CN218156198U - Automatic detection device for perpendicularity of warehouse shelf column component - Google Patents
Automatic detection device for perpendicularity of warehouse shelf column component Download PDFInfo
- Publication number
- CN218156198U CN218156198U CN202221877221.3U CN202221877221U CN218156198U CN 218156198 U CN218156198 U CN 218156198U CN 202221877221 U CN202221877221 U CN 202221877221U CN 218156198 U CN218156198 U CN 218156198U
- Authority
- CN
- China
- Prior art keywords
- controller
- moving mechanism
- measurement
- direction moving
- track
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Length Measuring Devices With Unspecified Measuring Means (AREA)
Abstract
The utility model provides an automatic detection device of storage goods shelves post component straightness that hangs down relates to storage goods shelves and makes installation technical field, include: the bottom plate fixes the pose adjusting device and the measurement executing device on the shuttle car; the pose adjusting device clamps a measurement executing device; a measurement execution device for measuring a plurality of sets of height data; and the controller drives the pose adjusting device to adjust the measurement executing device to a preset measurement position of the column component to be measured, controls the tensioning mechanism to be closed and each flexible clamping mechanism to clamp the column penetrating component, then controls the range finder to rotate for one circle along the two semicircular tracks, and collects multiple groups of height data of the column component in the rotating process so as to process and obtain the verticality detection result of the column component. The invention realizes the complete automatic detection of the storage shelf column components, saves the labor cost and improves the assembly quality.
Description
Technical Field
The utility model relates to a storage goods shelves make installation technical field, especially relate to an automatic checkout device of storage goods shelves post component straightness that hangs down.
Background
The goods shelf plays a very important role in modern logistics activities, the modernization of warehouse management is realized, and the goods shelf has direct relation with the types and functions of the goods shelf; the goods shelf is composed of a plurality of steel structural members, including column members, beam members, rod members, plate members, flexible members and the like; column elements and the like are load-bearing foundation elements, and the perpendicularity of the column elements has a great influence on the quality of the goods shelf. With the continuous innovation of the installation process of the storage shelf, the production workshop and the assembly workshop of the storage shelf are developed automatically. However, a great difficulty exists in the field of storage shelf installation; the problem is that the detection of the verticality of the column component of the storage shelf still mainly adopts the modes of manual hanging hammers and the like at present; the manual measurement is not only low in efficiency, but also has great potential safety hazard due to the need of detecting the verticality; the manual detection has larger errors, and the reliability and the quality of the goods shelf cannot be ensured.
Therefore, it is needed to develop a new device for automatically detecting the verticality of the storage shelf column member to make up the deficiencies of the existing detection technology and to realize the automatic detection of the storage shelf column member.
The storage shelf steel members have large length specification and shape change, so the storage shelf steel members need to be detected at different positions, and the steel members are complicated after the storage shelf is installed; therefore, the vertical detection system of the automatic shelf column member should have the following characteristics: the detection instrument should have flexibility, be convenient for remove, convenient to use, simple to operate.
SUMMERY OF THE UTILITY MODEL
To the problem that exists among the prior art, the utility model provides a warehouse rack post component straightness's automatic checkout device hangs down, include:
the bottom plate is arranged among column members of a storage shelf;
the side, far away from the bottom plate, of the pose adjusting device is provided with a clamping jaw to clamp a measurement executing device;
the measurement execution device includes:
the track disc comprises two semicircular track discs which are symmetrically arranged, and the two semicircular track discs are connected through a tensioning mechanism; a semicircular groove is correspondingly formed in each of the two semicircular track discs, and a containing hole is formed in each semicircular groove; the two semicircular track discs are respectively and correspondingly provided with a semicircular track, and the semicircular track is connected with a distance meter in a sliding way;
the flexible clamping mechanisms are arranged at the bottom of the track disc and extend towards the accommodating hole;
and the controller is respectively connected with the pose adjusting device and the measurement executing device and is used for driving the pose adjusting device to adjust the measurement executing device to a preset measurement position of the column component to be measured, controlling the tensioning mechanism to be closed and the flexible clamping mechanisms to clamp the column component to be measured penetrating through the accommodating hole, then controlling the range finder to rotate for one circle along the two semicircular tracks, and acquiring multiple groups of height data of the column component in the rotating process so as to process and obtain the verticality detection result of the column component.
