CN116026274B - Valve seat size automatic checkout device - Google Patents

Abstract

The invention provides an automatic detection device for valve seat size, which mainly relates to the field of linear size detection. An automatic detection device for the size of a valve seat, including a pre-sequence conveying device, a transfer manipulator, several sets of detection mechanisms and a terminal controller. Between groups of detection mechanisms; the end of the pre-sequence conveying device is equipped with an in-position sensor and a positioning mechanism. The detection mechanism includes a lower positioning column and an upper positioning column. The first detection mechanism is set on one side of the column, the standard cone cavity is set at the bottom of the upper positioning column, and the second detection mechanism is set at the center of the bottom of the upper positioning column. The beneficial effect of the present invention is that: the present invention can efficiently complete the roundness detection of the outer cone surface and the inner cone surface of the valve seat, the detection result is more accurate, and the degree of automation is high.

Description

An automatic detection device for valve seat size

technical field

The invention mainly relates to the field of linear size detection tools, in particular to an automatic detection device for the size of a valve seat.

Background technique

The valve seat is used in conjunction with the valve body assembly in the hydraulic end valve box of the plunger pump. The inner taper hole on the valve box cooperates with the outer cone surface of the valve box to act as a hard seal. Some outer cone surfaces of the valve seat A sealing groove can also be provided with a sealing ring to act as a soft seal. The inner tapered surface of the valve seat is sealed with the rubber of the valve body assembly. Through the upper and lower opening and closing of the valve body assembly, the fluid suction and discharge functions of the plunger pump during operation are realized. The outer cone surface of the valve seat, the possible sealing groove and the machining accuracy of the inner cone hole directly affect the sealing performance of the valve box and the valve body assembly. Once the sealing effect between the outer cone surface and the inner cone surface is not good, it will cause Leakage of high-pressure fluid and unstable discharge pressure conditions, causing wear and puncture of the valve box.

The outer cone surface and the inner cone surface of the valve seat are processing surfaces, but the inner cylinder surface of the valve seat is not the processing surface, so the valve seat cannot be positioned and clamped during the quality inspection of the valve seat, or only Manual detection can be performed with the end face of the valve seat as the positioning. The random inspection process can be done manually, but once you encounter a special requirement for a full inspection batch of Versatile workpieces, it is impossible to complete a large number of inspections in a short period of time simply relying on manual labor. And once the inspection time is extended, the inspectors themselves will be distracted due to repetitive work, and it is very easy to make wrong inspections and missed inspections. In serious cases, it may even cause safety accidents, resulting in property and personnel losses.

Contents of the invention

In order to solve the deficiencies in the prior art, the present invention provides an automatic detection device for the size of the valve seat, which can efficiently complete the roundness detection of the outer cone surface and the inner cone surface of the valve seat, the detection result is more accurate, and the degree of automation is improved. high.

In order to achieve the above object, the present invention is achieved through the following technical solutions:

An automatic detection device for valve seat size, including a pre-order conveying device, a transfer manipulator, several groups of detection mechanisms and a terminal controller, multiple groups of the detection mechanisms are arranged at the end of the pre-order conveying device, the transfer manipulator is arranged between the conveying device and multiple sets of detection mechanisms; the preceding conveying device is a belt conveyor, the end of the preceding conveying device is provided with an in-position sensor and a positioning mechanism, and the positioning mechanism includes Positioning frame, the inside of the positioning frame is equipped with a positioning cylinder, and the front end of the positioning cylinder is provided with a positioning arc plate; the transfer manipulator is at least a five-degree-of-freedom manipulator, and the front end of the transfer manipulator is an inner claw clamp; the detection mechanism includes The lower positioning column and the upper positioning column, the top of the lower positioning column is rotated to set a standard cone, the lower positioning column is provided with a lower servo drive mechanism for driving the rotation of the standard cone, and the bottom of the lower positioning column is provided with a jacking mechanism , the top of the jacking mechanism is provided with a horizontal positioning platform, the center of the top of the lower positioning column is provided with a lifting column, the bottom of the lifting column is provided with a lifting cylinder, one side of the lower positioning column is provided with a first detection mechanism, and the first The detection mechanism includes an oblique lifting mechanism, on which a horizontal feed mechanism is arranged, the displacement direction of the oblique lifting mechanism is consistent with the inclination angle of the standard cone, and the front end of the horizontal feeding mechanism is provided with a first detection head, The bottom of the upper positioning column is rotated to set a standard cone cavity, the outer side of the bottom of the upper positioning column is provided with an upper servo drive mechanism for driving the rotation of the standard cone cavity, and the center of the bottom of the upper positioning column is provided with a second detection mechanism. The detection mechanism includes a vertical lifting mechanism, a detection strut is arranged at the bottom of the vertical lifting mechanism, a rotation drive mechanism is set between the vertical lifting mechanism and the detection strut, and a second detection head is set at one end of the detection strut; The preceding conveying device, in-position sensor, positioning cylinder, transfer manipulator, lower servo drive mechanism, jacking mechanism, lifting cylinder, first detection mechanism, upper servo drive mechanism, and second detection mechanism are all connected to the terminal controller with signals.

