility model, it should be understood that the terms "upper", "lower", "inside", "outside", "left", "right", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, or are directions or positional relationships in which the utility model product is usually placed when in use, or are directions or positional relationships that are usually understood by those skilled in the art. These directions or positional relationships are only for the convenience of describing the present utility model and simplifying the description, and do not indicate or imply that the device or component referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present utility model.

[0043] Furthermore, the terms “first”, “second”, etc. are merely used for distinguishing descriptions and should not be understood as indicating or implying relative importance.

[0044] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms such as "setting" and "connection" should be understood in a broad sense. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0045] The specific implementation of the utility model is described in detail below in conjunction with the accompanying drawings.

[0046] like Figure 1-11 As shown, a measuring device comprises:

[0047] The bottom plate (not shown in the figure); the bottom of the side wall of the hopper 10, the motor a19, the motor b20, the end diameter camera 26, the end diameter detection light source 11, the end diameter lens 25, the vacuum generator 35, the rotary cylinder 27, and the weighing module 14 that need to be fixed in position are all fixed on the bottom plate, and the remaining weighing rotary driver 22, the fixed inclined plate 23, and the slide 24 are indirectly fixed to the bottom plate through the bracket;

[0048] Four-axis servo moving mechanism; the four-axis servo moving mechanism includes a Y-axis linear guide driven by a Y-axis servo motor 1, an X-axis linear guide driven by an X-axis servo motor 2, a Z-axis linear guide driven by a Z-axis servo motor 3, a rotating grabbing motor 4, and a grabbing detection sensor 5 for judging whether the flexible clamp 15 has successfully grabbed the sample 12, the grabbing detection sensor 5 is installed near the flexible clamp 15, the upper end of the flexible clamp 15 is installed on the output end of the rotating grabbing motor 4, and the rotation plane of the rotating grabbing motor 4 is parallel to the horizontal plane; the fixed end of the rotating grabbing motor 4 is installed on the moving end of the Z-axis linear guide, the fixed end of the Z-axis linear guide is installed on the moving end of the X-axis linear guide, the fixed end of the X-axis linear guide is installed on the moving end of the Y-axis linear guide, and the fixed end of the Y-axis linear guide is set at a fixed position;

[0049] Flexible clamping claw 15; The flexible clamping claw 15 is installed on the output end of the four-axis servo moving mechanism and is used to grab the sample 12 transmitted by the feeding structure;

[0050] Capture camera 6; Capture camera 6 also includes a lens of capture camera 6;

[0051] A feeding structure for batch feeding of samples 12; a grabbing camera 6 is arranged at the upper end of the feeding structure, and is used to collect position images of the samples 12 transmitted by the feeding structure; the feeding structure includes a hopper 10, a first conveyor belt 9, a second feeding belt, a hopper 10, a motor a19, a motor b20, a grabbing light source 8, and an in-place sensor 18. The second feeding belt is a transparent conveyor belt, the grabbing light source 8 is arranged below the second feeding belt, the first conveyor belt 9 and the second conveyor belt 7 are arranged on the same horizontal plane, the output end of the first conveyor belt 9 is arranged close to the input end of the second conveyor belt 7, the in-place sensor 18 is installed on one side of the output end of the second conveyor belt 7, the hopper 10 is installed above the input end of the first conveyor belt 9, the motor a19 is drivingly connected to the first conveyor belt 9, the motor b20 is drivingly connected to the second conveyor belt 7, and the rotation speed of the motor b20 is higher than the rotation speed of the motor a19. The hopper 10 is provided with a baffle 16 and a baffle 16 driving mechanism for driving the baffle 16 to move vertically. The baffle 16 driving mechanism is fixedly installed in the hopper 10. The baffle 16 is vertically arranged. The bottom of the baffle 16 and the first conveyor belt 9 are between a discharge channel. The hopper 10 is formed in a rectangular parallelepiped shape. The front of the hopper 10 is a hopper front panel 21. The baffle 16 and the hopper front panel 21 are relatively inclined. The minimum angle between the baffle 16 and the moving direction of the first conveyor belt 9 is 5-85°, preferably 85°. Figure 4 As shown, the specific structure of the baffle 16 driving mechanism is shown. The baffle 16 driving mechanism includes a hopper screw motor 17, a fixed plate 38, a screw 39, a nut 40, a connecting piece 41, a baffle linear guide 42, and a slider 43. Both ends of the fixed plate 38 are fixedly mounted on the inner wall of the hopper 10. The hopper screw motor 17 is vertically mounted at the bottom of the fixed plate 38. The slider 43 is indirectly connected to the bottom of the fixed plate 38 through a connecting block. The slider 43 protrudes from one side of the fixed plate 38. A through hole is opened in the middle of the fixed plate 38. The screw 39 of the hopper screw motor 17 The screw 39 is threadedly mounted on an outer thread of a nut 40, one side of the nut 40 is connected to a first end of a connecting piece 41, a second end of the connecting piece 41 is connected to an upper end of the baffle 16, a baffle linear guide 42 is vertically mounted on one side of the baffle 16, a slider 43 vertically slides with the baffle linear guide 42, and when the hopper screw motor 17 rotates, the screw 39 is driven to rotate, the nut 40 is threadedly connected to the screw 39, and because the axial rotation of the nut 40 is restricted, it can only drive the connecting piece 41 to move up and down, and finally drive the baffle 16 to move up and down.