Preferably, the automatic detection device further comprises a shuttle car, the shuttle car runs on a slide rail formed between the column members of the storage shelf, the bottom plate is arranged on the shuttle car, and the shuttle car is connected with the controller.
Preferably, the posture adjustment device includes:
the controller is connected with the X-direction moving mechanism and drives the measurement executing device to move along the X direction by controlling the X-direction moving mechanism;
the Y-direction moving mechanism is arranged on the X-direction moving mechanism, the X-direction moving mechanism and the Y-direction moving mechanism are perpendicular in an XOY plane, the controller is connected with the Y-direction moving mechanism, and the controller drives the measurement executing device to move in the Y direction by controlling the Y-direction moving mechanism;
the Z-direction moving mechanism is arranged on the Y-direction moving mechanism, the Y-direction moving mechanism is perpendicular to the Z-direction moving mechanism in a YOZ plane, the controller is connected with the Z-direction moving mechanism, and the controller drives the measurement executing device to move along the Z direction by controlling the Z-direction moving mechanism.
Preferably, the posture adjustment device further includes:
the controller is connected with the Z-direction rotating mechanism and drives the measurement executing device to rotate by controlling the Z-direction rotating mechanism by taking the Z direction as an axis;
the X-direction rotating mechanism is arranged on the side face of the Z-direction moving mechanism, the jack catch is arranged on one side deviating from the Z-direction moving mechanism, the controller is connected with the X-direction rotating mechanism, and the controller controls the X-direction rotating mechanism to drive the measurement executing device to rotate by taking the X direction as an axis.
Preferably, the automatic detection device further comprises a vision camera, the vision camera is arranged on the jaw, the X-direction rotating mechanism is connected with the vision camera, the controller is used for controlling the vision camera to collect images, and driving the pose adjusting device to adjust the measurement executing device to the preset measurement position of the column member to be measured according to an image collecting result.
Preferably, the measurement execution device further comprises an electronic water meter, the electronic water meter is arranged on the track disc and located between one of the semicircular grooves and the corresponding semicircular track, the controller is connected with the electronic water meter, and the electronic water meter is used for detecting the levelness of the track disc and the ground and feeding the levelness back to the controller.
Preferably, one end of each of the two semicircular track discs of the automatic detection device is correspondingly provided with a step, the two steps are rotatably connected through a rotating shaft, and the tensioning mechanism is arranged at the position, close to the rotating connection position of the two steps, of the bottom of the track disc.
The automatic detection method for the perpendicularity of the storage shelf column component is applied to the automatic detection device for the perpendicularity of the storage shelf column component, and specifically comprises the following steps:
s1, controlling the tensioning mechanism to open the two semicircular track discs by the automatic detection device at the detection position of the column member to be measured so as to clamp the column member, and then driving the pose adjusting device to adjust the two semicircular track discs to the preset measurement position of the column member to be measured;
s2, the automatic detection device controls the tensioning mechanisms to close the two semicircular track discs to clamp the column members, controls the flexible clamping mechanisms to abut against the column members, and then controls the clamping jaws to be opened to release the measurement execution device;
and S3, controlling the distance meter to rotate for one circle along the two semicircular tracks by the automatic detection device, acquiring multiple groups of height data of the column member in the rotating process, and processing to obtain the verticality detection result of the column member.
Preferably, the automatic detection device further includes a shuttle car, the shuttle car runs on a sliding rail formed between the column members of the storage rack, and in step S1, the shuttle car drives the automatic detection device to run to a detection position of the column member to be measured.