A number of partitions are arranged linearly on the conveyor belt of the preceding conveying device, and the gap between adjacent partitions is larger than the diameter of the large end of the valve seat.

A number of linear guide rails are arranged on the outside of the bottom of the lower positioning column. The axes of the linear guide rails are parallel to the lower positioning column. A threaded portion is provided at the bottom of the lower positioning column. A jacking nut is arranged on the threaded portion. The outer side of the jacking nut is A jacking shell is provided, and a sliding sleeve that is slidably connected with the lower positioning column is arranged on the jacking shell, and the jacking nut is rotatably connected with the jacking shell, and a jacking nut for driving the jacking nut to rotate is arranged outside the jacking shell. Lifting motor, the top of the jacking shell is rotatably connected with the bottom of the positioning platform.

At least three positioning contacts are arranged on the positioning platform, and a fine-tuning mechanism is arranged at the bottom of the positioning contacts.

The inclined lifting mechanism includes an inclined frame, an inclined guide rail and an inclined lead screw are arranged in the inclined frame, an inclined lifting seat is slidably arranged on the inclined guide rail, and a lead screw nut cooperating with the inclined lead screw is arranged on the inclined lifting seat , one end of the tilting frame is provided with a first servo motor for driving the rotation of the tilting screw; the horizontal feed mechanism includes a horizontal frame, a fixing nut and a first fixing sleeve, and the fixing nut and the first fixing sleeve are all connected to the tilting The lifting seat is fixedly connected, the horizontal guide rail and the horizontal lead screw are arranged in the horizontal frame, the horizontal guide rail is slidably connected with the first fixed sleeve, the horizontal lead screw is matched with the fixed nut, and the rear end of the horizontal frame is set for The second servo motor that drives the horizontal lead screw to rotate, the first detection head is arranged at the front end of the horizontal frame.

The vertical lifting mechanism includes a mounting base arranged on the upper positioning column and a vertical lifting frame, a fixed screw nut and a second fixing sleeve are arranged on the mounting base, a vertical guide rail and a vertical lifting frame are arranged in the vertical lifting frame. A straight lead screw, the vertical guide rail is slidably matched with the second fixed sleeve, the vertical lead screw is matched with the fixed lead screw nut, and the third servo motor for driving the vertical lead screw is arranged on the top of the lifting frame.

Multiple groups of detection mechanisms are arranged in a fan shape around the transfer manipulator, and the distance between each group of detection mechanisms and the transfer manipulator is the same.

Compared with prior art, the beneficial effects of the present invention are:

Aiming at the characteristics that the non-processing surface of the inner cavity of the valve seat cannot be clamped and detected, the present invention designs a positioning detection system for the inner cone surface and the outer cone surface of the valve seat, and detects the position of the outer cone surface after positioning the inner cone surface For roundness and straightness of edges, the roundness of the inner cone and the straightness of edges are detected after the outer cone is positioned. At the same time, the data can also be used to judge whether the roundness of the inner cone and the outer cone are consistent. The clamping system of this inspection system has high efficiency, simple structure, and can quickly complete the inspection of the outer cone surface and inner cone surface of the Verse seat, which can be mass-produced, which greatly improves the efficiency.

This device has a high degree of automation. Through a transfer manipulator corresponding to multiple sets of detection devices, it can complete a large number of full inspections of Verseilles. The detection accuracy is high, and it can effectively prevent the problem of defective products entering the market due to human errors. Greatly improved the standardization of products.

