Lower tube socket detection device

Abstract

The utility model provides a lower tube socket detection device, the lower tube socket detection device comprises a horizontally arranged operating platform and a feeding rack, a grabbing mechanism, a detection platform, a turnover mechanism and a detection mechanism which are arranged on the operating platform, the lower tube socket detection device also comprises a control module, the feeding rack can be used for simultaneously placing a plurality of lower tube sockets, the grabbing mechanism is used for grabbing a target lower tube socket from the feeding rack, and the turnover mechanism is used for turning over the target lower tube socket. The conveying mechanism is used for conveying the target lower tube socket to the detection table, the overturning mechanism is used for overturning the target lower tube socket on the detection table, the detection mechanism is used for obtaining appearance information of the target lower tube socket on the detection table and sending the appearance information to the control module, and the control module can obtain a detection result according to the appearance information. According to the device and the method, batch and concentrated feeding can be carried out, then flow and standardized appearance defect detection is carried out on a plurality of lower tube bases in sequence, and the detection comprehensiveness, the detection accuracy and the detection efficiency of appearance defect detection of the lower tube bases can be effectively improved.

Description

Technical Field

[0001] The utility model relates to the technical field of nuclear fuel assemblies, in particular to a lower tube seat detection device. Background Art

[0002] A nuclear fuel assembly usually includes a number of fuel rods, a number of guide tubes and spacer grids, an upper tube seat and a lower tube seat. The nuclear fuel assembly is located between the upper and lower plates of the reactor core. The coolant passes through the reserved holes in the core plate, enters the fuel rod bundle inside the fuel assembly from the lower tube seat, and flows out of the nuclear fuel assembly through the upper tube seat, taking away the heat generated by the nuclear reaction of the fuel rod bundle.

[0003] Among them, the lower tube seat, as an important component of the nuclear fuel assembly, is one of the main load-bearing components of the nuclear fuel assembly. Its reliability directly affects the safety of the nuclear fuel assembly during operation, transportation and operation. At the same time, the lower tube seat is also an important interface component, and its structural design has a direct impact on the operating performance of the nuclear fuel assembly and its compatibility with the internal components of the reactor. As the inlet of the core coolant, the foreign matter prevention performance of the lower tube seat is also one of the important indicators of its comprehensive performance. Foreign matter in the coolant, such as metal debris, entering the fuel assembly will cause serious damage to the fuel rod cladding tube due to collision and friction. In order to prevent foreign matter from entering the nuclear fuel assembly, the lower tube seat should play an important role as the coolant inlet.

[0004] It can be seen that the quality of the lower tube seat is of vital importance. After the lower tube seat is produced, it needs to be fully inspected to ensure that the appearance of the lower tube seat is free of cracks and flaws and of good quality to avoid safety hazards in subsequent use. Figure 1 and Figure 2 As shown, the commonly used lower tube seat 1 is usually a spatial curved surface structure, which is mainly assembled and brazed by five parts: a lower tube seat structure, multiple ribs, multiple blades, a central instrument tube seat, and multiple guide tube seats. All parts are connected by brazing seams, and the welding structure is complex and has many structural gaps. At present, most of the methods for detecting it are to take a plane photo of the lower tube seat at a fixed angle, and then perform defect detection based on the picture. In this way, some parts of the lower tube seat are blocked or the gap is small, and the problem of not being able to be photographed will occur. The detection of the lower tube seat is not comprehensive, resulting in the omission of some parts of the lower tube seat, and the detection accuracy is low. In addition, the current detection process is not standardized, and the detection device has a low degree of automation, resulting in a complex, disordered, time-consuming and labor-intensive detection process, which seriously affects the detection efficiency.

[0005] Therefore, how to standardize the inspection process of the lower pipeline, improve the inspection device of the lower pipeline, and improve the comprehensiveness, accuracy and efficiency of the lower pipeline inspection is an urgent problem to be solved. Utility Model Content

[0006] The purpose of the utility model is to provide a lower tube seat detection device to solve the defects and shortcomings in the prior art. The lower tube seat detection device provided by the utility model can make the appearance detection of the lower tube seat more comprehensive, more accurate and more efficient.