Preferably, in the step S3, the verticality detection result is obtained through the following formula:
and d is used for representing the verticality of the column component, l is used for representing the length from the bottom position of the column component to the preset measuring position of the column component, and h is used for representing the height data which is acquired by the distance measuring instrument and represents the preset measuring position of the column component and the vertical height of the ground reference.
The technical scheme has the following advantages or beneficial effects:
1) The system can accurately and efficiently realize the automatic detection of the verticality of the storage shelf column component, and lays a foundation for improving the overall manufacturing and installation quality of the storage shelf;
2) The pose adjusting device and the measurement executing device can detect the storage shelf column members at a plurality of positions along with the shuttle vehicle, so that the detection time is shortened;
3) The electronic water meter can ensure that the measurement execution device is parallel to the ground reference in the whole detection process;
4) The automatic detection device can measure the verticality of the storage shelf column components with different specifications;
5) The verticality of the column component can be calculated by a program stored in a computer, so that the time cost and the labor cost are saved, and the calculation error is avoided.
Drawings
Fig. 1 is a schematic diagram showing the position relationship and structure of a storage shelf and an automatic detection device for the verticality of the storage shelf according to a preferred embodiment of the present invention;
fig. 2 is a schematic diagram showing the positional relationship and structural details of the storage shelf and the automatic detection device for the verticality of the storage shelf according to the preferred embodiment of the present invention;
fig. 3 is a schematic structural diagram of a pose adjusting device and a measurement executing device according to a preferred embodiment of the present invention;
FIG. 4 is a schematic structural diagram of a measurement execution device according to a preferred embodiment of the present invention;
fig. 5 is a bottom view of the measurement performing device according to the preferred embodiment of the present invention;
fig. 6 is a block diagram of a control system of the automatic detection device for the verticality of the storage rack according to a preferred embodiment of the present invention.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. The present invention is not limited to this embodiment, and other embodiments may also belong to the scope of the present invention as long as the gist of the present invention is satisfied.
The utility model discloses an in the preferred embodiment, based on the above-mentioned problem that exists among the prior art, now provide a storage rack post component straightness's automatic checkout device that hangs down, as shown in fig. 1 to fig. 6, specifically include:
the bottom plate 1 is arranged among column members of a storage shelf;
a claw 3 is arranged on one side of the pose adjusting device, which is far away from the bottom plate, so as to clamp a measurement executing device 4;
the measurement execution device 4 includes:
the track disc 41, the track disc 41 includes two semicircular track discs 411 that are symmetrically arranged, the two semicircular track discs 411 are connected through a tensioning mechanism 42; a semicircle is correspondingly arranged on each of the two semicircular track discs 411, and the semicircular grooves 43 form a containing hole 44; a semicircular track 45 is correspondingly arranged on each of the two semicircular track discs 411, and a distance measuring instrument 46 is connected on each semicircular track 45 in a sliding manner;
a plurality of flexible clamping mechanisms 47 provided at the bottom of the rail plate 41 and extending toward the receiving hole 44;
and the controller 8 is respectively connected with the pose adjusting device 2 and the measurement executing device 4 and is used for driving the pose adjusting device 2 to adjust the measurement executing device 4 to a preset measurement position of the column member 7 to be measured, controlling the tensioning mechanism 42 to be closed and each flexible clamping mechanism 47 to clamp the column member 7 to be measured penetrating through the accommodating hole 44, then controlling the distance measuring instrument 46 to rotate for one circle along the two semicircular rails 45, and acquiring multiple groups of height data of the column member 7 in the rotating process so as to process and obtain the verticality detection result of the column member 7.