Description of drawings

Accompanying drawing 1 is a schematic diagram of the layout structure of the present invention in a top view;

Accompanying drawing 2 is the structural schematic diagram of the three-dimensional viewing angle of the detection mechanism of the present invention;

Accompanying drawing 3 is the schematic diagram of the structure of the main viewing angle of the detection mechanism of the present invention;

Accompanying drawing 4 is the structure schematic diagram of jacking mechanism stretching state of the present invention;

Accompanying drawing 5 is the sectional structure schematic diagram of lower positioning column and upper positioning column of the present invention;

Accompanying drawing 6 is the structure schematic diagram of jacking mechanism and positioning platform of the present invention;

Accompanying drawing 7 is the schematic diagram of partial enlarged structure of part A of the present invention;

Accompanying drawing 8 is the schematic diagram of partial enlarged structure of part B of the present invention;

Accompanying drawing 9 is the partial enlarged structural diagram of part C of the present invention.

Numbers shown in the accompanying drawings: 1. Pre-sequence conveying device; 11. Partition plate; 2. Transfer manipulator; 21. Inner support claw fixture; 3. Detection mechanism; 4. Positioning mechanism; 41. Positioning frame; 42. Positioning cylinder ;43, positioning arc plate; 5, lower positioning column; 51, standard cone; 52, lower servo drive mechanism; 53, jacking mechanism; 531, linear guide rail; 532, threaded part; 533, jacking nut; Jacking shell; 535, jacking motor; 54, positioning platform; 541, positioning contact; 542, fine-tuning mechanism; 55, lifting column; 56, lifting cylinder; 6, upper positioning column; 61, standard cone cavity; 62, 7, the first detection mechanism; 71, the inclined lifting mechanism; 711, the inclined frame; 712, the inclined guide rail; 713, the inclined screw; 714, the inclined lifting seat; 715, the first servo motor; 72, Horizontal feed mechanism; 721, horizontal frame; 722, first fixed sleeve; 723, horizontal guide rail; 724, horizontal lead screw; 725, second servo motor; 73, first detection head; 8, second detection mechanism; 81 , Vertical lifting mechanism; 82, Detection strut; 83, Rotation drive mechanism; 84, Second detection head; 811, Mounting seat; 812, Second fixed sleeve; 813, Lifting frame; Vertical leading screw; 816, the third servo motor.

Detailed ways

The present invention will be further described in conjunction with the accompanying drawings and specific embodiments. It should be understood that these examples are only used to illustrate the present invention and are not intended to limit the scope of the present invention. In addition, it should be understood that after reading the content taught by the present invention, those skilled in the art may make various changes or modifications to the present invention, and these equivalent forms also fall within the scope defined in the present application.

As shown in Figures 1-9, an automatic valve seat size detection device according to the present invention includes a pre-order conveying device 1, a transfer manipulator 2, several groups of detection mechanisms 3 and a terminal controller. The actions of the preorder conveying device 1, the transfer manipulator 2, and several groups of detection mechanisms 3 are all controlled by the terminal controller, so as to coordinate the actions of each action component, and at the same time, the terminal controller is also used as the processing and judgment of the detection results Unit, the terminal controller summarizes the detection data of the detection head and judges whether the workpiece is qualified or not. One side of the pre-sequence conveying device 1 can be provided with a follow-up conveying mechanism and a waste parts box, the follow-up conveying mechanism transports the workpieces that pass the inspection, and the waste parts box is used to store unqualified workpieces. In this embodiment, multiple sets of detection mechanisms 3 are arranged in a fan shape around the transfer manipulator 2 , and the distance between each set of detection mechanisms 3 and the transfer manipulator 2 is the same. The distance between the transfer manipulator 2 and each group of detection mechanisms 3 is the same, so that the transfer manipulator 2 does not need additional programming, and only needs to change the angle to complete the loading and unloading of any detection mechanism 3 .

Multiple sets of detection mechanisms 3 are arranged at the end of the preceding conveying device 1 to detect workpieces conveyed by the preceding conveying device 1 . The transfer manipulator 2 is installed between the pre-sequence conveying device 1 and multiple sets of detection mechanisms 3. Through the transfer of the transfer manipulator 2, the valve seat can be completed from the pre-sequence conveying device 1 to the detection mechanism 3 and then to the subsequent conveying mechanism/scrap Box transfer.