[0007] To achieve the above-mentioned purpose, the utility model provides a lower tube seat detection device, which includes an operating table, a loading rack, a grabbing mechanism, a detection table, a turning mechanism, a detection mechanism and a control module;

[0008] The control module is respectively connected to the loading rack, the grabbing mechanism, the flipping mechanism and the detecting mechanism for communication and can exchange information with them;

[0009] The operating table is arranged horizontally, and the loading rack, the grabbing mechanism, the testing table, the flipping mechanism, and the testing mechanism are fixedly installed on the operating table in sequence. The loading rack can hold multiple lower tube seats at the same time. The grabbing mechanism is used to grab the target lower tube seat from the loading rack and transfer the target lower tube seat to the testing table. The flipping mechanism is used to flip the target lower tube seat on the testing table. The testing mechanism is used to obtain appearance information of the target lower tube seat on the testing table and send the appearance information to the control module. The control module can obtain the detection result according to the appearance information.

[0010] Optionally, the loading rack includes a rack body, a first bracket, a second bracket, and a driving mechanism. The rack body is located on both sides of the operating table. The first bracket and the second bracket are both slidably arranged on the rack body, and the first bracket is located on the inner side of the second bracket. The first bracket and the second bracket are both provided with a material tray for placing the lower tube seat. The driving mechanism is arranged on the operating table and is communicatively connected to the control module. The driving mechanism can respectively drive the first bracket and the second bracket to slide separately on the rack body.

[0011] Optionally, the rack body is provided with a first slide rail group, a second slide rail group and a third slide rail group in parallel from bottom to top;

[0012] Pulleys are arranged on both sides of the bottom of the first bracket for sliding connection with the first slide rail group, and the first bracket can be guided and moved along the first slide rail group;

[0013] Pulleys are arranged on both sides of the bottom of the second bracket for sliding connection with the second slide rail group, and the second bracket can be guided and moved along the second slide rail group.

[0014] Optionally, the grasping mechanism includes a first transfer rod, a second transfer rod and a clamping mechanism, the clamping mechanism is arranged at the bottom end of the second transfer rod, the first transfer rod and the second transfer rod are arranged vertically, and the first transfer rod can move along the length direction of the first transfer rod, pulleys are arranged at both ends of the bottom of the first transfer rod for sliding connection with the third slide rail group, and the driving mechanism is also used to drive the first transfer rod to move along the third slide rail group.

[0015] Optionally, the flipping mechanism includes a first flipping member and a second flipping member, and the first flipping member and the second flipping member are respectively arranged on two sides of the inspection platform in opposition to each other, and are used to flip the target lower tube seat located on the lower tube seat.

[0016] Optionally, the detection mechanism includes a first detection camera, a second detection camera, an endoscope and a robot gripper;

[0017] The operating table is provided with a linear guide rail parallel to the detection table, and the first detection camera can slide along the linear guide rail to obtain the side appearance information of the target lower tube seat;

[0018] The second detection camera and the endoscope are arranged at the end of the robot gripper to obtain the appearance information of the upper and lower end surfaces of the target lower tube seat and the appearance information around the seat hole of the target lower tube seat and inside the four corners of the tube seat.

[0019] Optionally, the robot gripper is a six-axis machine gripper.

[0020] Optionally, the lower tube seat detection device further includes a lifting and rotating mechanism, which is disposed below the detection platform and is used to lift the detection platform and rotate the detection platform to face the detection mechanism.

[0021] Optionally, the lifting and rotating mechanism includes a lifting structure and a rotating structure, the lifting structure is used to lift the detection platform, and the rotating structure drives the detection platform to rotate by 90 degrees each time.

[0022] Optionally, the lifting structure is a lifting cylinder.