Specifically, in this embodiment, the utility model discloses a storage goods shelves post component 7 straightness's automatic checkout device that hangs down is when carrying out storage goods shelves post component 7 straightness measurement that hangs down, at first, when automatic checkout device is located near waiting to detect storage goods shelves post component 7, automatic checkout device passes through controller 8 control straining device 42 drive and opens track dish 41, straining device 42 is by two fixing bolt, a driving motor, a gear drive structure constitutes, driving gear opens straining device when motor corotation, driving gear closes straining device when the motor reversal, straining device can adopt current steel member as long as can realize driving track dish and be fan-shaped open can, this patent does not do too much explanation here, straining device 42 is used for driving two semi-circular track dishes 411 and is fan-shaped and opens.
In a preferred embodiment of the present invention, the pose adjusting apparatus 2 further includes:
the device further comprises a vision camera 26, the vision camera 26 is arranged on the clamping jaw 3, the X-direction rotating mechanism 25 is connected with the vision camera 26, the controller 8 is used for controlling the vision camera 26 to collect images, and the pose adjusting device 2 is driven to adjust the measurement executing device 4 to a preset measurement position of the column component to be measured according to the image collecting result.
Specifically, in this embodiment, the vision camera 26 is an existing vision system vision camera, and can transmit an image projected by a lens onto the sensor to the controller 8, and the controller 8 determines whether the preset measurement position is reached according to image information transmitted by the vision camera.
Further, after the tensioning mechanism 42 is used for driving the two semicircular track discs 411 to open in a fan shape, the controller 8 controls the vision camera 26 to detect the measurement position of the column member, whether the measurement device reaches the preset measurement position is detected, and the controller 8 enables the measurement execution device 4 to move in X, Y, Z in three directions and rotate around X and Z as axes through the pose adjusting device 2 according to the measurement result of the vision camera 26 to adjust the pose; further, after the pose of the measurement executing device 4 is adjusted in place, the pose adjustment of the measurement executing device 4 in place means that the measurement executing device 4 reaches the accommodating hole 44 which can be closed by the two semicircular track discs 411 of the measurement executing device 4, and then can surround the column member, the controller 8 controls the tensioning mechanism 42 to drive the closing track disc 41, the two semicircular track discs 411 are closed in a fan shape, a plurality of flexible clamping mechanisms 47 are uniformly arranged below the two semicircular track discs 411, the number of the flexible clamping mechanisms can be 3 here, the specifications of the storage shelf column member are different, the flexible clamping mechanisms 47 are composed of a push rod, a base, a bearing, a transmission structure, a driving motor and the like, a pair of bearings is arranged between the push rod and the base, the push rod can rotate passively, meanwhile, the controller 8 can drive the transmission structure to flexibly clamp the steel member through the driving motor, and can clamp the steel members with different specifications by adopting the existing flexible clamping structure, and the utility model is not described herein;
the present invention preferably has an embodiment in which the pose adjusting apparatus 2 further includes:
the water level measuring device further comprises an electronic water meter 48, the electronic water meter 48 is arranged on the track disc 41 and located between one semicircular groove 43 and the corresponding semicircular track 411, the controller 8 is connected with the electronic water meter 48, and the electronic water meter 48 is used for detecting the levelness of the track disc 41 and the ground and feeding back the levelness to the controller 8.
Specifically, in the present embodiment, the electronic water meter 48 is an existing electronic level meter, and the electronic water meter 48 measures a slight inclination angle of the measured surface with respect to the reference horizontal plane by using a balance principle of a capacitive pendulum.
Still further, the controller 8 controls the electronic water meter 48 located on the groove 43 of the track disk 41 to measure the levelness of the track disk 41 with the reference ground.