The preceding conveying device 1 is a belt conveyor, and an in-position sensor and a positioning mechanism 4 are arranged at the end of the preceding conveying device 1 . The in-position sensor is used to detect whether the workpiece is conveyed in place. When the workpiece reaches the detection position, the terminal controller controls the positioning mechanism 4 to position the workpiece after receiving the signal. Specifically, the positioning mechanism 4 includes positioning frames 41 installed on both sides of the pre-sequence delivery device 1 , positioning cylinders 42 are installed inside the positioning frames 41 , and positioning arc plates 43 are installed at the front ends of the piston rods of the positioning cylinders 42 . The positioning arc plate 43 is consistent with the shape of the outer tapered surface of the valve seat, so that the valve seat can be positioned at the position to be grasped by the extension of the positioning cylinders 42 on both sides. A number of partitions 11 are arranged linearly on the conveyor belt of the preceding conveying device 1 , and the gap between adjacent partitions 11 is larger than the diameter of the large end of the valve seat. The valve seat is placed between two adjacent partitions 11 , so as to facilitate the separation of the valve seat, the positioning of the valve seat by the positioning mechanism 4 and the grabbing of the transfer manipulator 2 . The transfer manipulator 2 is a manipulator with at least five degrees of freedom, and the front end of the transfer manipulator 2 is an inner claw clamp 21. Through the tightening and grasping of the inner support claw clamp 21, the transfer manipulator 2 can be used to complete the inspection of the inner hole of the valve seat. Clipping, so as to stably complete the transfer of the seat of Versus.

The detection mechanism 3 includes a lower positioning column 5 and an upper positioning column 6. The top of the lower positioning column 5 is rotated to install a standard cone 51, and the lower positioning column 5 is provided with a lower servo driver for driving the standard cone 51 to rotate. agency52. The lower servo drive mechanism 52 includes a lower servo motor, and the bottom of the standard cone 51 has ring teeth, and the lower servo drive motor drives the standard cone 51 to rotate through gears meshing with the ring teeth. A jacking mechanism 53 is installed at the bottom of the lower positioning column 5, and a horizontal positioning platform 54 is installed on the top of the jacking mechanism 53 for rotation. The positioning platform 54 is in contact with the bottom edge of the valve seat, so as to complete the leveling and jacking after the positioning platform 54 is sleeved on the standard cone 51 . Specifically, the jacking mechanism 53 includes the following structure: a plurality of linear guide rails 531 are arranged outside the bottom of the lower positioning column 5 , and the axes of the linear guide rails 531 are parallel to the lower positioning column 5 . The bottom of the lower positioning column 5 is processed with a threaded part 532 , and a jacking nut 533 is fitted on the threaded part 532 , and a jacking shell 534 is sleeved on the outer side of the jacking nut 533 rotatably. The outer side of the jacking case 534 has a sliding sleeve that is slidably connected with the lower positioning column 5, the jacking nut 533 is rotationally connected with the jacking case 534, and the outer side of the jacking case 534 is configured to drive the jacking nut 533 to rotate A jacking motor 535, the top of the jacking shell 534 is rotatably connected with the bottom of the positioning table 54. A drive gear is installed on the motor shaft of the jacking motor 535, and the outer circle of the jacking nut 533 has ring teeth. Through the engagement of the driving gear and the ring teeth, the jacking motor 535 can drive the jacking nut 533 to rotate. The jacking nut 533 cooperates with the threaded part 532 to realize the vertical lifting action under the limit of the linear guide rail 531 . The top of the lifting shell 534 is connected to the rotating end through a plane bearing, and the positioning platform 54 is connected to the rotating end.

More specifically, at least three positioning contacts 541 are provided on the positioning platform 54 , and a micro-adjustment mechanism 542 is provided at the bottom of the positioning contacts 541 . Specifically, the fine-tuning mechanism 542 is a fine-tuning bolt installed at the edge of the rotating end, and the end of the fine-tuning bolt is the positioning contact 541 . The height of the positioning contact 541 is checked regularly, or when there is an obvious problem with the detected data, additional maintenance is also required. During maintenance, a level is used to level the heights of the multiple positioning contacts 541, so that the positioning of the positioning platform 54 is more accurate.