[0052] End face diameter detection structure; the end face diameter detection structure includes an end face diameter camera 26, a fixed inclined plate 23, a movable inclined plate 13, a slide 24, a positioning block 28, an end face diameter rotation driver 29, and an end face diameter sensor 30 for detecting whether the sample 12 is placed in the V-shaped groove. The fixed inclined plate 23 and the movable inclined plate 13 are both tilted. When the lower end of the movable inclined plate 13 is close to the lower end of the fixed inclined plate 23, a V-shaped groove is formed between the fixed inclined plate 23 and the movable inclined plate 13. The sample 12 is placed in the V-shaped groove for end face diameter detection. The fixed inclined plate 23 is fixed in position, the outer side of the movable inclined plate 13 is connected to the output end of the slide 24, the fixed end of the slide 24 is fixed in position, and the end face diameter camera 26 is aligned with one side of the V-shaped groove. The end face diameter sensor 30 is installed on the outside of one end of the fixed inclined plate 23, and the fixed end of the end face diameter rotation driver 29 is set at a fixed position. The driving end of the end face diameter rotation driver 29 is connected to one side of the first end of the positioning block 28. The positioning block 28 is formed into a U-shaped structure. After the end face diameter rotation driver 29 rotates, the second end of the positioning block 28 is used to push the end face of the sample 12 to a fixed position in the V-shaped groove. The end face diameter camera 26 is also equipped with an end face diameter detection light source 11 and an end face diameter lens 25. The end face diameter lens 25 is placed at the front end of the camera, and the end face diameter detection light source 11 is placed at the front end of the end face diameter lens 25;

[0053] Weighing structure; the end diameter detection structure is installed at the upper end of the weighing structure; the weighing structure includes a weighing module 14 and a weighing pan 33, the weighing pan 33 is arranged below the V-shaped groove, and the first side of the weighing pan 33 is connected to the weighing end of the weighing module 14; the weighing module 14 preferably adopts the WKX203 weighing module of Mettler Toledo.

[0054] host computer; the signal ports of the host computer are respectively connected to the signal ports of the feeding structure, the signal ports of the end diameter detection structure, the signal ports of the weighing structure, the signal ports of the three-axis servo moving mechanism, the signal ports of the flexible gripper 15, and the signal ports of the grabbing camera 6.

[0055] Weighing rotary driver 22, rotating shaft 37, blanking plate 34; the fixed end of the weighing rotary driver 22 is set at a fixed position, the driving end of the weighing rotary driver 22 is connected to the first end of the rotating shaft 37, the rotating shaft 37 is set horizontally, one side of the rotating shaft 37 is connected to one side of the lower end of the blanking plate 34, and a plurality of single hooks 341 are arranged on the upper end of the blanking plate 34, the plurality of single hooks 341 are parallel to each other, and a gap is arranged between two adjacent single hooks 341, the weighing pan 33 is formed into a V-shaped strip structure, and a plurality of V-shaped notches 331 are arranged on the weighing pan 33, the plurality of V-shaped notches 331 are parallel to each other, and a gap is arranged between two adjacent V-shaped notches 331, and the plurality of single hooks 341 pass through the plurality of V-shaped notches 331 from bottom to top, and are used to move the sample 12 placed in the weighing pan 33 after the end face diameter detection is completed to the next station;

[0056] A feeding notch 32, a connecting rod, a rotating cylinder 27, and a vacuum generator 35; a notch is horizontally arranged at the upper end of the feeding notch 32, one end of the feeding notch 32 is connected to the first end of the connecting rod, the output end of the rotating cylinder 27 is connected to the second end of the connecting rod, the fixed end of the rotating cylinder 27 is set at a fixed position, and a plurality of vacuum adsorption holes 36 are arranged at the bottom of the notch, the vacuum generator 35 is connected to the vacuum adsorption holes 36 through a pipeline, and when not working, the feeding notch 32 is placed below one side of the feeding plate 34.