After the levelness of the track disc and the ground is measured, the controller 8 controls the pose adjusting device 2 to adjust the pose of the measurement executing device 4, wherein the pose adjustment of the measurement executing device refers to adjusting the track disc of the measurement executing device to be parallel to the reference ground, after the pose of the measurement executing device 4 is adjusted to be in place, the controller 8 controls the claws 3 to be opened, the controller 8 controls the pose adjusting device 2 to be retracted to a safe position, the controller 8 controls the range finder 46 to rotate for one circle along the track 45 on the track disc 41 to continuously measure and obtain multiple sets of height data, the range finder 46 is slidably mounted on the track 45 of the track disc 41, existing equipment such as an infrared range finder and a laser range finder can be adopted, and the safe position refers to a position where the range finder 46 cannot collide with the claws 2 in the process of rotating for one circle around the track 45; after the height data of the column member is measured, the controller 8 controls the pose adjusting device 2 to reach a preset measuring position, the controller 8 controls the clamping jaws 3 to clamp the measuring executing mechanism 4, the controller 8 drives the opening track discs 41 through controlling the tensioning mechanism 42, the two semicircular track discs 411 are opened in a fan shape, the clamped column member is released, the controller 8 controls the clamping jaws 3 and the pose adjusting device 2 to retreat to the initial position, the height measurement of the column member is completed, the controller 8 is a conventional microprocessor, and as a preferred implementation mode, the bottom plate 1, the pose adjusting device 2, the clamping jaws 3, the measuring executing device 4 and the controller 8 can be combined into a detection robot in an integrated mode.
In the preferred embodiment of the present invention, as shown in fig. 1 and 6, the storage rack further comprises a shuttle 5, the shuttle 5 runs on the sliding rail formed between the column members of the storage rack, the bottom plate 1 is disposed on the shuttle 5, and the shuttle 5 is connected to the controller 8.
Specifically, in this embodiment, the shuttle 5 is an existing intelligent robot, is installed on a slide rail of the storage rack, is connected to the controller 8, and can drive the measurement executing device 4 and the pose adjusting device 2 to a preset measurement position according to a command of the controller 8.
In a preferred embodiment of the present invention, as shown in fig. 3 and 6, the posture adjusting device 2 includes:
the X-direction moving mechanism 21 and the X-direction moving mechanism 21 are arranged on the bottom plate 1, the controller 8 is connected with the X-direction moving mechanism 21, and the controller 8 drives the measurement executing device 4 to move in the X direction by controlling the X-direction moving mechanism 21;
the Y-direction moving mechanism 22 and the Y-direction moving mechanism 22 are arranged on the X-direction moving mechanism 21, the X-direction moving mechanism 21 and the Y-direction moving mechanism 22 are vertical in an XOY plane, the controller 8 is connected with the Y-direction moving mechanism 22, and the controller 8 drives the measurement executing device 4 to move along the Y direction by controlling the Y-direction moving mechanism 22;
the Z-direction moving mechanism 23 and the Z-direction moving mechanism 23 are arranged on the Y-direction moving mechanism 22, the Y-direction moving mechanism 22 and the Z-direction moving mechanism 23 are perpendicular in a YOZ plane, the controller 8 is connected with the Z-direction moving mechanism 23, and the controller 8 drives the measurement executing device 4 to move along the Z direction by controlling the Z-direction moving mechanism 23.
Specifically, in this embodiment, the three moving mechanisms, i.e., the X-direction moving mechanism 21, the Y-direction moving mechanism 22, and the Z-direction moving mechanism 23, are all the existing moving mechanisms, and the controller 8 is controlled to drive the corresponding motors to drive the measurement executing device 4 to move.
The utility model discloses an embodiment position appearance adjusting device 2 of preferred still includes:
the Z-direction rotating mechanism 24 and the Z-direction rotating structure 24 are arranged at the top of the Z-direction moving mechanism 23, the controller 8 is connected with the Z-direction rotating mechanism 24, and the controller 8 drives the measurement executing device 4 to rotate by taking the Z direction as an axis through controlling the Z-direction rotating mechanism 24;
the X-direction rotating mechanism 25, the X-direction rotating mechanism 25 are arranged on the side face of the Z-direction moving mechanism 23, the clamping jaws 3 are arranged on one side departing from the Z-direction moving mechanism 23, the controller 8 is connected with the X-direction rotating mechanism 25, and the controller 8 controls the X-direction rotating mechanism 25 to drive the measurement executing device 4 to rotate by taking the X direction as an axis.