A lifting column 55 is slidably installed at the center of the top of the lower positioning column 5 , and a lifting cylinder 56 is arranged at the bottom of the lifting column 55 . Specifically, the lifting column 55 is a hollow structure, and the lifting cylinder 56 is enveloped in the lifting column 55 when the lifting column 55 contracts. Through the extension of the lifting cylinder 56, the lifting column 55 can be ejected from the inner cavity of the valve seat. Wherein the outer wall of the lifting column 55 is not in contact with the inner cavity of the valve seat, and after the detection of the outer cone surface is completed, the jacking mechanism 53 will lift the valve seat to the upper positioning column 6 for positioning. After the lifting column 55 rises now, it plays a certain position-limiting protection effect, preventing the valve seat from slipping and being damaged. And when the lifting column 55 is in the retracted state, the top of the lifting column 55 does not exceed the inner cavity of the valve seat.

A first detection mechanism 7 is installed on one side of the lower positioning column 5, and the first detection mechanism 7 includes an oblique lifting mechanism 71, and a horizontal feeding mechanism 72 is installed on the oblique lifting mechanism 71. The displacement direction of the inclined lifting mechanism 71 is consistent with the inclination angle of the standard cone 51 , and the first detection head 73 is installed at the front end of the horizontal feeding mechanism 72 . The oblique elevating mechanism 71 is used to drive the horizontal feeding mechanism 72 to elevate obliquely. At this time, the first detection head 73 on the horizontal feeding mechanism 72 can be attached to the outer tapered surface of the valve seat to elevate. The horizontal feed mechanism 72 is used to drive the first detection head 73 to feed horizontally, so that the first detection head 73 completes the detection of the outer tapered surface of the valve seat, and the horizontal feed mechanism 72 is used to drive the first detection head After the 73 is far away from the Ver seat, the loading and unloading of the Ver seat will not be interfered by the first detection head 73 . Specifically, the inclined lifting mechanism 71 includes a tilting frame 711, and an angle adjustment mechanism can also be installed between the tilting frame 711 and its own base, so as to adjust the angle of the tilting frame 711, compensate for its fatigue deformation, and prevent the tilting frame from 711 cannot correspond to the taper of the seat of Vers. An inclined guide rail 712 and an inclined lead screw 713 are installed in the inclined frame 711, the axis of the inclined lead screw 713 is parallel to the axis of the inclined guide rail 712, and an inclined lift seat 714 is slidably installed on the inclined guide rail 712, and an inclined lift seat 714 is mounted on the inclined lift seat 714. A lead screw nut matched with the tilting lead screw 713 is provided, and a first servo motor 715 for driving the tilting lead screw 713 to rotate is installed at one end of the tilting frame 711 . The first servo motor 715 drives the tilt screw 713 to rotate through a coupling, thereby driving the tilt lifting seat 714 to move up and down along the tilt guide rail 712 . The horizontal feed mechanism 72 includes a horizontal frame 721, a fixed nut and a first fixed sleeve 722, and the fixed nut and the first fixed sleeve 722 are fixedly connected with the inclined lifting seat 714, and a horizontal guide rail 723 is installed in the horizontal frame 721 And the horizontal lead screw 724, the axis of the horizontal guide rail 723 is parallel to the axis of the horizontal lead screw 724. The horizontal guide rail 723 is slidingly connected with the first fixed sleeve 722, the horizontal lead screw 724 is matched with the fixed nut, and the rear end of the horizontal frame 721 is installed with a second servo motor 725 for driving the horizontal lead screw 724 to rotate. The first detection head 73 is arranged at the front end of the horizontal frame 721 . The second servo motor 725 is connected to the horizontal lead screw 724 through a coupling, and the second servo motor 725 drives the horizontal lead screw 724 to rotate, and the horizontal lead screw 724 can be used to cooperate with the fixed nut to drive the horizontal frame 721 to feed in a straight line , so that the first detection head 73 can approach or move away from the seat.

The bottom of the upper positioning column 6 is rotatably installed with a standard cone chamber 61 , and the outer side of the bottom of the upper positioning column 6 is installed with an upper servo drive mechanism 62 for driving the rotation of the standard cone cavity 61 . The upper servo drive mechanism 62 includes an upper servo motor and a driving gear. The driving gear is installed on the motor shaft of the upper servo motor. The upper servo motor drives the standard cone cavity 61 to rotate. The standard cone cavity 61 is matched with the outer cone surface of the valve seat. After the detection of the external cone surface is completed, the jacking mechanism 53 drives the positioning platform 54 to lift the valve seat so that the valve seat is aligned with the standard cone cavity. 61 to match.