[0023] Compared with the prior art, the utility model provides a lower tube seat detection device, which has the following advantages: the lower tube seat detection device comprises an operating table, a loading rack, a grabbing mechanism, a detection table, a flipping mechanism, a detection mechanism and a control module, the control module is respectively connected to the loading rack, the grabbing mechanism, the flipping mechanism and the detection mechanism in communication, and can exchange information with them, the operating table is horizontally arranged, the loading rack, the grabbing mechanism, the detection table, the flipping mechanism and the detection mechanism are fixedly installed in sequence on the operating table, the loading rack can place multiple lower tube seats at the same time, the grabbing mechanism is used to grab the target lower tube seat from the loading rack, and is used to transfer the target lower tube seat to the detection table, the flipping mechanism is used to flip the target lower tube seat on the detection table, the detection mechanism is used to obtain the appearance information of the target lower tube seat on the detection table, and send the appearance information to the control module, and the control module can obtain the detection result according to the appearance information. By adopting a centralized loading rack, the present application can perform batch and centralized loading when conducting appearance inspection of the lower tube sockets, and then sequentially perform process-based and standardized appearance defect inspections on the multiple lower tube sockets located on the loading rack, thereby avoiding the problems of idle subsequent inspection processes, discontinuous inspections, and long intervals between the inspection of the previous lower tube socket and the next lower tube socket when currently performing individual loading, and can effectively improve the comprehensiveness, accuracy, and efficiency of the inspection of appearance defects of the lower tube sockets. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0025] Figure 1 This is a schematic diagram of the structure of a lower pipe seat provided by the utility model. Figure 1 ;

[0026] Figure 2 This is a schematic diagram of the structure of a lower pipe seat provided by the utility model. Figure 2 ;

[0027] Figure 3 This is a schematic diagram of the structure of a lower tube seat detection device provided by an embodiment of the utility model Figure 1 ;

[0028] Figure 4 This is a schematic diagram of the structure of a lower tube seat detection device provided by an embodiment of the utility model Figure 2 ;

[0029] Figure 5 This is a schematic diagram of the structure of a lower tube seat detection device provided by an embodiment of the utility model Figure 3 ;

[0030] Description of reference numerals:

[0031] 1-lower tube seat; 10-operating table; 20-loading rack; 201-rack body; 202-first bracket; 203-second bracket; 30-grabbing mechanism; 301-first transfer rod; 302-second transfer rod; 303-gripping mechanism; 40-detection table; 50-flipping mechanism; 501-first flipping member; 502-second flipping member; 60-detection mechanism; 601-first detection camera; 602-second detection camera; 603-endoscope; 604-robot gripper. DETAILED DESCRIPTION

[0032] The following is a further detailed description of a lower pipe seat detection device proposed by the utility model in combination with the accompanying drawings and specific embodiments. According to the following description, the advantages and features of the utility model will be more clear. It should be noted that the accompanying drawings are all in a very simplified form and are not in precise proportions, which are only used to conveniently and clearly assist in explaining the purpose of the embodiments of the utility model.

[0033] In the description of the present invention, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0034] The core idea of ​​the utility model is to provide a lower tube seat detection device, by designing and improving the structural design of the lower tube seat detection device, so that the detection process of the lower tube seat appearance is standardized, streamlined and automated, so as to improve the comprehensiveness, accuracy and efficiency of the lower tube seat appearance detection.

[0035] To this end, this embodiment provides a lower tube seat detection device, see Figure 3-5The lower tube seat detection device includes an operating table 10, a loading rack 20, a gripping mechanism 30, a detection table 40, a flipping mechanism 50, a detection mechanism 60 and a control module (not shown in the figure), the control module is respectively connected to the loading rack 20, the gripping mechanism 30, the flipping mechanism 50 and the detection mechanism 60 for communication and information exchange, the operating table 10 is arranged horizontally, and the loading rack 20, the gripping mechanism 30, the detection table 40, the flipping mechanism 50, the detection mechanism 60 are fixedly installed in sequence on the operating table 10. and the detection mechanism 60, the loading rack 20 can place multiple lower tube seats 1 at the same time, the grabbing mechanism 30 is used to grab the target lower tube seat from the loading rack 20, and is used to transfer the target lower tube seat to the detection table 40, the flipping mechanism 50 is used to flip the target lower tube seat on the detection table 40, the detection mechanism 60 is used to obtain the appearance information of the target lower tube seat on the detection table 40, and send the appearance information to the control module, and the control module can obtain the detection result according to the appearance information.

[0036] The present embodiment adopts a centralized loading rack 20, so that when performing the appearance inspection of the lower tube seats 1, the loading can be carried out in batches and centrally, and then the multiple lower tube seats 1 located on the loading rack 10 are sequentially subjected to a process-based and standardized appearance defect inspection, which can avoid the problems of idleness of the subsequent inspection process, discontinuous inspection, and long interval time between the inspection of the previous lower tube seat and the next lower tube seat when the current individual loading is performed, and can effectively improve the comprehensiveness, accuracy and efficiency of the inspection of the appearance defects of the lower tube seats.

[0037] Specifically, the loading rack 20 includes a rack body 201, a first bracket 202, a second bracket 203, and a driving mechanism. The rack body 201 is located on both sides of the operating table 10. The first bracket 202 and the second bracket 203 are both slidably arranged on the rack body 201, and the first bracket 202 is located on the inner side of the second bracket 203. The first bracket 202 and the second bracket 203 are both provided with a material tray for placing the lower tube seat 1. The driving mechanism (not shown in the figure) is arranged on the operating table 10 and is communicatively connected with the control module. The driving mechanism can respectively drive the first bracket 202 and the second bracket 203 to slide separately on the rack body 201.

[0038] More specifically, in this embodiment, the size of the second bracket 203 is larger than the size of the first bracket 201, and the height of the second bracket 203 is larger than the height of the first bracket 202. In addition, the size and specification of the material tray located on the first bracket 202 and the material tray located on the second bracket 203 are the same, and the maximum number of lower tube seats 1 that can be loaded on both is equal. Preferably, in this embodiment, the two material trays respectively include three parallel tooling plates that are movably arranged, each tooling plate has two cache positions, and two lower tube seats can be placed, and a pressing plate for fixing the tooling plate is provided at the corresponding position of each of the material trays. It should be noted that in order to ensure that the grabbing mechanism 30 can smoothly grab each lower tube seat 1 on the material tray, while minimizing the space occupied by the loading rack 20, in this embodiment, the minimum shielding area of ​​the material tray located on the first bracket 202 and the material tray located on the second bracket 203 is greater than or equal to zero, and the maximum shielding area is the area of ​​a single material tray.

[0039] Specifically, the material rack body 201 is provided with a first rail group, a second rail group and a third rail group in parallel from bottom to top. Correspondingly, pulleys are provided on both sides of the bottom of the first bracket 202 for sliding connection with the first rail group, and the first bracket 202 can be guided and moved along the first rail group. Pullies are provided on both sides of the bottom of the second bracket 202 for sliding connection with the second rail group, and the second bracket 202 can be guided and moved along the second rail group. Preferably, a first positioning member and a second positioning member are also provided on the operating table 10, and the first positioning member and the second positioning member are used to fix the positions of the first bracket 202 and the second bracket 203 respectively.

[0040] In actual applications, after the loading is completed, that is, all the tooling plates on the upper and lower material trays are filled with the lower tube seats (in this embodiment, the upper and lower material trays can carry a total of 12 lower tube seats), the first bracket 202 and the second bracket 203 are respectively controlled to move along the first slide rail group and the second slide rail group. When there is no obstruction between the material trays on the first bracket 202 and the second bracket 203, that is, the two material trays are flat when viewed from a top view, at this time, the first positioning member and the second positioning member are respectively controlled to fix the positions of the first bracket 202 and the second bracket 203, so as to facilitate the subsequent grasping mechanism to grasp the target lower tube seat.

[0041] Further, the grasping mechanism 30 includes a first transfer rod 301, a second transfer rod 302 and a clamping mechanism 303, wherein the clamping mechanism 303 is arranged at the bottom end of the second transfer rod 302, the first transfer rod 301 and the second transfer rod 302 are arranged vertically, and the first transfer rod 301 can move along the length direction of the first transfer rod 301, and pulleys are arranged at both ends of the bottom of the first transfer rod 301 for sliding connection with the third slide rail group, and the driving mechanism is also used to drive the first transfer rod 301 to move along the third slide rail group. In actual application, according to the detection progress, after selecting the current target lower tube seat, the driving mechanism is controlled to drive the first transfer rod 301 to move along the third slide rail group until the clamping mechanism 303 is located directly above the target lower tube seat, and then the second transfer rod 302 is controlled to move downward along the length direction of the first transfer rod 301, so that the clamping mechanism 303 can smoothly grasp the target lower tube seat.

[0042] Specifically, the flipping mechanism 50 includes a first flipping member 501 and a second flipping member 502 . The first flipping member 501 and the second flipping member 502 are respectively disposed on two sides of the testing platform 40 to flip the target lower tube holder on the testing platform 40 .

[0043] Further, the detection mechanism 60 includes a first detection camera 601, a second detection camera 602, an endoscope 603 and a robot gripper 604. The operating table 10 is provided with a linear guide rail parallel to the detection table 40. The first detection camera 601 can slide along the linear guide rail to obtain the side appearance information of the target lower tube seat. The second detection camera 602 and the endoscope 603 are arranged at the end of the robot gripper 604 to obtain the appearance information of the upper and lower end faces of the target lower tube seat and the appearance information around the seat hole of the target lower tube seat and inside the four corners of the tube seat. In the present application, by combining three devices with different functions, comprehensive appearance information of the target lower tube seat can be obtained, which can avoid the problem that part of the target lower tube seat is blocked or the gap is small, and its appearance information cannot be obtained, resulting in missed detection, thereby improving the comprehensiveness and accuracy of the appearance detection of the target lower tube seat. Preferably, the first detection camera 601 is a 2D detection camera, and the second detection camera 602 is a 3D detection camera.

[0044] Preferably, the robot gripper 604 in this embodiment is a six-axis machine gripper. The six-axis machine gripper 604 has a high degree of freedom, is suitable for working at almost any trajectory or angle, and can work continuously to improve detection efficiency.

[0045] Furthermore, the lower pipe seat detection device also includes a lifting and rotating mechanism (not shown in the figure), which is arranged below the detection platform 40 and is used to lift the detection platform 40 and rotate the detection platform 40 to face the detection mechanism 60. Furthermore, the lifting and rotating mechanism includes a lifting structure and a rotating structure, the lifting structure is used to lift the detection platform 40, and the rotating structure drives the detection platform 40 to rotate by 90 degrees each time. Preferably, the lifting structure is a lifting cylinder.

[0046] In this embodiment, the workflow of detecting the lower tube seat 1 based on the lower tube seat detection device is as follows:

[0047] When loading materials manually, first drive the second bracket 203 to drive its loading tray to slide to the side close to the detection table 40, and drive the first bracket 202 to drive its loading tray to slide to the side away from the detection table 40, so as to facilitate loading of the tray located on the first bracket 202. Specifically, before loading the tray located on the first bracket 202, flip up the corresponding pressing plate, and then pull the three tooling plates to the outside of the operating table 10 respectively, and load the lower tube holder 1 to the first cache position of each tooling plate respectively, wherein the first cache position on each tooling plate is closer to the detection table than the second cache position thereon. After the first cache positions of the three tooling plates are loaded with materials, the tooling plates are pushed to the inner side of the operating table 10, and the three pressing plates are closed respectively to fix the corresponding tooling plates, and then the lower tube seats are loaded into the second cache positions of each tooling plate respectively. After all the tooling plates on the material tray on the first bracket 202 are filled with the lower tube seats, all the tooling plates on the material tray on the second bracket 203 are loaded with materials. The specific process method is the same as above and will not be repeated here.