Specifically, in this embodiment, the Z-direction rotating mechanism 24 and the X-direction rotating mechanism 25 are conventional rotating mechanisms, and the corresponding rotating mechanisms can be controlled to rotate by controlling the corresponding driving motors.
The present invention provides a position and orientation adjusting apparatus 2 in a preferred embodiment, as shown in fig. 4, further comprising:
one end of the semicircular track disc 411 is respectively provided with a step 412, the two steps 412 are rotatably connected through a rotating shaft 413, and the tensioning mechanism 42 is arranged at the bottom of the track disc 41 near the rotating connection of the two steps.
Specifically, in the present embodiment, the rotating shaft 413 connecting the two steps 412 is an existing steel member, and a common linear rotating shaft may be adopted.
The utility model also provides an automatic detection method of storage rack column component straightness that hangs down is applied to above-mentioned automatic detection device, and automatic detection method includes:
step S1, placing an automatic detection device at a detection position of a column member 7 to be measured, controlling a tensioning mechanism 42 to open two semicircular track discs 411 to clamp the column member 7, and then driving a pose adjusting device 2 to adjust the two semicircular track discs 411 to a preset measurement position of the column member 7 to be measured;
step S2, the automatic detection device controls the tensioning mechanism 42 to close the two semicircular track discs 411 to clamp the column member 7, controls each flexible clamping mechanism 47 to abut against the column member 7, and then controls the jaws 3 to open to release the measurement execution device 4;
and S3, controlling the distance measuring instrument 46 to rotate for one circle along the two semicircular tracks 411 by the automatic detection device, acquiring multiple groups of height data of the column member 7 in the rotating process, and processing to obtain a verticality detection result of the column member 7.
Specifically, in this embodiment, the automatic detection method is performed in three steps, and the specific flow is as follows: firstly, the controller 8 controls the shuttle car 5 to drive the measurement execution device 4 and the pose adjusting device 2 to a preset measurement position; the controller 8 controls the track disc tensioning mechanism 42 to open the two semicircular track discs 411; after the vision camera 26 detects the measurement position of the column member 7 through image acquisition, an image projected by the lens to the sensor is transmitted to the controller 8, and the controller 8 drives the X-direction moving mechanism 21, the Y-direction moving mechanism 22 and the Z-direction moving mechanism 23 to adjust the position of the measurement execution device 4; after the position of the measurement execution device 4 is adjusted in place, the controller 8 controls the track disc tensioning mechanism 42 to close the two semicircular track discs 411, the controller 8 controls and drives the column member flexible clamping mechanism 47 to flexibly clamp the column member 7, and the controller 8 receives a feedback signal of the electronic water meter 48 to control the pose adjusting device 2 to adjust the pose of the measurement execution device 4 so as to ensure that the pose adjusting device is parallel to the ground reference; the controller 8 then controls the jaws 3 to open and release the measurement performing means 4; in order to avoid collision between the measurement execution device 4 and the pose adjusting device 2, the pose adjusting device 2 should be retracted to a safe position, after the pose adjusting device 2 is retracted to the safe position, the measurement execution device 4 rotates for a circle along a track 45 formed by the closed two semicircular track discs 411, height data of a plurality of groups of column members are measured, the measured height data of the plurality of groups of column members are fed back to the controller 8, and the controller 8 sends the height data to a computer for processing;
further, after the height data is obtained, the controller 8 controls the pose adjusting device 2 to reach a specified position, and the controller 8 controls the clamping jaws 3 to clamp the measurement executing device 4; then the controller 8 controls the flexible clamping mechanism 47 of the column member to be opened at the same time, the controller 8 controls the track disc tensioning mechanism 42 to drive the two semicircular track discs 411 to be opened to release the clamped column member 7, the controller 8 controls the pose adjusting device 2 to drive the measurement executing device 4 to return to a safe position, and the measurement is completed;
finally, the verticality detection result can be obtained through the following formula processing:
where Δ d is used to indicate the verticality of the pillar member 7, l is used to indicate the length from the bottom position of the pillar member 7 to the preset measurement position of the pillar member 7, and h is used to indicate the vertical height data representing the preset measurement position of the pillar member 7 and the ground reference acquired by the distance meter 46.