The second detection mechanism 8 is installed at the bottom center of the upper positioning column 6, and the second detection mechanism 8 includes a vertical lifting mechanism 81, and a detection strut 82 is installed at the bottom of the vertical lifting mechanism 81, and the vertical lifting mechanism 81 A rotation drive mechanism 83 is installed between the detection strut 82 . A second detection head 84 is mounted on one end of the detection strut 82 . Specifically, the vertical lifting mechanism 81 includes a mounting seat 811 arranged on the upper positioning column 6 and a vertical lifting frame 813. The mounting seat 811 has a fixed lead screw nut and a second fixed sleeve 812. The vertical A vertical guide rail 814 and a vertical lead screw 815 are arranged in the lifting frame 813, and the axis of the vertical guide rail 814 is parallel to the axis of the vertical lead screw 815. The vertical guide rail 814 is slidingly matched with the second fixed sleeve 812, the vertical lead screw 815 is matched with the fixed lead screw nut, and the third servo motor for driving the vertical lead screw 815 is installed on the top of the lifting frame 813 816. The third servo motor 816 is connected with the vertical lead screw 815 through a shaft coupling, and the third servo motor 816 is used to drive the vertical lead screw 815 to rotate, thereby through the cooperation of the vertical lead screw 815 and the fixed lead screw nut And make the vertical elevating frame 813 carry out the displacement of vertical direction. The rotation driving mechanism 83 is a gear transmission mechanism driven by a rotation servo motor, which can drive the detection strut 82 to rotate by rotating the servo motor, thereby driving the detection strut 82 to change the angle. Specifically, when the valve seat is pushed by the jacking mechanism 53 to cooperate with the standard cone cavity 61, the detection strut 82 is in a vertical state, and after the valve seat is fully fitted with the standard cone cavity 61, the servo motor is rotated The detection strut 82 is driven to rotate to a horizontal state, so that the second detection head 84 on it is placed horizontally, and the second detection head 84 contacts the inner wall of the inner tapered surface of the valve seat. Due to the low height of the inner cone surface of the valve seat, the detection of the inner cone surface of the valve seat is formed in the detection stroke of the detection head. With the lifting action of the vertical lifting mechanism 81, the second detection head 84 can complete For the detection of the inner cone of the Ver seat.

In this embodiment, the terminal controller is used as the control unit of all operating elements and the processing and judging unit of detection data, so the pre-order conveying device 1, in-position sensor, positioning cylinder 42, transfer manipulator 2, and lower servo drive mechanism 52 , the jacking mechanism 53, the lift cylinder 56, the first detection mechanism 7, the upper servo drive mechanism 62, and the second detection mechanism 8 are all signal-connected with the terminal controller.

The method of using this device to detect the outer cone surface and the inner cone surface of the valve seat is as follows:

S1: The pre-sequence conveying device 1 transports the valve seat processed in the previous process to the position to be detected. When the in-position sensor detects the valve seat, the controller controls the conveying device 1 to pause, and controls the positioning cylinder 42 to extend, Utilize the positioning arc plate 43 to fit on the outer wall of the valve seat to complete the positioning of the valve seat.

S2: The controller controls the transfer manipulator 2 to grip the valve seat, and the inner claw clamp 21 on the transfer manipulator 2 clamps the inner cavity of the valve seat; after the transfer manipulator 2 grips the valve seat, the It is transferred onto the standard cone 51 of the lower positioning post 5 .

S31: After the valve seat is transferred to the standard cone 51, the controller controls the jacking mechanism 53 to drive the positioning platform 54 to rise, so that the positioning platform 54 touches the bottom surface of the valve seat, and then the lifting mechanism 53 slowly descends, and the The valve seat is repositioned stably on the standard cone 51.

S32: Subsequently, the controller controls the horizontal feed mechanism 72 to feed horizontally, so that the first detection head 73 contacts the bottom of the outer cone surface of the valve seat, and then the controller controls the servo drive mechanism 52 to drive the standard cone 51 to rotate, and the first detection The head 73 detects the roundness of the outer cone surface of the Verse seat at this height, and then rises obliquely to the lifting mechanism 71 for a certain distance, and selects different heights on the outer cone surface of the Verse seat for roundness detection until the detection is completed. The detection data is passed to the terminal controller.