[0048] After all the tooling plates of the two material trays are loaded with materials, first select a lower tube seat 1 as the target lower tube seat, and then control and drive the first bracket 202 and the second bracket 203 to move, so that the clamping mechanism 303 clamps the target lower tube seat from the corresponding cache position, and controls the clamping mechanism 303 to place the target lower tube seat on the inspection table 40, and then resets the clamping mechanism 303.

[0049] Next, the appearance of the target lower tube socket is inspected, and the side appearance information of the target lower tube socket is first obtained. Specifically, the first inspection camera 601 is first controlled to scan one side of the target lower tube socket, and then the rotating mechanism is controlled to drive the inspection platform 40 to rotate. The first inspection camera 601 scans another side of the target lower tube socket, and the rotating mechanism is continued to be controlled to drive the inspection platform 40 to rotate, so that the first inspection camera 601 repeatedly scans the four sides of the target lower tube socket until the appearance information of the four sides of the target lower tube socket is complete and accurate enough.

[0050] Then, the appearance information of the upper and lower end faces of the target lower tube seat is obtained. First, the robot gripper 604 is controlled to drive the endoscope 603 and the second detection camera 602 to scan the upper end face of the target lower tube seat, so as to obtain the appearance information of the upper end face of the target lower tube seat. Then, after the jacking structure is controlled to lift the detection platform to the target position, the flip mechanism 50 is controlled to clamp the target lower tube seat, and the jacking structure is controlled to descend. After the flip mechanism 50 is controlled to complete the flipping of the target lower tube seat, the jacking structure is controlled to lift the detection platform 40 to the target position, and then the flip mechanism 50 is controlled to release the target lower tube seat, and the jacking structure is controlled to descend. Then, the robot gripper 604 is controlled to drive the endoscope 603 and the second detection camera 602 to scan the lower end face of the target lower tube seat, so as to obtain the appearance information of the lower end face of the target lower tube seat. Then, the clamp mechanism 303 is controlled to re-grip the target lower tube socket whose appearance information has been obtained completely and place it on the original cache position, and the position information of the cache position corresponding to the target lower tube socket is sent to the control module to avoid repeated grasping and testing of the target lower tube socket in the future. Finally, the control module obtains the test results based on the appearance information of the four side surfaces and the upper and lower end surfaces of the target lower tube socket. Repeat the above operations, complete the appearance inspection of the lower tube sockets 1 on all cache positions in turn, and then load and inspect the appearance of the next batch of lower tube sockets 1.

[0051] In summary, the utility model provides a lower tube seat detection device with the following advantages: the lower tube seat detection device comprises an operating table, a loading rack, a grabbing mechanism, a detection table, a flipping mechanism, a detection mechanism and a control module, the control module is respectively communicated and connected with the loading rack, the grabbing mechanism, the flipping mechanism and the detection mechanism, and can exchange information with them, the operating table is horizontally arranged, and the loading rack, the grabbing mechanism, the detection table, the flipping mechanism and the detection mechanism are fixedly installed in sequence on the operating table, the loading rack can place multiple lower tube seats at the same time, the grabbing mechanism is used to grab the target lower tube seat from the loading rack, and is used to transfer the target lower tube seat to the detection table, the flipping mechanism is used to flip the target lower tube seat on the detection table, the detection mechanism is used to obtain the appearance information of the target lower tube seat on the detection table, and send the appearance information to the control module, and the control module can obtain the detection result according to the appearance information. By adopting a centralized loading rack, the present application can perform batch and centralized loading when conducting appearance inspection of the lower tube sockets, and then sequentially perform process-based and standardized appearance defect inspections on the multiple lower tube sockets located on the loading rack, thereby avoiding the problems of idle subsequent inspection processes, discontinuous inspections, and long intervals between the inspection of the previous lower tube socket and the next lower tube socket when currently performing individual loading, and can effectively improve the comprehensiveness, accuracy, and efficiency of the inspection of appearance defects of the lower tube sockets.

[0052] The above description is only a description of the preferred embodiment of the utility model, and is not any limitation on the scope of the utility model. Any changes and modifications made by ordinary technicians in the field of the utility model based on the above disclosure shall fall within the scope of protection of the claims.

Claims

1. A lower tube seat detection device, characterized in that: The lower tube seat detection device includes an operating table, a loading rack, a grabbing mechanism, a detection table, a turning mechanism, a detection mechanism and a control module; The control module is respectively connected to the loading rack, the grabbing mechanism, the flipping mechanism and the detecting mechanism for communication and can exchange information with them; The operating table is arranged horizontally, and the loading rack, the grabbing mechanism, the testing table, the flipping mechanism, and the testing mechanism are fixedly installed on the operating table in sequence. The loading rack can hold multiple lower tube seats at the same time. The grabbing mechanism is used to grab the target lower tube seat from the loading rack and transfer the target lower tube seat to the testing table. The flipping mechanism is used to flip the target lower tube seat on the testing table. The testing mechanism is used to obtain appearance information of the target lower tube seat on the testing table and send the appearance information to the control module. The control module can obtain the detection result according to the appearance information.

2. The lower tube seat detection device according to claim 1, characterized in that: The loading rack includes a rack body, a first bracket, a second bracket, and a driving mechanism. The rack body is located on both sides of the operating table. The first bracket and the second bracket are both slidably arranged on the rack body, and the first bracket is located on the inner side of the second bracket. The first bracket and the second bracket are both provided with a material tray for placing the lower tube seat. The driving mechanism is arranged on the operating table and is communicatively connected with the control module. The driving mechanism can respectively drive the first bracket and the second bracket to slide separately on the rack body.

3. The lower tube seat detection device according to claim 2, characterized in that: The rack body is provided with a first slide rail group, a second slide rail group and a third slide rail group in parallel from bottom to top; Pulleys are arranged on both sides of the bottom of the first bracket for sliding connection with the first slide rail group, and the first bracket can be guided and moved along the first slide rail group; Pulleys are arranged on both sides of the bottom of the second bracket for sliding connection with the second slide rail group, and the second bracket can be guided and moved along the second slide rail group.

4. The lower tube seat detection device according to claim 3, characterized in that: The grabbing mechanism includes a first transfer rod, a second transfer rod and a clamping mechanism, the clamping mechanism is arranged at the bottom end of the second transfer rod, the first transfer rod and the second transfer rod are arranged vertically, and the first transfer rod can move along the length direction of the first transfer rod, pulleys are arranged at both ends of the bottom of the first transfer rod for sliding connection with the third slide rail group, and the driving mechanism is also used to drive the first transfer rod to move along the third slide rail group.

5. The lower tube seat detection device according to claim 1, characterized in that: The flip mechanism comprises a first flip member and a second flip member, wherein the first flip member and the second flip member are respectively arranged on two sides of the detection platform in opposition to each other, and are used to flip the target lower tube seat located on the detection platform.

6. The lower tube seat detection device according to claim 1, characterized in that: The detection mechanism includes a first detection camera, a second detection camera, an endoscope and a robot gripper; The operating table is provided with a linear guide rail parallel to the detection table, and the first detection camera can slide along the linear guide rail to obtain the side appearance information of the target lower tube seat; The second detection camera and the endoscope are arranged at the end of the robot gripper to obtain the appearance information of the upper and lower end surfaces of the target lower tube seat and the appearance information around the seat hole of the target lower tube seat and inside the four corners of the tube seat.

7. The lower tube seat detection device according to claim 6, characterized in that: The robot gripper is a six-axis machine gripper.

8. The lower tube seat detection device according to claim 1, characterized in that: The lower tube seat detection device also includes a lifting and rotating mechanism, which is arranged below the detection platform and is used to lift the detection platform and rotate the detection platform to face the detection mechanism.

9. The lower tube seat detection device according to claim 8, characterized in that: The lifting and rotating mechanism comprises a lifting structure and a rotating structure. The lifting structure is used to lift the detection platform. The rotating structure drives the detection platform to rotate by 90 degrees each time.

10. The lower tube seat detection device according to claim 9, characterized in that: The lifting structure is a lifting cylinder.

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