Specifically, in the present embodiment, the more the length from the bottom position of the pillar member 7 to the preset measurement position of the pillar member 7 and the vertical height from the preset measurement position of the pillar member 7 acquired by the distance meter 46, which is characteristic of the pillar member 7, and the ground reference are closer, the better the verticality of the pillar member is, and when the two are equal, the pillar member is completely vertical.
In a preferred embodiment of the present invention, as shown in fig. 2, the automatic detection device further comprises: and in the step S1, the shuttle car 5 drives the automatic detection device to run to the detection position of the column component to be measured.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and it should be understood that all modifications and obvious variations of the present invention as described and illustrated herein are included within the scope of the present invention.
Claims (7)
1. The utility model provides a storage rack post component straightness's automatic checkout device hangs down which characterized in that includes:
the bottom plate is arranged between the column members of a storage shelf;
the side, far away from the bottom plate, of the pose adjusting device is provided with a clamping jaw to clamp a measurement executing device;
the measurement execution apparatus includes:
the track disc comprises two semicircular track discs which are symmetrically arranged, and the two semicircular track discs are connected through a tensioning mechanism; a semicircular groove is correspondingly formed in each of the two semicircular track discs, and a containing hole is formed in each semicircular groove; the two semicircular track discs are respectively and correspondingly provided with a semicircular track, and the semicircular track is connected with a distance meter in a sliding way;
the flexible clamping mechanisms are arranged at the bottom of the track disc and extend towards the accommodating hole;
and the controller is respectively connected with the pose adjusting device and the measurement executing device and is used for driving the pose adjusting device to adjust the measurement executing device to a preset measurement position of the column component to be measured, controlling the tensioning mechanism to be closed and the flexible clamping mechanisms to clamp the column component to be measured penetrating through the accommodating hole, then controlling the range finder to rotate for one circle along the two semicircular tracks, and acquiring multiple groups of height data of the column component in the rotating process so as to process and obtain the verticality detection result of the column component.
2. The automated inspection device of claim 1, further comprising a shuttle car running on a track formed between the post members of the storage rack, the base plate being disposed on the shuttle car, the shuttle car being connected to the controller.
3. The automated detection apparatus according to claim 1, wherein the pose adjustment apparatus comprises:
the controller is connected with the X-direction moving mechanism and drives the measurement executing device to move along the X direction by controlling the X-direction moving mechanism;
the Y-direction moving mechanism is arranged on the X-direction moving mechanism, the X-direction moving mechanism and the Y-direction moving mechanism are perpendicular in an XOY plane, the controller is connected with the Y-direction moving mechanism, and the controller drives the measurement executing device to move in the Y direction by controlling the Y-direction moving mechanism;
the Z-direction moving mechanism is arranged on the Y-direction moving mechanism, the Y-direction moving mechanism is perpendicular to the Z-direction moving mechanism in a YOZ plane, the controller is connected with the Z-direction moving mechanism, and the controller drives the measurement executing device to move along the Z direction by controlling the Z-direction moving mechanism.
4. The automated detection apparatus according to claim 3, wherein the pose adjustment apparatus further comprises:
the controller is connected with the Z-direction rotating mechanism and drives the measurement executing device to rotate by controlling the Z-direction rotating mechanism by taking the Z direction as an axis;
the X-direction rotating mechanism is arranged on the side face of the Z-direction moving mechanism, the jack catch is arranged on one side deviating from the Z-direction moving mechanism, the controller is connected with the X-direction rotating mechanism, and the controller controls the X-direction rotating mechanism to drive the measurement executing device to rotate by taking the X direction as an axis.