S33: Subsequently, the controller controls the servo drive mechanism 52 to lock the standard cone 51, and the oblique lifting mechanism 71 drives the first detection head 73 to move from the bottom end of the outer cone surface of the Versatile seat to the top. The straightness of the cone surface is inspected to see if there is a vibrating knife pattern, and then the servo drive mechanism 52 drives the standard cone 51 to rotate a certain angle several times, and a straightness inspection is completed for each rotation, and the inspection data is transmitted to the terminal controller.

S4: After the detection of the outer cone surface is completed, the controller controls the horizontal feed mechanism 72 to return to the initial position,

Then control the lifting cylinder 56 to drive the lifting column 55 to rise, and at the same time control the jacking mechanism 53 to drive the positioning table 54 to lift the Verse seat into the standard cone cavity 61, so that the outer cone surface fits the standard cone cavity 61, and then lifts Cylinder 56 drives lifting column 55 to fall back.

S51: Then the controller controls the action of the rotating drive mechanism 83, so that the vertical detection strut 82 is placed horizontally, and the second detection head 84 just touches the inner tapered surface of the Ver seat, and then the controller controls the upper servo drive mechanism 62 to drive The standard cone cavity 61 rotates, the second detection head 84 completes the roundness detection of the inner cone surface, and then the controller controls the vertical lifting mechanism 81 to lift and lower several times, so that the second detection head 84 selects the inner cone surface at different heights for roundness Detect and transmit the monitoring data to the controller.

S52: After the roundness detection of the inner cone surface is completed, the controller controls the upper servo drive mechanism 62 to lock the standard cone chamber 61, and the vertical lifting mechanism 81 drives the second detection head 84 to lift to complete the straightness detection of the inner cone surface. Then the controller controls the upper servo drive mechanism 62 to drive the standard cone chamber 61 to rotate several angles. During this period, the vertical lifting mechanism 81 drives the second detection head 84 to lift up and down to complete the straightness detection of the inner cone surface at different positions, and transmit the detection data to the controller. Inside.

S6: After the detection of the inner cone surface is completed, the controller controls the rotating drive mechanism 83 to drive the detection strut 82 to return to the vertical state, controls the lifting cylinder 56 to drive the lifting column 55 to rise, and simultaneously controls the jacking mechanism 53 to drive the positioning table 54 to move The valve seat falls back on the standard cone, and then the lifting cylinder 56 drives the lifting column 55 to fall back, exposing the top position of the valve seat inner cavity, and the transfer manipulator 2 completes the grasping of the valve seat. The controller judges whether the valve seat is qualified according to the detection data, and places them separately.

Claims (7)

1. The utility model provides a valve seat size automatic checkout device, includes preface conveyor (1), transports manipulator (2), a plurality of group detection mechanism (3) and terminal control ware, its characterized in that: the plurality of groups of detection mechanisms (3) are arranged at the tail end of the preamble conveying device (1), and the transfer manipulator (2) is arranged between the preamble conveying device (1) and the plurality of groups of detection mechanisms (3); the front conveying device (1) is a belt conveyor, the tail end of the front conveying device (1) is provided with an in-place sensor and a positioning mechanism (4), the positioning mechanism (4) comprises positioning frames (41) arranged on two sides of the front conveying device (1), positioning cylinders (42) are arranged on the inner sides of the positioning frames (41), and positioning arc plates (43) are arranged at the front ends of the positioning cylinders (42); the transfer manipulator (2) is at least five-degree-of-freedom manipulator, and the front end of the transfer manipulator (2) is provided with an inner supporting claw clamp (21); the detection mechanism (3) comprises a lower positioning column (5) and an upper positioning column (6), a standard cone (51) is rotatably arranged at the top of the lower positioning column (5), a lower servo driving mechanism (52) for driving the standard cone (51) to rotate is arranged in the lower positioning column (5), a jacking mechanism (53) is arranged at the bottom of the lower positioning column (5), a horizontal positioning table (54) is arranged at the top of the jacking mechanism (53), a lifting column (55) is arranged at the center of the top of the lower positioning column (5), a lifting cylinder (56) is arranged at the bottom of the lifting column (55), a first detection mechanism (7) is arranged at one side of the lower positioning column (5), the first detection mechanism (7) comprises an oblique lifting mechanism (71), a horizontal feeding mechanism (72) is arranged on the oblique lifting mechanism (71), the displacement direction of the oblique lifting mechanism (71) is consistent with the inclination angle of the standard cone (51), a first detection head (73) is arranged at the front end of the horizontal feeding mechanism (72), a standard cone cavity (61) is rotatably arranged at the bottom of the upper positioning column (6), a first detection head (73) is arranged at the bottom of the upper positioning column (6), a second detection mechanism (62) is arranged at the bottom of the lower positioning column (5), a second detection mechanism (6) is arranged at the outer side of the first detection mechanism (6), the second detection mechanism (8) comprises a vertical lifting mechanism (81), a detection supporting rod (82) is arranged at the bottom of the vertical lifting mechanism (81), a rotation driving mechanism (83) is arranged between the vertical lifting mechanism (81) and the detection supporting rod (82), and a second detection head (84) is arranged at one end of the detection supporting rod (82); the front-end conveying device (1), the in-place sensor, the positioning cylinder (42), the transfer manipulator (2), the lower servo driving mechanism (52), the jacking mechanism (53), the lifting cylinder (56), the first detection mechanism (7), the upper servo driving mechanism (62) and the second detection mechanism (8) are in signal connection with the terminal controller.

2. The automatic valve seat size detection device according to claim 1, wherein: a plurality of baffle plates (11) are linearly arranged on a conveying belt of the preamble conveying device (1), and gaps between adjacent baffle plates (11) are larger than the diameter of the large end of the valve seat.

3. The automatic valve seat size detection device according to claim 1, wherein: the utility model discloses a location post, including locating post (5) and support, locating post (5) are located down, locating post (5) bottom outside sets up a plurality of linear guide (531), linear guide (531) axis is parallel with lower locating post (5), lower locating post (5) bottom sets up screw thread portion (532), the cooperation sets up jacking nut (533) on screw thread portion (532), jacking nut (533) outside sets up jacking shell (534), set up the sliding sleeve with lower locating post (5) sliding connection on jacking shell (534), jacking nut (533) and jacking shell (534) swivelling joint, jacking shell (534) outside sets up and is used for driving jacking nut (533) pivoted jacking motor (535), jacking shell (534) top and locating bench (54) bottom swivelling joint.

4. The automatic valve seat size detection device according to claim 1, wherein: at least three positioning contacts (541) are arranged on the positioning table (54), and a fine adjustment mechanism (542) is arranged at the bottom of each positioning contact (541).

5. The automatic valve seat size detection device according to claim 1, wherein: the oblique lifting mechanism (71) comprises an oblique frame (711), an oblique guide rail (712) and an oblique screw rod (713) are arranged in the oblique frame (711), an oblique lifting seat (714) is arranged on the oblique guide rail (712) in a sliding mode, a screw rod nut matched with the oblique screw rod (713) is arranged on the oblique lifting seat (714), and a first servo motor (715) for driving the oblique screw rod (713) to rotate is arranged at one end of the oblique frame (711); horizontal feed mechanism (72) are including horizontal frame (721), fixation nut and first fixed cover (722), fixation nut, fixed cover (722) all with slope lifting seat (714) fixed connection, set up horizontal guide rail (723) and horizontal lead screw (724) in horizontal frame (721), horizontal guide rail (723) and fixed cover (722) sliding connection, horizontal lead screw (724) cooperate with fixation nut, horizontal frame (721) rear end sets up second servo motor (725) that are used for driving horizontal lead screw (724) pivoted, first detection head (73) set up in horizontal frame (721) front end.

6. The automatic valve seat size detection device according to claim 1, wherein: the vertical lifting mechanism (81) comprises a mounting seat (811) and a vertical lifting frame (813) which are arranged on an upper positioning column (6), a fixed screw nut and a second fixed sleeve (812) are arranged on the mounting seat (811), a vertical guide rail (814) and a vertical screw (815) are arranged in the vertical lifting frame (813), the vertical guide rail (814) is in sliding fit with the second fixed sleeve (812), the vertical screw (815) is matched with the fixed screw nut, and a third servo motor (816) for driving the vertical screw (815) is arranged at the top of the lifting frame (813).

7. An automatic valve seat size detection apparatus according to any one of claims 1 to 6, wherein: the detection mechanisms (3) are arranged in a fan shape by taking the transfer manipulator (2) as the center, and the distance between each detection mechanism (3) and the transfer manipulator (2) is consistent.

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