[0057] The working principle of this application is:

[0058] The hopper 10 is used to accommodate cigar samples 12 of different specifications; multiple samples 12 are placed in the hopper 10, and according to the diameter of the sample 12 set in the upper computer, the distance between the bottom of the baffle 16 and the first conveyor belt 9 is adjusted by controlling the lifting of the hopper screw motor 17 to control the size of the discharge port. At the same time, the motor a19 is controlled to drive the first conveyor belt 9 to rotate, so that the sample 12 at the bottom layer of the hopper 10 is conveyed away by the first conveyor belt 9, and the motor b20 drives the second conveyor belt 7 to rotate. The baffle 16 and the front panel 21 of the hopper are at a certain angle, so that the sample 12 can enter the second conveyor belt 7 at a certain angle with the movement of the first conveyor belt 9, so that the sample 12 can smoothly pass through the gap between the first conveyor belt 9 and the second conveyor belt 7. The rotation speed of the motor b20 is higher than that of the motor a19. After the sample 12 enters the second conveyor belt 7, the gap between the samples 12 increases. During the transmission process, the speed difference between the two sections of the conveyor belt is used to increase the distance between the samples 12 for easy grasping; when the in-position sensor 18 detects the sample 12, the motor a1 9 and motor b20 stop moving, the grabbing light source 8 is turned on, and the grabbing camera 6 performs image acquisition. After the upper computer calculates the coordinates of the sample 12, it controls the X-axis servo motor 2 and the Y-axis servo motor 1 to drive the flexible clamp 15 to move cooperatively to above the corresponding coordinate point, and the rotary grabbing motor 4 drives the flexible clamp 15 to rotate to a direction parallel to the sample 12 (the cooperation between the rotary grabbing motor 4 and the flexible clamp 15 is similar to the rotary electric clamp in the prior art), the Z-axis servo motor 3 drives the flexible clamp 15 to move downward, and at the same time, the rotary grabbing motor 4 drives the flexible clamp 15 to open a certain distance according to the diameter of the sample 12 to grab the sample 12, and the flexible clamp 15 is closed. After the grabbing detection sensor 5 determines that the sample 12 is successfully grabbed, the Z-axis servo motor 3 drives the flexible clamp 15 to move upward to the reset point, the X-axis servo motor 2 and the Y-axis servo motor 1 drive the flexible clamp 15 to move cooperatively to above the moving inclined plate 13, and the rotary grabbing motor 4 drives the flexible clamp 15 to open, and the sample 12 enters the end face diameter measurement position, such as Fig.11 shown.

[0059] When the end face diameter of the sample 12 needs to be measured, the solenoid valve is controlled to extend the slide 24, and the sample 12 enters the V-shaped groove formed by the movable inclined plate 13 and the fixed inclined plate 23. After the end face diameter sensor 30 detects the sample 12, the solenoid valve is controlled to rotate the end face diameter rotation driver 29 by 90°, driving the positioning block 28 to push the end face of the sample 12 to a fixed position, and the end face diameter detection light source 11 is turned on. The end face diameter camera 26 and the end face diameter lens 25 perform image acquisition, and the host computer calculates the average end face diameter of the sample 12. After the measurement is completed, the end face diameter detection light source 11 is turned off, and the slide 24 is retracted by the solenoid valve, and the sample 12 falls downward into the scale pan 33 below for weight measurement.

[0060] After the sample 12 falls into the weighing pan 33, the weighing module 14 is controlled to measure the weight of the sample 12. After the measurement is completed, the solenoid valve is controlled to drive the weighing rotary driver 22 to drive the unloading plate 34 to rotate, and the sample 12 is pushed and transferred to the unloading slot 32. After the unloading sensor 31 detects the sample 12, the vacuum generator 35 is controlled to work, and the vacuum generated enters the multiple vacuum adsorption holes 36 at the bottom of the unloading slot 32 through the pipeline, and the sample 12 is adsorbed in the unloading slot 32. The solenoid valve is controlled to rotate the rotary cylinder 27 90° and then the vacuum is disconnected, and the sample 12 falls into the next measuring position.

[0061] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principle of the present invention. These improvements and modifications should also be regarded as the protection scope of the present invention.

Claims

1. A measuring device, characterized in that: include: Four-axis servo moving mechanism; Flexible gripper; The flexible gripper is installed on the output end of the four-axis servo moving mechanism and is used to grab the sample transmitted by the feeding structure; Grab the camera; A feeding structure for batch feeding of samples; a grabbing camera is arranged at the upper end of the feeding structure and is used to collect position images of the samples transmitted by the feeding structure; End face diameter detection structure; Weighing structure; the end face diameter detection structure is installed at the upper end of the weighing structure; Host computer; the signal port of the host computer is respectively connected with the signal port of the feeding structure, the signal port of the end face diameter detection structure, the signal port of the weighing structure, the signal port of the three-axis servo moving mechanism, the signal port of the flexible gripper, and the signal port of the grabbing camera.

2. A measuring device according to claim 1, characterized in that: The four-axis servo moving mechanism includes a Y-axis linear guide driven by a Y-axis servo motor, an X-axis linear guide driven by an X-axis servo motor, a Z-axis linear guide driven by a Z-axis servo motor, and a rotating grabbing motor. The upper end of the flexible clamp is installed on the output end of the rotating grabbing motor, and the rotation plane of the rotating grabbing motor is parallel to the horizontal plane; the fixed end of the rotating grabbing motor is installed on the moving end of the Z-axis linear guide, the fixed end of the Z-axis linear guide is installed on the moving end of the X-axis linear guide, the fixed end of the X-axis linear guide is installed on the moving end of the Y-axis linear guide, and the fixed end of the Y-axis linear guide is set in a fixed position.

3. A measuring device according to claim 1, characterized in that: The feeding structure includes a hopper, a first conveyor belt, a second feeding belt, a hopper, a motor a, a motor b, a grabbing light source, and an in-place sensor. The second feeding belt is a transparent conveyor belt. The grabbing light source is arranged below the second feeding belt. The first conveyor belt and the second conveyor belt are arranged on the same horizontal plane. The output end of the first conveyor belt is arranged close to the input end of the second conveyor belt. The in-place sensor is installed on one side of the output end of the second conveyor belt. The hopper is installed above the input end of the first conveyor belt. Motor a is driven and connected to the first conveyor belt, and motor b is driven and connected to the second conveyor belt. The rotation speed of motor b is higher than that of motor a.

4. A measuring device according to claim 3, characterized in that: A baffle and a baffle driving mechanism for driving the baffle to move vertically are arranged in the hopper. The baffle driving mechanism is fixedly installed in the hopper. The baffle is arranged vertically, and a discharge channel is formed between the bottom of the baffle and the first conveyor belt.

5. A measuring device according to claim 4, characterized in that: The minimum angle between the baffle and the moving direction of the first conveyor belt is 5-85°.

6. A measuring device according to claim 1, characterized in that: The end face diameter detection structure includes an end face diameter camera, a fixed inclined plate, a movable inclined plate, and a slide. The fixed inclined plate and the movable inclined plate are both inclined. When the lower end of the movable inclined plate is close to the lower end of the fixed inclined plate, a V-shaped groove is formed between the fixed inclined plate and the movable inclined plate. When the end face diameter is detected, the sample is placed in the V-shaped groove. The fixed inclined plate is set in a fixed position, the outer side of the movable inclined plate is connected to the output end of the slide, the fixed end of the slide is set in a fixed position, and the end face diameter camera is set to face one side of the V-shaped groove.

7. A measuring device according to claim 6, characterized in that: The end face diameter detection structure also includes a positioning block, an end face diameter rotation driver, and an end face diameter sensor for detecting whether the sample is placed in the V-groove. The end face diameter sensor is installed on the outside of one end of the fixed inclined plate. The fixed end of the end face diameter rotation driver is set in a fixed position. The driving end of the end face diameter rotation driver is connected to one side of the first end of the positioning block. The positioning block is formed into a U-shaped structure. After the end face diameter rotation driver rotates, the second end of the positioning block is used to push the end face of the sample to a fixed position in the V-groove.

8. A measuring device according to claim 6, characterized in that: The weighing structure comprises a weighing module and a weighing pan. The weighing pan is arranged below the V-shaped groove, and a first side of the weighing pan is connected to a weighing end of the weighing module.

9. A measuring device according to claim 8, characterized in that: The measuring device also includes a weighing rotary driver, a rotating shaft, and a blanking plate. The fixed end of the weighing rotary driver is set in a fixed position, the driving end of the weighing rotary driver is connected to the first end of the rotating shaft, the rotating shaft is set horizontally, one side of the rotating shaft is connected to one side of the lower end of the blanking plate, a plurality of single hooks are set at the upper end of the blanking plate, the plurality of single hooks are parallel to each other and a gap is set between two adjacent single hooks, the weighing pan is formed into a V-shaped long strip structure, a plurality of V-shaped notches are set on the weighing pan, the plurality of V-shaped notches are parallel to each other and a gap is set between two adjacent V-shaped notches, and the plurality of single hooks pass through the plurality of V-shaped notches from bottom to top and are used to move the samples placed in the weighing pan that have been tested for end face diameter to the next workstation.

10. A measuring device according to claim 9, characterized in that: The measuring device also includes a feeding notch, a connecting rod, a rotating cylinder, and a vacuum generator. A notch is horizontally arranged at the upper end of the feeding notch, one end of the feeding notch is connected to the first end of the connecting rod, the output end of the rotating cylinder is connected to the second end of the connecting rod, the fixed end of the rotating cylinder is set at a fixed position, and a plurality of vacuum adsorption holes are arranged at the bottom of the notch. The vacuum generator is connected to the vacuum adsorption holes through a pipeline. When not working, the feeding notch is placed at the lower side of the feeding plate.

Images