5. The automatic detection device according to claim 3, further comprising a vision camera, wherein the vision camera is disposed on the jaw, the X-direction rotating mechanism is connected to the vision camera, the controller is connected to the vision camera, and the controller is configured to control the vision camera to perform image acquisition and drive the pose adjusting device to adjust the measurement execution device to the preset measurement position of the column member to be measured according to an image acquisition result.
6. The automatic detection device according to claim 1, wherein the measurement execution device further comprises an electronic water meter, the electronic water meter is disposed on the track disc and located between one of the semicircular grooves and the corresponding semicircular track, the controller is connected to the electronic water meter, and the electronic water meter is used for detecting the levelness of the track disc and the ground and feeding the levelness back to the controller.
7. The automatic detection device according to claim 1, wherein a step is correspondingly disposed at one end of each of the two semicircular track discs, the two steps are rotatably connected through a rotating shaft, and the tensioning mechanism is disposed at the bottom of the track disc near the rotating connection of the two steps.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221877221.3U CN218156198U (en) | 2022-07-14 | 2022-07-14 | Automatic detection device for perpendicularity of warehouse shelf column component |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221877221.3U CN218156198U (en) | 2022-07-14 | 2022-07-14 | Automatic detection device for perpendicularity of warehouse shelf column component |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN218156198U true CN218156198U (en) | 2022-12-27 |
Family
ID=84593926
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202221877221.3U Active CN218156198U (en) | 2022-07-14 | 2022-07-14 | Automatic detection device for perpendicularity of warehouse shelf column component |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN218156198U (en) |
-
2022
- 2022-07-14 CN CN202221877221.3U patent/CN218156198U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN201034559Y (en) | Device for testing planarity and depth of parallelism of clintheriform workpieces top and plane | |
| CN100416218C (en) | Apparatus for detecting parallelism of two planes of platelike workpiece | |
| CN109239086B (en) | Vehicle paint surface and appearance flaw detection system | |
| CN113155047B (en) | Long-distance hole distance measuring device and method, storage medium, equipment and rail vehicle | |
| CN210375626U (en) | Curved screen body detection device | |
| CN106895811A (en) | A kind of antenna arrays of radar automatic Mosaic guides system | |
| CN112476395A (en) | Industrial robot-oriented three-dimensional vision scribing equipment and method | |
| CN110230981B (en) | Dimension detection system and dimension detection method for large-size piece | |
| CN205941401U (en) | Curved surface part surface profile harms analytical equipment | |
| CN113566701B (en) | Automatic detection equipment for sliding block position of window glass lifter | |
| CN218156198U (en) | Automatic detection device for perpendicularity of warehouse shelf column component | |
| CN115096280A (en) | Automatic detection device and method for perpendicularity of warehouse shelf column members | |
| CN110340589A (en) | Semitrailer assembly equipment | |
| CN111360584B (en) | Large-size revolving body workpiece surface detection device and method | |
| CN209131602U (en) | Gluing guidance and detection system based on laser three-D profile measurer | |
| CN110514146B (en) | Gauge for detecting verticality and parallelism precision of middle-large vertical bearing seat hole | |
| CN114485490A (en) | Plastic part flatness detection jig | |
| CN208109040U (en) | A kind of product surface flatness detecting device | |
| CN110360927A (en) | One kind is grown up component amount of deflection rapid measurement device and measurement method | |
| CN216482847U (en) | Glass automatic checkout device | |
| CN218723903U (en) | Five-axis cladding machine cladding thickness measuring device | |
| CN218175448U (en) | Track level detection robot | |
| CN114279327B (en) | Size detection method for high-speed suspension electromagnet box girder | |
| JP3878880B2 (en) | Shaft deflection measuring method and apparatus | |
| CN217900756U (en) | Automatic part size measuring device based on visual sensing and automatic machining system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |