WO2022012114A1 - 连杆检测系统及方法 - Google Patents

连杆检测系统及方法 Download PDF

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Publication number
WO2022012114A1
WO2022012114A1 PCT/CN2021/090994 CN2021090994W WO2022012114A1 WO 2022012114 A1 WO2022012114 A1 WO 2022012114A1 CN 2021090994 W CN2021090994 W CN 2021090994W WO 2022012114 A1 WO2022012114 A1 WO 2022012114A1
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WO
WIPO (PCT)
Prior art keywords
connecting rod
feeding
group
block
placing table
Prior art date
Application number
PCT/CN2021/090994
Other languages
English (en)
French (fr)
Inventor
骆春阳
胡晨
吴家乐
韦开发
夏辉
Original Assignee
浙江跃进机械有限公司
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Filing date
Publication date
Application filed by 浙江跃进机械有限公司 filed Critical 浙江跃进机械有限公司
Publication of WO2022012114A1 publication Critical patent/WO2022012114A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/02—Measures preceding sorting, e.g. arranging articles in a stream orientating
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/04—Sorting according to size
    • B07C5/10—Sorting according to size measured by light-responsive means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/16—Sorting according to weight
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/34—Sorting according to other particular properties
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/36—Sorting apparatus characterised by the means used for distribution
    • B07C5/361—Processing or control devices therefor, e.g. escort memory
    • B07C5/362—Separating or distributor mechanisms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/52—Devices for transferring articles or materials between conveyors i.e. discharging or feeding devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C2501/00—Sorting according to a characteristic or feature of the articles or material to be sorted
    • B07C2501/0063—Using robots
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E30/00—Energy generation of nuclear origin
    • Y02E30/30—Nuclear fission reactors

Definitions

  • the invention relates to a connecting rod detection device, in particular to a connecting rod detection system and method.
  • the connecting rod is one of the main moving parts of a diesel engine. Its function is to convert the linear reciprocating motion of the piston into the rotary motion of the crankshaft, and transmit the force generated by the combustion of fuel between the piston and the crankshaft.
  • the connecting rod When the connecting rod is working, it is subjected to the gas pressure of the cylinder, the inertial force of the reciprocating motion of the piston and the inertial force of the moving mass of the connecting rod group itself.
  • the magnitude and direction of these forces change periodically, causing the various parts of the connecting rod to be compressed, stretched and bent, resulting in fatigue and deformation.
  • the connecting rod will produce fatigue cracks and cause excessive wear of the connecting rod bushes, and the serious consequences may lead to major failures of the diesel engine. Therefore, it is necessary to fully monitor the parameters of the connecting rod before leaving the factory to ensure its quality.
  • the existing connecting rod detection system has problems such as low detection efficiency and incomplete monitoring.
  • the technical problem to be solved by the present invention is to provide an efficient connecting rod detection system and method.
  • the present invention provides a connecting rod detection system, including a hardness measurement device, a weighing device, a feeding mechanism, a handling mechanism, a moving mechanism and a laser detection system;
  • the feeding mechanism includes a first group of feeding mechanisms and a second group of feeding mechanisms;
  • the handling mechanism includes a first group of handling devices and a second group of handling devices;
  • the first conveyor belt is provided with a hardness measuring device and a hardness sorting and rejecting device which are used in sequence;
  • the first end of the conveyor belt is connected with the first end of the second conveyor belt, and the second conveyor belt is provided with a weighing device;
  • the second end of the conveyor belt is connected with the third end of the conveyor belt
  • the three conveyor belts are sequentially provided with a weight removal device 1 and a weight removal device 2;
  • the three tail ends of the conveyor belt are connected with the head end of the first group of feeding mechanisms
  • the tail end of the first group of feeding mechanisms is connected with the head end of the moving mechanism through the first group of handling devices of the handling mechanism;
  • the laser detection system is arranged on the moving mechanism
  • the tail end of the moving mechanism is connected with the head end of the second group of feeding mechanisms through the second group of handling devices of the handling mechanism;
  • the tail end of the second group of feeding mechanisms is connected with the four head ends of the conveyor belt;
  • the hardness measuring device is signal-connected with the hardness sorting and rejecting device; the weighing device is signal-connected with the weight rejecting device one and the weight rejecting device two.
  • the structure of the hardness sorting and rejecting device, the weight rejecting device 1 and the weight rejecting device 2 are the same, and all include a cylinder, a push rod and a sliding plate;
  • the cylinder is connected with the push rod, and the cylinder drives the push rod to expand and contract;
  • the push rod and the sliding plate are symmetrically arranged on both sides of the conveyor belt;
  • the sliding plate is arranged obliquely downward, the top of the sliding plate is fixedly connected with one side of the conveyor belt, and a collection box can be arranged just below the top of the sliding plate.
  • the first group of feeding mechanisms includes a first feeding structure, a first feeding guide rail and a first placing table;
  • first placing table are installed two placing table limit blocks one, two placing table limit blocks two and one placing table stop block;
  • the first limit block of the placing table, the second limit block of the placing table and the stop block of the placing table are arranged in sequence along the direction from the head end to the tail end of the feeding mechanism.
  • the two are symmetrically arranged on both sides of the first placing table;
  • the distance between the inner side of the two placing platform limit blocks arranged symmetrically changes from large to small, and gradually transitions to slightly larger than the width of the connecting rod;
  • the distance between the inner sides of the two symmetrically arranged limit blocks of the placing platform changes from large to small, and gradually transitions to the same width as the connecting rod;
  • the maximum distance between the inner side of the two placing platform limit blocks 2 is equal to the minimum distance between the two placing platform limit blocks 1;
  • the first placing platform is provided with a through hole 1 between the first placing platform limit blocks, and the first placing platform is provided with a through hole 2 between the two placing platform limiting blocks;
  • the placing platform stop is located at the second end of the placing platform limit block
  • the first feeding guide rail is located directly above the first placing table
  • the first feeding structure is slidably arranged on the first feeding guide rail;
  • the first feeding structure includes a sliding block of the first feeding structure that is slidably arranged on the first feeding guide rail, and the sliding block of the first feeding structure is arranged in sequence along the direction from the head end to the tail end of the first set of feeding mechanisms.
  • the first feeding assembly includes a first rotating block hinged with the first sliding block and a first feeding rod fixedly connected with the first rotating block.
  • the first rotating block and the first feeding rod can be along the vertical direction.
  • Rotation; the first blocking block is used to limit the rotation range of the first feeding rod toward the head end of the first group of feeding mechanisms, so that the feeding rod can only be vertical to the tail end of the first set of feeding mechanisms during use. direction deflection.
  • the two placing platform limit blocks are equally spaced with a number of left and right through laser holes
  • a gap is provided between the stop block of the placing table and the second limiting block of the placing table;
  • the first placing table is provided with a first group of feeding mechanism head-to-beam lasers and a first group of feeding mechanism tail-to-beam lasers;
  • the laser emitted by the facing laser at the head end of the first group of feeding mechanisms passes through the laser holes of the first limit block of the two placing platforms;
  • the laser emitted by the opposite-beam laser at the tail end of the first group of feeding mechanisms passes through the gap between the stop block of the placing platform and the second limiting block of the placing platform.
  • the second group of feeding mechanisms includes a second feeding structure, a second feeding guide rail, a second placing table and a coding system;
  • the second placing table is provided with three through holes and four through holes in sequence;
  • the second feeding guide rail is located above one side of the second placing table
  • the second feeding structure is slidably arranged on the second feeding guide rail;
  • the second feeding structure includes a second sliding block slidably arranged on the second feeding guide rail, and a second blocking block and a second blocking block and The second feeding component;
  • the second feeding assembly includes a second rotating block hinged with the second sliding block and a second feeding rod fixedly connected with the second rotating block, and the second rotating block and the second feeding rod can be along the vertical direction.
  • Rotation the second blocking block is used to limit the rotation range of the second feeding rod toward the head end of the second group of feeding mechanisms, so that the second feeding rod can only be perpendicular to the second group of feeding mechanisms during use. Tail direction deflection;
  • the second placing table is also provided with a second group of feeding mechanism facing laser sensors for detecting whether a connecting rod reaches the second group of feeding mechanism, thereby starting the coding system and the second feeding structure;
  • the coding system is located on one side of the second placing table, and the coding system includes a nozzle, a Y-axis module of the coding system and an X-axis module of the coding system;
  • the Y-axis module of the coding system includes a vertically arranged Y-axis slide rail of the coding system;
  • the X-axis module of the coding system includes a horizontally arranged X-axis slide rail of the coding system;
  • the spray head is slidably arranged on the Y-axis slide rail of the coding system through the Y-axis sliding block of the coding system;
  • the Y-axis slide rail of the coding system is slidably arranged on the X-axis slide rail of the coding system through the X-axis sliding block of the coding system;
  • the head end of the top of the second placing table is also fixedly provided with a backing plate.
  • the first group of handling devices and the second group of handling devices both include an X-axis module, a Y-axis module and a clamping jaw;
  • the clamping jaws are arranged on the Y-axis module, and the Y-axis module is arranged on the X-axis module;
  • the Y-axis module includes a Y-axis slide rail and a Y-axis connecting block, and the Y-axis slide rail and the Y-axis connecting block are fixedly connected;
  • the X-axis module includes an X-axis slide rail, and the Y-axis connecting block is slidably arranged on the X-axis slide rail;
  • the clamping jaw includes a clamping jaw body, a clamping jaw moving plate 1 and a clamping jaw moving plate 2;
  • the gripper body is slidably arranged on the Y-axis slide rail of the Y-axis module;
  • the first jaw moving plate and the second jaw moving plate are both slidably arranged at the bottom of the jaw body;
  • the first jaw moving plate and the second jaw moving plate are vertically arranged;
  • the first jaw moving plate and the second jaw moving plate are arranged in sequence along the direction from the head end to the tail end of the conveying mechanism, and are located on the same straight line. , the two lateral protrusions are facing the outside;
  • the lateral protrusion of the claw hand at the first end of the clamping claw moving plate is a protrusion horizontally arranged toward the first end of the conveying mechanism
  • the lateral protrusions of the claw hands at the second end of the clamping claw moving plate are horizontally arranged protrusions toward one side of the rear end of the conveying mechanism.
  • the moving mechanism includes a sliding rail of the moving mechanism and a support plate.
  • the support plate is slidably arranged on the sliding rail of the moving mechanism and is driven by the cylinder of the support plate;
  • two moving mechanism clamping jaws are symmetrically arranged on the left and right sides above the support plate, and the two move The clamping jaws of the mechanism are connected with the same cylinder and can do relative movement;
  • the moving mechanism clamping claw includes a moving mechanism clamping claw connecting rod 1 set along the direction from the head end to the tail end of the moving mechanism and a moving mechanism clamping claw connecting rod two vertically connected to it.
  • the two connecting rods are arranged towards each other;
  • the middle part of the support plate is provided with a support plate groove, the left and right sides of the support plate groove are symmetrically arranged with a plurality of clamping grooves, and the clamping grooves on any side are evenly arranged at equal distances;
  • the top tail end of the support plate is provided with a moving mechanism blocking block, and the moving mechanism blocking block is used for blocking;
  • the blocking block of the moving mechanism is used in cooperation with the clamping jaws of the moving mechanism.
  • the laser detection system is arranged at the rear end of the moving mechanism, and the laser detection system includes an upper laser sensor and a lower laser sensor;
  • the upper laser sensor is slidably arranged on the upper adjustable base;
  • the lower laser sensor is slidably arranged on the lower adjustable base.
  • the two sides of the support plate are also provided with moving mechanism facing line sensors for detecting whether a connecting rod is placed on the support plate.
  • the present invention also provides a connecting rod detection method, comprising the following steps:
  • the connecting rod is placed on the first conveyor belt, and the hardness is detected by the hardness measuring device.
  • the connecting rod with unqualified hardness is rejected by the hardness sorting and rejecting device, and the connecting rod enters the second conveyor belt when the hardness is qualified;
  • the weight of the connecting rod is measured by the weighing device on the conveyor belt 2, and then the connecting rod enters the conveyor belt 3.
  • the connecting rods that are too heavy and too light are removed by the weight removal device 1 and the weight removal device 2 respectively.
  • the rod enters the first group of feeding mechanisms;
  • the connecting rod pushes the first feeding rod to rotate to the end of the first group of feeding mechanisms, and then the connecting rod enters the first placing table, at this time the first feeding rod will fall into the connecting rod.
  • the feeding cylinder drives the sliding block to slide towards the end of the first placing table, the first feeding rod is in contact with the inner wall of the large hole of the connecting rod, the first blocking block and the first
  • the feeding rod together drives the connecting rod to slide towards the end of the placing table, and passes through the limiting action of the two placing table limit blocks 1 and the two placing table limit blocks 2 until it abuts with the first placing table stopper; at this time
  • the small hole of the connecting rod is facing the first through hole, and the large hole of the connecting rod is facing the second through hole;
  • the small hole of the rod is in contact with the inner wall of the large hole, and then the clamping claw is moved through the X-axis module and the Y-axis module, so that the connecting rod is located directly above the moving mechanism, and then the claw hand driving device is activated, so that the clamping jaw moves And the position of the moving plate 2 of the jaws is restored, the connecting rod falls on the support piece, and is located between the jaws of the two moving mechanisms of the moving mechanism;
  • the claw hand drive device restores the positions of the first jaw moving plate and the second jaw moving plate, and the connecting rod falls on the second group of feeding mechanisms;
  • the coding system prints the code on the connecting rod, and then drives the second sliding block to slide toward the head end of the second placing table, so that the second feeding rod is in contact with the head end of the connecting rod, and the head end of the connecting rod pushes the second dial
  • the material rod rotates to the end of the second set of feeding mechanism until the second feeding rod crosses the head end of the connecting rod and falls into the large hole of the connecting rod, and then starts the second feeding cylinder, which drives the sliding block Sliding towards the end of the second placing table, the second feeding rod is in contact with the inner wall of the large hole of the connecting rod, and the second blocking block and the second feeding rod jointly drive the connecting rod to slide to the four ends of the conveyor belt;
  • the present invention detects the hardness, weight, workpiece size, characters, etc. of the connecting rod through the combined use of a hardness measuring device, a weighing device, a feeding mechanism, a handling mechanism, a moving mechanism and a laser detection system, which is convenient, quick and efficient.
  • the hardness sorting and rejecting device can reject the connecting rods with unqualified hardness detected by the hardness measuring device; the weight rejecting device 1 and the weight rejecting device 2 respectively reject the overweight and ultralight connecting rods detected by the weighing device.
  • Fig. 1 is the structural representation of the connecting rod detection system of the present invention
  • Fig. 2 is the structural representation of the connection between the conveyor belt two 4 and the conveyor belt three 5 in Fig. 1;
  • FIG. 3 is a schematic structural diagram of the connection of the first group of feeding mechanisms 6, the conveying mechanism 7, the moving mechanism 8, the second group of feeding mechanisms 10 and the conveyor belt 11 in FIG. 1;
  • Fig. 4 is the structural representation of the first group of feeding mechanisms 6 in Fig. 1;
  • Fig. 5 is the structural representation of the conveying mechanism 7 in Fig. 1;
  • Fig. 6 is the structural representation of the moving mechanism 8 in Fig. 1;
  • FIG. 7 is a schematic structural diagram of the laser detection system 9 in FIG. 1;
  • FIG. 8 is a schematic structural diagram of the coding system of the second group of feeding mechanisms 10 in FIG. 1;
  • FIG. 9 is a schematic structural diagram of the connection between the second group of feeding mechanisms 10 and the fourth conveyor belt 11 in FIG. 1 .
  • the connecting rod detection system includes a hardness measuring device 2 , a weighing device 41 , a feeding mechanism, a conveying mechanism 7 , a moving mechanism 8 and a laser detection system 9 .
  • the feeding mechanism includes a first group of feeding mechanisms 6 and a second group of feeding mechanisms 10 .
  • a hardness measuring device 2 and a hardness sorting and rejecting device 3 are arranged on the conveyor belt 1 in sequence;
  • the hardness measuring device 2 is connected to the hardness sorting and rejecting device 3 in signal connection, and the startup of the hardness sorting and rejecting device 3 is controlled according to the result of the hardness measuring device 2 .
  • the tail end of the conveyor belt 1 is connected with the head end of the conveyor belt 2 4, and the conveyor belt 2 4 is provided with a weighing device 41;
  • the length of the second conveyor belt 4 is shorter, but larger than the length of a single link, and only one link runs on the second conveyor belt 4 during operation.
  • the tail end of the conveyor belt 24 is connected with the head end of the conveyor belt 35;
  • the conveyor belt 3 5 is sequentially provided with a weight removal device 1 51 and a weight removal device 2 52 , and the weight removal device 1 51 and the weight removal device 2 52 are respectively used for removing overweight and ultralight connecting rods;
  • the tail end of the conveyor belt 35 is connected with the head end of the first group of feeding mechanisms 6;
  • the tail end of the first group of feeding mechanisms 6 is connected to the head end of the moving mechanism 8 through the first group of conveying devices 711 of the conveying mechanism 7;
  • the rear end of the moving mechanism 8 is connected to the head end of the second group of feeding mechanisms 10 through the second group of handling devices 712 of the handling mechanism 7;
  • the tail end of the second group of feeding mechanisms 10 is connected with the head end of the fourth conveyor belt 11 .
  • the large end of the connecting rod faces forward, and the small end of the connecting rod runs backward.
  • the hardness measuring device 2 is an EC+ type computerized hardness sorter
  • EC+ computerized hardness sorter is an instrument with multi-function, strong practicability and high performance/price ratio. It can be widely used in various non-ferrous metals, ferrous metal pipes, rods, metal parts, etc. to identify and classify the material composition, hardness, surface hardened layer depth, tensile strength, heat treatment state, cracks, misaligned teeth, mixed materials, etc. select.
  • the hardness measuring device 2 passes an alternating current of a certain frequency through two detection coils, one of which is placed in the standard part, and when the tested part is placed in the other coil, the hardness, electrical conductivity and magnetic permeability of the test piece and the Metallurgical and mechanical defects will cause impedance changes in the detection coil.
  • the detection instrument amplifies and converts the electrical signal generated by the change of the impedance of the detection coil to drive the alarm or display device, and finally detects the samples with different hardness.
  • the weighing device 41 is used to weigh the weight of the connecting rod. According to the detection result of the weighing device 41 , the activation of the first weight removing device 51 and the second weight removing device 52 is controlled.
  • the structure of the hardness sorting and rejecting device 3 , the weight rejecting device 1 51 and the weight rejecting device 2 52 are the same, and all include a cylinder 511 , a push rod 512 and a sliding plate 513 .
  • the air cylinder 511 is connected with the push rod 512, and the air cylinder 511 can drive the push rod 512 to expand and contract.
  • the push rod 512 and the sliding plate 513 are symmetrically arranged on both sides of the conveyor belt.
  • the sliding plate 513 is disposed obliquely downward, the top of the sliding plate 513 is fixedly connected with one side of the conveyor belt, and a collection box can be set directly below the top of the sliding plate 513 .
  • the air cylinder 511 can drive the push rod 512 to extend and retract, and can push the connecting rod on the conveyor belt to the sliding plate 513 and slide down into the collection box.
  • the first group feeding mechanism 6 includes a first feeding structure, a first feeding guide rail 601 and a first placing table 614;
  • the main function of the first group of feeding mechanism 6 is to run the connecting rod after the front end hardness and weighing detection to a designated position and position it, so as to facilitate the gripper on the transport mechanism 7 to take material.
  • Placement table limit block 1 605, placement table limit block 2 606 and placement table stopper 607 are arranged in sequence along the direction from the head end to the tail end of the feeding mechanism, two placement table limit blocks 1 605 and two placement table limit
  • the second bit blocks 606 are symmetrically arranged on both sides of the first placing table 614,
  • the distance between the inner side of the two placing platform limit blocks 1 605, which are symmetrically arranged, changes from large to small, and gradually transitions to slightly larger than the width of the connecting rod;
  • the distance between the inner sides of the two placing platform limit blocks 606 arranged symmetrically changes from large to small, and gradually transitions to approximately equal to the width of the connecting rod;
  • the maximum distance between the inner sides of the two placing platform limit blocks 606 is equal to the minimum distance between the two placing platform limit blocks 1 605 .
  • the first placing table 614 is provided with a through hole one 613 between the two placing table limit blocks 605 , and the first placing table 614 is provided with a through hole two 612 between the two placing table limit blocks 60 .
  • the placing platform stop 607 is located at the end of the second placing platform limit block 606, and a gap is set between the placing platform stop 607 and the second placing platform limiting block 606, and the placing platform stop 607 uses a blocking link.
  • the first feeding guide rail 601 is located directly above the first placing table 614;
  • the first feeding structure is slidably arranged on the first feeding guide rail 601 and is driven by a feeding cylinder.
  • the first feeding structure includes a sliding block 602 of the first feeding structure slidably arranged on the first feeding guide rail 601 .
  • a first blocking block 605 and a first material removal assembly are arranged in sequence;
  • the first feeding assembly includes a first rotating block 603 hinged with the first feeding structure sliding block 602 and a first feeding rod 604 fixedly connected with the first rotating block 603, the first rotating block 603 and the first feeding rod 604 can be rotated in the vertical direction.
  • the first blocking block 605 is used to limit the rotation range of the first feeding rod 604 toward the head end of the first group of feeding mechanisms 6 , so that the feeding rod can only be perpendicular to the first set of feeding mechanisms 6 during use.
  • the direction of the tail is deflected.
  • a number of laser holes 608 penetrating through left and right are provided on the two placing platform limit blocks 1 605 at equal distances.
  • the first placing table 614 is provided with a first group of lasers 609 facing the head end of the feeding mechanism and a laser 610 facing the end of the first group of feeding mechanisms.
  • the laser beam emitted by the first group of feeding mechanism head-to-beam laser 609 passes through the laser holes 608 of the two placing platform limit blocks 1 605, and the head-to-beam laser of the first group of feeding mechanism can be adjusted according to the model of the connecting rod.
  • the position of 609 ensures that when the head end of the connecting rod is in contact with the stop 607 of the placing table, the laser 609 at the head end of the first group of feeding mechanisms just cannot detect the connecting rod.
  • the laser emitted by the opposite-beam laser 610 at the tail end of the feeding mechanism of the first group passes through the gap between the stop block 607 of the placing platform and the second stop block 606 of the placing platform.
  • the connecting rod can be detected by a set of beam lasers 610 at the end of the feeding mechanism.
  • the connecting rod reaches the predetermined position.
  • the first group of feeding mechanism head-to-beam laser 609 cannot detect the connecting rod, and the first group of feeding mechanism tail-to-beam laser 610 can detect the connecting rod, it is determined that the connecting rod has reached the predetermined position. At this time, the link is moved by the jaws of the first group of conveying devices 711 .
  • the connecting rod When the first set of feeding mechanism 6 is in use: the connecting rod will push the first feeding rod 604 to rotate to the end of the first set of feeding mechanism 6 under the drive of the conveyor belt 3 5 , and then the connecting rod enters the first placing table 614 At this time, the first feeding rod 604 will fall into the large hole of the connecting rod, and then the feeding cylinder is activated, and the feeding cylinder drives the sliding block 602 of the first feeding structure to slide towards the end of the first placing table 614.
  • the material rod 604 is in contact with the inner wall of the large hole of the connecting rod, and the first blocking block 605 and the first feeding rod 604 jointly drive the connecting rod to slide to the end of the placing table, and pass through the two placing table limit blocks one 605 and two
  • the second 606 of the placing table limit block acts as a limiter until it abuts against the stopper of the first placing table 614 .
  • the small hole of the connecting rod is facing the first through hole 613
  • the large hole of the connecting rod is facing the second through hole 612.
  • An air blowing structure 611 is also provided on one side of the first placing table 614.
  • the air outlet pipe of the air blowing structure 611 can freely adjust the direction of the air blowing port, so that the air blowing port of the air blowing structure 611 can be aligned with the connecting rod, and the dust on the surface of the connecting rod can be removed. , can also play a role in cooling.
  • the second group of feeding mechanisms 10 includes a second feeding structure, a second feeding guide rail 1010, a second placing table 1006 and a coding system;
  • the second placement table 1006 is provided with a third through hole 1007 and a fourth through hole 1008 (the same as the first through hole 613 and the second through hole 612 , respectively).
  • the second feeding guide rail 1010 is located above one side of the second placing table 1006;
  • the second feeding structure is slidably arranged on the second feeding guide rail 1010 and is driven by the second feeding cylinder.
  • the second feeding structure includes a second sliding block 1011 slidably arranged on the second feeding guide rail 1010 .
  • the second sliding block 1011 is sequentially provided with a second blocking block along the direction from the head end to the tail end of the second group feeding mechanism 10 .
  • the second feeding assembly includes a second rotating block 1012 hinged with the second sliding block 1011 and a second feeding rod 1013 fixedly connected with the second rotating block 1012.
  • the second rotating block 1012 and the second feeding rod 1013 can move along the Rotate vertically.
  • the second blocking block 1014 is used to limit the rotation range of the second feeding rod 1013 toward the head end of the second group of feeding mechanisms 10 , so that the second feeding rod 1013 can only be perpendicular to the second group during use.
  • the direction of the rear end of the feeding mechanism 10 is deflected.
  • the second placing table 1006 is also provided with a second group of feeding mechanism facing laser sensors for detecting whether a connecting rod reaches the second group of feeding mechanism 10, thereby starting the coding system and the second feeding structure.
  • the coding system is located on one side of the second placing table 1006, and the coding system includes a printing head 1001, a Y-axis module of the coding system and an X-axis module of the coding system.
  • the Y-axis module of the coding system includes a vertically arranged Y-axis slide rail 1003 of the coding system;
  • the X-axis module of the coding system includes a horizontally arranged X-axis slide rail 1005 of the coding system.
  • the print head 1001 is slidably arranged on the Y-axis slide rail 1003 of the coding system through the Y-axis sliding block 1002 of the coding system;
  • the Y-axis slide rail 1003 of the coding system is slidably arranged on the X-axis slide rail 1005 of the coding system through the X-axis sliding block 1004 of the coding system.
  • the print head 1001 can move freely through the Y-axis module of the coding system and the X-axis module of the coding system, so as to print patterns on the connecting rod.
  • the top end of the second placing table 1006 is also fixedly provided with a backing plate 1009.
  • the backing plate 1009 is used to elevate the small end of the connecting rod, so that the connecting rod is kept horizontal, which is convenient for the nozzle to print the pattern.
  • the thickness of the small end and the large end of some connecting rods are different.
  • the backing plate 1009 needs to be installed to ensure the horizontal placement of the product; the large end of the four products of 3079, 8404, M50 and M61 If there is no difference in thickness between the end and the small end, the backing plate 1009 does not need to be installed.
  • the print head 1001 is a Domino Ax350i inkjet printer.
  • the second feeding cylinder drives the second sliding block 1011 to slide toward the head end of the second placing table 1006, so that the second feeding rod 1013 abuts the head end of the connecting rod, and the head end of the connecting rod Push the second feeding rod 1013 to rotate towards the end of the second set of feeding mechanisms 10 until the second feeding rod 1013 crosses the head end of the connecting rod and falls into the large hole of the connecting rod, then activate the second feeding cylinder, and the first
  • the second feeding cylinder drives the sliding block to slide toward the end of the second placing table 1006, the second feeding rod 1013 is in contact with the inner wall of the large hole of the connecting rod, and the second blocking block 1014 and the second feeding rod 1013 jointly drive the connecting rod Slide to the head end of the conveyor belt four 11 .
  • the conveying mechanism 7 includes a first group of conveying devices 711 and a second group of conveying devices 712, and both the first group of conveying devices 711 and the second group of conveying devices 712 include: an X-axis module, a Y-axis module and a clamping jaw;
  • the gripper is set on the Y-axis module, and the Y-axis module is set on the X-axis module;
  • the Y-axis module includes a Y-axis sliding rail 702 and a Y-axis connecting block 703 , and the Y-axis sliding rail 702 and the Y-axis connecting block 703 are fixedly connected.
  • the X-axis module includes an X-axis slide rail 701 , and a Y-axis connecting block 703 is slidably disposed on the X-axis slide rail 701 .
  • the clamping jaw includes a clamping jaw body 704 , a clamping jaw moving plate 705 and a clamping jaw moving plate 2 706 .
  • the jaw body 704 is slidably arranged on the Y-axis slide rail 702 of the Y-axis module.
  • the first jaw moving plate 705 and the second jaw moving plate 706 are both slidably disposed on the bottom of the jaw main body 704 (the bottom of the jaw main body 704 is provided with a slide rail).
  • the first jaw moving plate 705 and the second jaw moving plate 706 are both vertically arranged.
  • the first clamping jaw moving plate 705 and the second clamping jaw moving plate 706 are arranged in sequence along the direction from the head end to the tail end of the conveying mechanism 7, and are located on the same straight line.
  • the lateral protrusions 707, the two lateral protrusions 707 are both facing to the outside, and the lateral protrusions 707 are used to prevent the connecting rod from falling off during clamping.
  • the lateral protrusion 707 of the claw hand at the head end of the clamping claw moving plate 1 705 is a protrusion arranged horizontally toward the head end side of the conveying mechanism 7;
  • the lateral protrusion 707 of the claw hand at the tail end of the second clamping claw moving plate 706 is a protrusion arranged horizontally toward the tail end side of the conveying mechanism 7 .
  • the first gripper moving plate 705 and the second gripper moving plate 706 are connected to the same gripper driving device, and when in use, the two move in opposite directions.
  • the first group of conveying devices 711 and the second group of conveying devices 712 share one X-axis slide rail 701 .
  • the first group of handling devices 711 When the first group of handling devices 711 is in use: move the clamping jaws through the cylinders of the X-axis module and the Y-axis module, so that the clamping jaw moving plate 705 passes through the small hole of the connecting rod and the through hole 613, and the clamping jaw moves the plate
  • the second 706 passes through the large hole of the connecting rod and the second through hole 612, and then the claw hand driving device is activated, so that the first jaw moving plate 705 moves to the side of the first end of the conveying mechanism 7, and the second clamping jaw moving plate 706 moves toward the end of the conveying mechanism 7.
  • the end side is moved until it is in contact with the inner wall of the small hole and the large hole of the connecting rod, and then the clamping claw is moved through the X-axis module and the Y-axis module, so that the connecting rod is located directly above the moving mechanism 8, and then the claw is activated.
  • the hand drive device restores the positions of the first jaw moving plate 705 and the second jaw moving plate 706, and the connecting rod falls on the moving mechanism 8.
  • the moving mechanism 8 includes a moving mechanism slide rail 809 and a support plate 801 , and the support plate 801 is slidably arranged on the moving mechanism slide rail 809 and is driven by the support plate cylinder.
  • Two moving mechanism clamping jaws 805 are symmetrically arranged on the left and right sides above the support plate 801 , and the two moving mechanism clamping jaws 805 are connected to the same cylinder and can perform relative movement.
  • the moving mechanism jaw 805 includes a moving mechanism jaw connecting rod 806 set along the direction from the head end to the tail end of the moving mechanism 8 and a moving mechanism jaw connecting rod 2 807 vertically connected to it. The movement of the two moving mechanism jaws 805 The two connecting rods 807 of the mechanism jaws are arranged facing each other.
  • the middle part of the support plate 801 is provided with a support plate groove 802 , and a plurality of clamping grooves 803 are symmetrically arranged on the left and right sides of the supporting plate groove 802 , and the clamping grooves 803 on any side are equally spaced.
  • supporting pieces 804 can be inserted into the two symmetrical slots 803 .
  • the number and installation positions of the support pieces 804 can be freely adjusted to adapt to different sizes of connecting rods, and the connecting rods are placed on the support pieces 804 .
  • the top rear end of the support plate 801 is provided with a moving mechanism blocking block 808, and the moving mechanism blocking block 808 is used for blocking.
  • Two sides of the support plate 801 are also provided with moving mechanism facing line sensors 810 for detecting whether there is a connecting rod placed on the support plate 801, so as to determine whether to activate the moving mechanism gripper 805.
  • the moving mechanism blocking block 808 and the moving mechanism clamping jaw 805 are used together to ensure the fixing of the connecting rod.
  • the connecting rod is located between the two clamping jaws 805 of the moving mechanism, and the second connecting rod 807 of the clamping jaws of the moving mechanism faces the middle position of the connecting rod.
  • the connecting rod falls to the support piece 804 through the conveying mechanism 7, which is located between the two moving mechanism clamping jaws 805, and the cylinder of the moving mechanism clamping jaw 805 is activated, so that the two moving mechanism clamping jaws 805 move relative to each other, and the two moving mechanism clamping jaws 805 move relative to each other.
  • the second claw connecting rod 807 is in contact with the two side walls of the connecting rod; since the side wall of the connecting rod is an arc surface with two sides high in the middle and low, and the lowest point is located on the side of the small end, the moving mechanism clamping claw connecting rod two 807 is gradually squeezed
  • the connecting rod is moved to the rear end of the support plate 801 until it abuts against the blocking block 808, and at this time the connecting rod is positioned.
  • the support plate 801 slides on the sliding rail 809 of the moving mechanism, and moves from the head end to the tail end.
  • the laser detection system 9 is arranged at the end of the moving mechanism 8.
  • the laser detection system 9 includes an upper laser sensor 903 and a lower laser sensor 902.
  • the upper laser sensor 903 is slidably arranged on the upper adjustable base 901 and can move up and down; the lower laser sensor 902 slides It is arranged on the lower adjustable base 904 and can move up and down.
  • the upper laser sensor 903 and the lower laser sensor 902 are KEYENCE upper and lower dual laser sensors, and the laser sensor model is LJ-V7300. It can be used to complete workpiece size, defect detection and character recognition.
  • the second group of handling devices 712 When the second group of handling devices 712 are in use: move the clamping jaws through the cylinders of the X-axis module and the Y-axis module, so that the clamping jaw moving plate 1 705 passes through the gap between the small hole of the connecting rod and the adjacent support piece 804, The second jaw moving plate 706 passes through the large hole of the connecting rod and the gap between the adjacent support pieces 804, and then the gripper driving device is activated, so that the first jaw moving plate 705 moves to the side of the head end of the conveying mechanism 7, and the jaw moves The second plate 706 moves to the rear end of the conveying mechanism 7 until it abuts on the inner wall of the small hole and the large hole of the connecting rod respectively, and then moves the clamping jaws through the X-axis module and the Y-axis module, so that the connecting rod is located in the second Just above the group feeding mechanism 10, then start the claw hand driving device, so that the positions of the first clamping jaw moving plate 705 and the second clamping jaw moving
  • the connecting rod detection method of the present invention comprises the following steps:
  • the connecting rod is placed on the conveyor belt 1, and the hardness is detected by the hardness measuring device 2.
  • the connecting rod with unqualified hardness is eliminated by the hardness sorting and removing device 3, and the connecting rod enters the conveyor belt 4 if the hardness is qualified;
  • the second conveyor belt 4 measures the weight of the connecting rod through the weighing device 41, and then the connecting rod enters the conveyor belt three 5, and the connecting rods that are too heavy and too light are respectively eliminated by the weight removal device 1 51 and the weight removal device 52. , the connecting rod with qualified weight enters the first group of feeding mechanism 6;
  • the connecting rod pushes the first feeding rod 604 to rotate to the end of the first group of feeding mechanisms 6 under the drive of the conveyor belt 35, and then the connecting rod enters the first placing table 614, at this time the first feeding rod 604 rotates 604 will fall into the big hole of the connecting rod, and then start the feeding cylinder, the feeding cylinder drives the sliding block to slide towards the end of the first placing table 614, and the first feeding rod 604 is in contact with the inner wall of the large hole of the connecting rod,
  • the first blocking block 605 and the first feeding rod 604 jointly drive the connecting rod to slide toward the end of the placing table, and pass through the limiting action of the two placing table limit blocks 1 605 and the two placing table limit blocks 606 until it is in contact with the placing table.
  • the first placing table 614 is in contact with the stopper. At this time, the small hole of the connecting rod is facing the first through hole 613, and the large hole of the connecting rod is facing the second through hole 612.
  • the gripper driving device restores the positions of the first jaw moving plate 705 and the second jaw moving plate 706 , and the connecting rod falls on the support piece 804 and is located between the two moving mechanism jaws 805 of the moving mechanism 8 .
  • the coding system prints the code on the connecting rod, and then drives the second sliding block 1011 to slide towards the head end of the second placing table 1006, so that the second feeding rod 1013 is in contact with the head end of the connecting rod, and the head end of the connecting rod pushes
  • the second feeding rod 1013 rotates toward the rear end of the second set of feeding mechanisms 10 until the second feeding rod 1013 crosses the head end of the connecting rod and falls into the large hole of the connecting rod, then the second feeding cylinder is activated, and the second feeding cylinder is activated.
  • the feeding cylinder drives the sliding block to slide toward the end of the second placing table 1006, the second feeding rod 1013 is in contact with the inner wall of the large hole of the connecting rod, and the second blocking block 1014 and the second feeding rod 1013 together drive the connecting rod to move toward the end of the connecting rod.
  • the head end of the conveyor belt four 11 slides.
  • the connecting rod enters the conveyor belt four 11, and finally the conveyor discharges the material.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Laser Beam Processing (AREA)

Abstract

一种连杆检测系统，包括硬度测量装置（2）、称重装置（41）、上料机构、搬运机构（7）、移动机构（8）和激光检测系统（9）；上料机构包括第一组上料机构（6）和第二组上料机构（10）；搬运机构（7）包括第一组搬运装置（711）和第二组搬运装置（712）。还提供一种连杆检测方法，通过连杆检测系统对连杆的硬度、重量、工件尺寸、字符等进行检测。硬度分选剔除装置（3）可以剔除硬度测量装置（2）检测到的硬度不合格的连杆；重量剔除装置一（51）和重量剔除装置二（52）分别剔除称重装置（41）检测到的超重和超轻的连杆。

Description

连杆检测系统及方法 技术领域
本发明涉及一种连杆检测装置，具体涉及一种连杆检测系统及方法。
背景技术
连杆是柴油机主要运动部件之一，其作用是把活塞的直线往复运动转变为曲轴的回转运动，并在活塞与曲轴之间传递燃烧燃料产生的作用力。连杆工作时承受气缸气体压力，活塞的往复运动惯性力以及连杆组本身运动质量的惯性力。这些作用力的大小和方向都发生周期性变化，使连杆各部分受到压缩、拉伸和弯曲，而产生疲劳和变形。当疲劳和变形超过一定范围后，连杆会产生疲劳裂纹和引起连杆瓦的过度磨损，其严重后果将可能发生柴油机重大故障。因此出厂时需要对连杆的各项参数进行充分的监测，保证其质量。
现有的连杆检测系统存在检测效率低下、监测不全面等问题。
因此，需要对现有技术进行改进。
发明内容
本发明要解决的技术问题是提供一种高效的连杆检测系统及方法。
为解决上述技术问题，本发明提供一种连杆检测系统，包括硬度测量装置、称重装置、上料机构、搬运机构、移动机构和激光检测系统；
所述上料机构包括第一组上料机构和第二组上料机构；所述搬运机构包括第一组搬运装置和第二组搬运装置；
传送带一上依次设置有配合使用的硬度测量装置和硬度分选剔除装置；
所述传送带一尾端与传送带二首端连接，传送带二上设置有称重装置；
所述传送带二尾端与传送带三首端连接；
所述传送带三上依次设置有重量剔除装置一和重量剔除装置二；
所述传送带三尾端与第一组上料机构的首端连接；
所述第一组上料机构的尾端通过搬运机构的第一组搬运装置与移动机构首端连接；
所述激光检测系统设置在移动机构上；
所述移动机构尾端通过搬运机构的第二组搬运装置与第二组上料机构首端连接；
所述第二组上料机构尾端与传送带四首端连接；
所述硬度测量装置和硬度分选剔除装置信号连接；所述称重装置与重量剔除装置一和重 量剔除装置二信号连接。
作为对本发明连杆检测系统的改进：
所述硬度分选剔除装置、重量剔除装置一和重量剔除装置二的结构相同，均包括气缸、推杆和滑板；
所述气缸和推杆连接，气缸驱动推杆伸缩；
所述推杆和滑板对称设置在传送带两侧；
所述滑板斜向下设置，滑板顶部与传送带的一侧固定连接，滑板顶部正下方可以设置收集箱。
作为对本发明连杆检测系统的进一步改进：
所述第一组上料机构包括第一拨料结构、第一上料导轨和第一放置台；
所述第一放置台上方安装有两个放置台限位块一、两个放置台限位块二和一个放置台挡块；
所述放置台限位块一、放置台限位块二和放置台挡块沿着上料机构首端到尾端的方向依次设置，两个放置台限位块一和两个放置台限位块二均对称设置在第一放置台两侧；
对称设置的两个放置台限位块一内侧距离由大变小，并逐渐过渡至比连杆宽度略大；
对称设置的两个放置台限位块二内侧距离由大变小，并逐渐过渡至与连杆宽度相同；
两个放置台限位块二内侧距离最大的间距等于两个放置台限位块一之间的最小的间距；
所述第一放置台在两个放置台限位块一之间设置有通孔一，第一放置台在两个放置台限位块二之间设置有通孔二；
所述放置台挡块位于放置台限位块二尾端；
所述第一上料导轨位于第一放置台的正上方；
所述第一拨料结构滑动设置在第一上料导轨上；
所述第一拨料结构包括滑动设置在第一上料导轨上的第一拨料结构滑动块，第一拨料结构滑动块上沿着第一组上料机构首端到尾端的方向依次设置有第一阻挡块和第一拨料组件；
所述第一拨料组件包括与第一滑动块铰接的第一转动块和与第一转动块固定连接的第一拨料杆，第一转动块和第一拨料杆可以沿着竖直方向转动；第一阻挡块用于限制第一拨料杆向第一组上料机构首端方向转动的幅度，使得在使用过程中拨料杆只能在垂直到朝向第一组上料机构尾端方向偏转。
作为对本发明连杆检测系统的进一步改进：
两个放置台限位块一均等距设置有若干左右贯通的激光孔；
所述放置台挡块和放置台限位块二之间设置有缝隙；
所述第一放置台设置有第一组上料机构首端对射激光器和第一组上料机构尾端对射激光器；
所述第一组上料机构首端对射激光器射出的激光穿过两个放置台限位块一的激光孔；
所述第一组上料机构尾端对射激光器射出的激光穿过放置台挡块和放置台限位块二之间的缝隙。
作为对本发明连杆检测系统的进一步改进：
所述第二组上料机构包括第二拨料结构、第二上料导轨、第二放置台和喷码系统；
所述第二放置台在上依次设置有通孔三和通孔四；
所述第二上料导轨位于第二放置台的一侧上方；
所述第二拨料结构滑动设置在第二上料导轨上；
所述第二拨料结构包括滑动设置在第二上料导轨上的第二滑动块，第二滑动块上沿着第二组上料机构首端到尾端的方向依次设置有第二阻挡块和第二拨料组件；
所述第二拨料组件包括与第二滑动块铰接的第二转动块和与第二转动块固定连接的第二拨料杆，第二转动块和第二拨料杆可以沿着竖直方向转动；第二阻挡块用于限制第二拨料杆向第二组上料机构首端方向转动的幅度，使得在使用过程中第二拨料杆只能在垂直到朝向第二组上料机构尾端方向偏转；
所述第二放置台上还设置有第二组上料机构对射激光传感器，用于检测是否有连杆到达第二组上料机构，从而启动喷码系统和第二拨料结构；
所述喷码系统位于第二放置台一侧，喷码系统包括喷头、喷码系统Y轴模组和喷码系统X轴模组；
所述喷码系统Y轴模组包括竖直设置的喷码系统Y轴滑轨；
所述喷码系统X轴模组包括水平设置的喷码系统X轴滑轨；
所述喷头通过喷码系统Y轴滑动块滑动设置在喷码系统Y轴滑轨上；
所述喷码系统Y轴滑轨通过喷码系统X轴滑动块滑动设置在喷码系统X轴滑轨；
所述第二放置台顶部首端还固定设置有垫板。
作为对本发明连杆检测系统的进一步改进：
所述第一组搬运装置和第二组搬运装置均包括X轴模组、Y轴模组和夹爪；
所述夹爪设置在Y轴模组上，Y轴模组设置在X轴模组上；
所述Y轴模组包括Y轴滑轨和Y轴连接块，Y轴滑轨和Y轴连接块固定连接；
所述X轴模组包括X轴滑轨，Y轴连接块滑动设置在X轴滑轨上；
所述夹爪包括夹爪主体、夹爪移动板一和夹爪移动板二；
所述夹爪主体滑动设置在Y轴模组的Y轴滑轨上；
所述夹爪移动板一和夹爪移动板二均滑动设置在夹爪主体底部；
所述夹爪移动板一和夹爪移动板二均为竖直设置；
所述夹爪移动板一和夹爪移动板二沿着搬运机构首端到尾端的方向依次设置，且位于同一直线上，夹爪移动板一和夹爪移动板二底部均设置有横向凸起，两个横向凸起均朝向外侧；
所述夹爪移动板一首端的爪手的横向凸起为向着搬运机构首端一侧水平设置的凸起；
所述夹爪移动板二尾端的爪手的横向凸起为向着搬运机构尾端一侧水平设置的凸起。
作为对本发明连杆检测系统的进一步改进：
所述移动机构包括移动机构滑轨和支撑板，支撑板滑动设置在移动机构滑轨上，由支撑板气缸驱动；支撑板上方的左右两侧对称设置有两个移动机构夹爪，两个移动机构夹爪与同一气缸连接，可以做相对运动；
所述移动机构夹爪包括沿着移动机构首端到尾端的方向设置的移动机构夹爪连接杆一和与其垂直连接的移动机构夹爪连接杆二，两个移动机构夹爪的移动机构夹爪连接杆二的相互朝向设置；
所述支撑板中间部分开设有支撑板凹槽，支撑板凹槽左右两侧对称设置有若干卡槽，任何一侧的卡槽均为等距均匀设置；
若干支撑片插入对称的两个卡槽中，支撑片用于放置连杆；
所述支撑板顶部尾端设置有移动机构阻挡块，移动机构阻挡块用于阻挡；
所述移动机构阻挡块和移动机构夹爪配合使用。
作为对本发明连杆检测系统的进一步改进：
所述激光检测系统设置在移动机构尾端，激光检测系统包括上激光传感器和下激光传感器；
所述上激光传感器滑动设置在上可调底座上；
所述下激光传感器滑动设置在下可调底座上。
作为对本发明连杆检测系统的进一步改进：
所述支撑板两侧还设置有移动机构对射管线传感器，用于检测是否有连杆放在支撑板上。
本发明还提供一种连杆检测方法，包括以下步骤：
1)、连杆放置在传送带一上，经过硬度测量装置检测硬度，硬度不合格的连杆通过硬度 分选剔除装置剔除，硬度合格则连杆进入传送带二；
2)、传送带二通过称重装置对连杆的重量进行测量，然后连杆进入传送带三，重量过重、过轻的连杆分别通过重量剔除装置一和重量剔除装置二剔除，重量合格的连杆进入第一组上料机构；
3)、连杆在传送带三的带动下推动第一拨料杆向第一组上料机构尾端转动，然后连杆进入到第一放置台上，此时第一拨料杆会落入连杆的大孔中，接着启动上料气缸，上料气缸驱动滑动块向着第一放置台尾端滑动，第一拨料杆与连杆的大孔的内壁抵接，第一阻挡块和第一拨料杆共同带动连杆向放置台尾端滑动，经过两个放置台限位块一和两个放置台限位块二的限位作用，直至与第一放置台挡块抵接；此时连杆的小孔正对着通孔一，连杆的大孔正对着通孔二；
4)、通过第一组搬运装置的X轴模组和Y轴模组的气缸，移动夹爪，使得夹爪移动板一穿过连杆的小孔和通孔一，夹爪移动板二穿过连杆的大孔和通孔二，接着启动爪手驱动装置，使得夹爪移动板一向搬运机构首端一侧移动，夹爪移动板二向搬运机构尾端一侧移动，直至分别与连杆的小孔和大孔的内壁抵接，然后通过通过X轴模组和Y轴模组移动夹爪，使得连杆位于移动机构正上方，接着启动爪手驱动装置，使得夹爪移动板一和夹爪移动板二的位置复原，连杆落到落到支撑片上，且位于移动机构的两个移动机构夹爪之间；
5)、启动移动机构夹爪，使得两个移动机构夹爪相对运动，两个移动机构夹爪连接杆二与连杆的两侧壁抵接；移动机构夹爪连接杆二逐渐挤压使得连杆向支撑板尾端移动，直至与阻挡块抵接，此时连杆被定位；接着支撑板在移动机构滑轨上滑动，从首端移动到尾端；
6)、使用激光检测系统完成连杆的尺寸、瑕疵的检测及字符识别；
7)、通过第二组搬运装置的X轴模组和Y轴模组的气缸，移动夹爪，使得夹爪移动板一穿过连杆的小孔和相邻支撑片间的间隙，夹爪移动板二穿过连杆的大孔和相邻支撑片间的间隙，接着启动爪手驱动装置，使得夹爪移动板一向搬运机构首端一侧移动，夹爪移动板二向搬运机构尾端一侧移动，直至分别与连杆的小孔和大孔的内壁抵接，然后通过X轴模组和Y轴模组移动夹爪，使得连杆位于第二组上料机构正上方，接着启动爪手驱动装置，使得夹爪移动板一和夹爪移动板二的位置复原，连杆落到第二组上料机构上；
8)、喷码系统对连杆进行喷码，接着驱动第二滑动块向着第二放置台首端滑动，使得第二拨料杆与连杆首端抵接，连杆首端推动第二拨料杆向第二组上料机构尾端转动，直至第二拨料杆划过连杆首端落入连杆的大孔中，接着启动第二上料气缸，第二上料气缸驱动滑动块向着第二放置台尾端滑动，第二拨料杆与连杆的大孔的内壁抵接，第二阻挡块和第二拨料杆 共同带动连杆向传送带四首端滑动；
9)、连杆进入传送带四，最后输送机进行卸料。
本发明连杆检测系统及方法的技术优势为：
本发明通过硬度测量装置、称重装置、上料机构、搬运机构、移动机构和激光检测系统的配合使用，对连杆的硬度、重量、工件尺寸、字符等进行检测，方便快捷且效率高。
硬度分选剔除装置可以剔除硬度测量装置检测到的硬度不合格的连杆；重量剔除装置一和重量剔除装置二分别称重装置检测到的剔除超重和超轻的连杆。
附图说明
下面结合附图对本发明的具体实施方式作进一步详细说明。
图1是本发明连杆检测系统的结构示意图；
图2是图1中传送带二4与传送带三5连接的结构示意图；
图3是图1中第一组上料机构6、搬运机构7、移动机构8、第二组上料机构10和传送带四11连接的结构示意图；
图4是图1中第一组上料机构6的结构示意图；
图5是图1中搬运机构7的结构示意图；
图6是图1中移动机构8的结构示意图；
图7是图1中激光检测系统9的结构示意图；
图8是图1中第二组上料机构10的喷码系统的结构示意图；
图9是图1中第二组上料机构10和传送带四11连接的结构示意图。
具体实施方式
下面结合具体实施例对本发明进行进一步描述，但本发明的保护范围并不仅限于此。
(请用修订模式或者不同颜色字体回答下述各个问题。如有疑问可以电话联系询问，联系电话：18358588593)
实施例1、连杆检测系统，如图1-9所示，包括硬度测量装置2、称重装置41、上料机构、搬运机构7、移动机构8和激光检测系统9。
上料机构包括第一组上料机构6和第二组上料机构10。
传送带一1上依次设置有配合使用的硬度测量装置2和硬度分选剔除装置3；
硬度测量装置2和硬度分选剔除装置3信号连接，根据硬度测量装置2的结果控制硬度分选剔除装置3的启动。
传送带一1尾端与传送带二4首端连接，传送带二4上设置有称重装置41；
传送带二4的长度较短，但是要大于单个连杆的长度，且工作时最多仅由一个连杆在传送带二4上运行。
传送带二4尾端与传送带三5首端连接；
传送带三5上依次设置有重量剔除装置一51和重量剔除装置二52，重量剔除装置一51和重量剔除装置二52分别用于剔除超重和超轻的连杆；
传送带三5尾端与第一组上料机构6的首端连接；
第一组上料机构6的尾端通过搬运机构7的第一组搬运装置711与移动机构8首端连接；
移动机构8尾端通过搬运机构7的第二组搬运装置712与第二组上料机构10首端连接；
第二组上料机构10尾端与传送带四11首端连接。
本发明在检测连杆时，连杆的大头端朝前，连杆的小头端朝后运行。
硬度测量装置2为EC+型电脑硬度分选仪；
EC+型电脑硬度分选仪是具有多功能、实用性强、高性能/价格比特点的仪器，集多年制造涡流硬度分选仪之经验，满足各类用户的需要。可广泛应用于各类有色金属、黑色金属管、棒、金属零部件等的材质成份、硬度、表面淬硬层深度、抗拉强度、热处理状态、裂纹、错牙、混料等进行鉴别和分选。
硬度测量装置2以某一频率的交流电流通过两个检测线圈，其中一个线圈放入标准件，当被检试件放入另一个线圈，试件的硬度、导电率和导磁率以及试件的冶金与机械缺陷将引起检测线圈的阻抗变化。检测仪器将检测线圈阻抗的变化产生的电信号经过放大和转换后驱动报警或显示装置，最终检测出有硬度有差异的试样。
称重装置41用于称量连杆的重量。根据称重装置41的检测结果，控制重量剔除装置一51和重量剔除装置二52的启动。
硬度分选剔除装置3、重量剔除装置一51和重量剔除装置二52的结构相同，均包括气缸511、推杆512和滑板513。气缸511和推杆512连接，气缸511可以驱动推杆512伸缩。推杆512和滑板513对称设置在传送带两侧。滑板513斜向下设置，滑板513顶部与传送带的一侧固定连接，滑板513顶部正下方可以设置收集箱。气缸511可以驱动推杆512伸缩可以将传送带上的连杆推到滑板513上，滑落到收集箱中。
第一组上料机构6包括第一拨料结构、第一上料导轨601和第一放置台614；
第一组上料机构6的主要功能是将前端硬度、称重检测完后的连杆运行到指定位置并进 行定位，方便搬运机构7上的夹爪取料。
第一放置台614上方安装有两个放置台限位块一605、两个放置台限位块二606和一个放置台挡块607。放置台限位块一605、放置台限位块二606和放置台挡块607沿着上料机构首端到尾端的方向依次设置，两个放置台限位块一605和两个放置台限位块二606均对称设置在第一放置台614两侧，
对称设置的两个放置台限位块一605内侧距离由大变小，并逐渐过渡至比连杆宽度略大；
对称设置的两个放置台限位块二606内侧距离由大变小，并逐渐过渡至与连杆宽度大致相当；
两个放置台限位块二606内侧距离最大的间距等于两个放置台限位块一605之间的最小的间距。
第一放置台614在两个放置台限位块一605之间设置有通孔一613，第一放置台614在两个放置台限位块二60之间设置有通孔二612。
放置台挡块607位于放置台限位块二606尾端，且放置台挡块607和放置台限位块二606之间设置有缝隙，放置台挡块607用阻挡连杆。
第一上料导轨601位于第一放置台614的正上方；
第一拨料结构滑动设置在第一上料导轨601上，并通过上料气缸驱动。
第一拨料结构包括滑动设置在第一上料导轨601上的第一拨料结构滑动块602，第一拨料结构滑动块602上沿着第一组上料机构6首端到尾端的方向依次设置有第一阻挡块605和第一拨料组件；
第一拨料组件包括与第一拨料结构滑动块602铰接的第一转动块603和与第一转动块603固定连接的第一拨料杆604，第一转动块603和第一拨料杆604可以沿着竖直方向转动。第一阻挡块605用于限制第一拨料杆604向第一组上料机构6首端方向转动的幅度，使得在使用过程中拨料杆只能在垂直到朝向第一组上料机构6尾端方向偏转。
两个放置台限位块一605均等距设置有若干左右贯通的激光孔608，
第一放置台614设置有第一组上料机构首端对射激光器609和第一组上料机构尾端对射激光器610。
第一组上料机构首端对射激光器609射出的激光穿过两个放置台限位块一605的激光孔608，可以根据连杆的型号，调整第一组上料机构首端对射激光器609的位置，确保连杆首端与放置台挡块607抵接时，第一组上料机构首端对射激光器609刚好检测不到连杆。
第一组上料机构尾端对射激光器610射出的激光穿过放置台挡块607和放置台限位块二 606之间的缝隙，连杆首端与放置台挡块607抵接时，第一组上料机构尾端对射激光器610能检测到连杆。
根据第一组上料机构首端对射激光器609和第一组上料机构尾端对射激光器610检测到的信号，判断连杆是否达到预定位置。在第一组上料机构首端对射激光器609检测不到连杆、且第一组上料机构尾端对射激光器610能检测到连杆的时候，判断为连杆达到预定位置。此时通过第一组搬运装置711的夹爪移动连杆。
第一组上料机构6使用时：连杆会在传送带三5的带动下推动第一拨料杆604向第一组上料机构6尾端转动，然后连杆进入到第一放置台614上，此时第一拨料杆604会落入连杆的大孔中，接着启动上料气缸，上料气缸驱动第一拨料结构滑动块602向着第一放置台614尾端滑动，第一拨料杆604与连杆的大孔的内壁抵接，第一阻挡块605和第一拨料杆604共同带动连杆向放置台尾端滑动，经过两个放置台限位块一605和两个放置台限位块二606的限位作用，直至与第一放置台614挡块抵接。此时连杆的小孔正对着通孔一613，连杆的大孔正对着通孔二612。
第一放置台614一侧还设置有吹气结构611，吹气结构611的出气管可以自由调整吹风口的朝向，可以使吹气结构611的吹风口对准连杆，去除连杆表面的粉尘，还能起到降温的作用。
第二组上料机构10包括第二拨料结构、第二上料导轨1010、第二放置台1006和喷码系统；
第二放置台1006在上依次设置有通孔三1007和通孔四1008(分别与通孔一613和通孔二612相同)。
第二上料导轨1010位于第二放置台1006的一侧上方；
第二拨料结构滑动设置在第二上料导轨1010上，并通过第二上料气缸驱动。
第二拨料结构包括滑动设置在第二上料导轨1010上的第二滑动块1011，第二滑动块1011上沿着第二组上料机构10首端到尾端的方向依次设置有第二阻挡块1014和第二拨料组件；
第二拨料组件包括与第二滑动块1011铰接的第二转动块1012和与第二转动块1012固定连接的第二拨料杆1013，第二转动块1012和第二拨料杆1013可以沿着竖直方向转动。第二阻挡块1014用于限制第二拨料杆1013向第二组上料机构10首端方向转动的幅度，使得在使用过程中第二拨料杆1013只能在垂直到朝向第二组上料机构10尾端方向偏转。
第二放置台1006上还设置有第二组上料机构对射激光传感器，用于检测是否有连杆到达第二组上料机构10，从而启动喷码系统和第二拨料结构。
喷码系统位于第二放置台1006一侧，喷码系统包括喷头1001、喷码系统Y轴模组和喷码系统X轴模组。
喷码系统Y轴模组包括竖直设置的喷码系统Y轴滑轨1003；
喷码系统X轴模组包括水平设置的喷码系统X轴滑轨1005。
喷头1001通过喷码系统Y轴滑动块1002滑动设置在喷码系统Y轴滑轨1003上；
喷码系统Y轴滑轨1003通过喷码系统X轴滑动块1004滑动设置在喷码系统X轴滑轨1005。
喷头1001通过喷码系统Y轴模组和喷码系统X轴模组可以自由移动，从而在连杆上喷绘图案。
第二放置台1006顶部首端还固定设置有垫板1009，垫板1009用于抬高连杆的小头端，使得连杆保持水平，方便喷头喷绘图案。部分连杆的小头端和大头端的厚度不同，例如81D产品因大头端跟小头端厚度存在差异，需要安装垫板1009来保证产品的水平放置；3079、8404、M50、M61四款产品大头端跟小头端厚度不存在差异，则无需安装垫板1009。
喷头1001为多米诺Ax350i型喷码机。
第二组上料机构10使用时：第二上料气缸驱动第二滑动块1011向着第二放置台1006首端滑动，使得第二拨料杆1013与连杆首端抵接，连杆首端推动第二拨料杆1013向第二组上料机构10尾端转动，直至第二拨料杆1013划过连杆首端落入连杆的大孔中，接着启动第二上料气缸，第二上料气缸驱动滑动块向着第二放置台1006尾端滑动，第二拨料杆1013与连杆的大孔的内壁抵接，第二阻挡块1014和第二拨料杆1013共同带动连杆向传送带四11首端滑动。
搬运机构7包括第一组搬运装置711和第二组搬运装置712，第一组搬运装置711和第二组搬运装置712均包括：X轴模组、Y轴模组和夹爪；
夹爪设置在Y轴模组上，Y轴模组设置在X轴模组上；
Y轴模组包括Y轴滑轨702和Y轴连接块703，Y轴滑轨702和Y轴连接块703固定连接。
X轴模组包括X轴滑轨701，Y轴连接块703滑动设置在X轴滑轨701上。
夹爪包括夹爪主体704、夹爪移动板一705和夹爪移动板二706。
夹爪主体704滑动设置在Y轴模组的Y轴滑轨702上。
夹爪移动板一705和夹爪移动板二706均滑动设置在夹爪主体704底部(夹爪主体704 底部设置有滑轨)。
夹爪移动板一705和夹爪移动板二706均为竖直设置。
夹爪移动板一705和夹爪移动板二706沿着搬运机构7首端到尾端的方向依次设置，且位于同一直线上，夹爪移动板一705和夹爪移动板二706底部均设置有横向凸起707，两个横向凸起707均朝向外侧，横向凸起707用于防止在夹取时连杆脱落。
夹爪移动板一705首端的爪手的横向凸起707为向着搬运机构7首端一侧水平设置的凸起；
夹爪移动板二706尾端的爪手的横向凸起707为向着搬运机构7尾端一侧水平设置的凸起。
夹爪移动板一705和夹爪移动板二706与同一爪手驱动装置连接，使用时，两者向着相反方向移动。
第一组搬运装置711和第二组搬运装置712共用一个X轴滑轨701。
第一组搬运装置711使用时：通过X轴模组和Y轴模组的气缸，移动夹爪，使得夹爪移动板一705穿过连杆的小孔和通孔一613，夹爪移动板二706穿过连杆的大孔和通孔二612，接着启动爪手驱动装置，使得夹爪移动板一705向搬运机构7首端一侧移动，夹爪移动板二706向搬运机构7尾端一侧移动，直至分别与连杆的小孔和大孔的内壁抵接，然后通过通过X轴模组和Y轴模组移动夹爪，使得连杆位于移动机构8正上方，接着启动爪手驱动装置，使得夹爪移动板一705和夹爪移动板二706的位置复原，连杆落到移动机构8上。
移动机构8包括移动机构滑轨809和支撑板801，支撑板801滑动设置在移动机构滑轨809上，由支撑板气缸驱动。支撑板801上方的左右两侧对称设置有两个移动机构夹爪805，两个移动机构夹爪805与同一气缸连接，可以做相对运动。
移动机构夹爪805包括沿着移动机构8首端到尾端的方向设置的移动机构夹爪连接杆一806和与其垂直连接的移动机构夹爪连接杆二807，两个移动机构夹爪805的移动机构夹爪连接杆二807的相互朝向设置。
支撑板801中间部分开设有支撑板凹槽802，支撑板凹槽802左右两侧对称设置有若干卡槽803，任何一侧的卡槽803均为等距均匀设置。
可以将若干支撑片804插入对称的两个卡槽803中。支撑片804的数量及安装位置可以自由调整适应不同尺寸的连杆，连杆放置在支撑片804上。
支撑板801顶部尾端设置有移动机构阻挡块808，移动机构阻挡块808用于阻挡。
支撑板801两侧还设置有移动机构对射管线传感器810，用于检测是否有连杆放在支撑板801上，从而决定是否启动移动机构夹爪805。
移动机构阻挡块808和移动机构夹爪805配合使用，确保固定连杆。
使用时，连杆位于两个移动机构夹爪805之间，且移动机构夹爪连接杆二807朝向连杆的中间位置。连杆通过搬运机构7落到支撑片804上，其位于两个移动机构夹爪805之间，启动移动机构夹爪805的气缸，使得两个移动机构夹爪805相对运动，两个移动机构夹爪连接杆二807与连杆的两侧壁抵接；由于连杆侧壁是两边高中间低的弧面，且最低点位于小头端一侧，移动机构夹爪连接杆二807逐渐挤压使得连杆向支撑板801尾端移动，直至与阻挡块808抵接，此时连杆被定位。接着支撑板801在移动机构滑轨809上滑动，从首端移动到尾端。
激光检测系统9设置在移动机构8尾端，激光检测系统9包括上激光传感器903和下激光传感器902，上激光传感器903滑动设置在上可调底座901上，可以上下移动；下激光传感器902滑动设置在下可调底座904上，可以上下移动。
上激光传感器903和下激光传感器902为基恩士上下双激光传感器，激光传感器型号为LJ-V7300。可以用于完成工件尺寸、瑕疵的检测及字符识别。
第二组搬运装置712使用时：通过X轴模组和Y轴模组的气缸，移动夹爪，使得夹爪移动板一705穿过连杆的小孔和相邻支撑片804间的间隙，夹爪移动板二706穿过连杆的大孔和相邻支撑片804间的间隙，接着启动爪手驱动装置，使得夹爪移动板一705向搬运机构7首端一侧移动，夹爪移动板二706向搬运机构7尾端一侧移动，直至分别与连杆的小孔和大孔的内壁抵接，然后通过X轴模组和Y轴模组移动夹爪，使得连杆位于第二组上料机构10正上方，接着启动爪手驱动装置，使得夹爪移动板一705和夹爪移动板二706的位置复原，连杆落到第二组上料机构10上。
本发明的连杆检测方法，包括以下步骤：
1)、连杆放置在传送带一1上，经过硬度测量装置2检测硬度，硬度不合格的连杆通过硬度分选剔除装置3剔除，硬度合格则连杆进入传送带二4；
2)、传送带二4通过称重装置41对连杆的重量进行测量，然后连杆进入传送带三5，重量过重、过轻的连杆分别通过重量剔除装置一51和重量剔除装置二52剔除，重量合格的 连杆进入第一组上料机构6；
3)、连杆在传送带三5的带动下推动第一拨料杆604向第一组上料机构6尾端转动，然后连杆进入到第一放置台614上，此时第一拨料杆604会落入连杆的大孔中，接着启动上料气缸，上料气缸驱动滑动块向着第一放置台614尾端滑动，第一拨料杆604与连杆的大孔的内壁抵接，第一阻挡块605和第一拨料杆604共同带动连杆向放置台尾端滑动，经过两个放置台限位块一605和两个放置台限位块二606的限位作用，直至与第一放置台614挡块抵接。此时连杆的小孔正对着通孔一613，连杆的大孔正对着通孔二612。
4)、通过第一组搬运装置711的X轴模组和Y轴模组的气缸，移动夹爪，使得夹爪移动板一705穿过连杆的小孔和通孔一613，夹爪移动板二706穿过连杆的大孔和通孔二612，接着启动爪手驱动装置，使得夹爪移动板一705向搬运机构7首端一侧移动，夹爪移动板二706向搬运机构7尾端一侧移动，直至分别与连杆的小孔和大孔的内壁抵接，然后通过通过X轴模组和Y轴模组移动夹爪，使得连杆位于移动机构8正上方，接着启动爪手驱动装置，使得夹爪移动板一705和夹爪移动板二706的位置复原，连杆落到落到支撑片804上，且位于移动机构8的两个移动机构夹爪805之间。
5)、启动移动机构夹爪805，使得两个移动机构夹爪805相对运动，两个移动机构夹爪连接杆二807与连杆的两侧壁抵接；移动机构夹爪连接杆二807逐渐挤压使得连杆向支撑板801尾端移动，直至与阻挡块808抵接，此时连杆被定位。接着支撑板801在移动机构滑轨809上滑动，从首端移动到尾端。
6)、使用激光检测系统9完成连杆的尺寸、瑕疵的检测及字符识别；
7)、通过第二组搬运装置712的X轴模组和Y轴模组的气缸，移动夹爪，使得夹爪移动板一705穿过连杆的小孔和相邻支撑片804间的间隙，夹爪移动板二706穿过连杆的大孔和相邻支撑片804间的间隙，接着启动爪手驱动装置，使得夹爪移动板一705向搬运机构7首端一侧移动，夹爪移动板二706向搬运机构7尾端一侧移动，直至分别与连杆的小孔和大孔的内壁抵接，然后通过X轴模组和Y轴模组移动夹爪，使得连杆位于第二组上料机构10正上方，接着启动爪手驱动装置，使得夹爪移动板一705和夹爪移动板二706的位置复原，连杆落到第二组上料机构10上。
8)、喷码系统对连杆进行喷码，接着驱动第二滑动块1011向着第二放置台1006首端滑动，使得第二拨料杆1013与连杆首端抵接，连杆首端推动第二拨料杆1013向第二组上料机构10尾端转动，直至第二拨料杆1013划过连杆首端落入连杆的大孔中，接着启动第二上料气缸，第二上料气缸驱动滑动块向着第二放置台1006尾端滑动，第二拨料杆1013与连杆的 大孔的内壁抵接，第二阻挡块1014和第二拨料杆1013共同带动连杆向传送带四11首端滑动。
9)、连杆进入传送带四11，最后输送机进行卸料。
最后，还需要注意的是，以上列举的仅是本发明的若干个具体实施例。显然，本发明不限于以上实施例，还可以有许多变形。本领域的普通技术人员能从本发明公开的内容直接导出或联想到的所有变形，均应认为是本发明的保护范围。

Claims (10)

  1. 连杆检测系统，用于检测连杆，其特征在于：包括硬度测量装置(2)、称重装置(41)、上料机构、搬运机构(7)、移动机构(8)和激光检测系统(9)；
    所述上料机构包括第一组上料机构(6)和第二组上料机构(10)；所述搬运机构(7)包括第一组搬运装置(711)和第二组搬运装置(712)；
    传送带一(1)上依次设置有配合使用的硬度测量装置(2)和硬度分选剔除装置(3)；
    所述传送带一(1)尾端与传送带二(4)首端连接，传送带二(4)上设置有称重装置(41)；
    所述传送带二(4)尾端与传送带三(5)首端连接；
    所述传送带三(5)上依次设置有重量剔除装置一(51)和重量剔除装置二(52)；
    所述传送带三(5)尾端与第一组上料机构(6)的首端连接；
    所述第一组上料机构(6)的尾端通过搬运机构(7)的第一组搬运装置(711)与移动机构(8)首端连接；
    所述激光检测系统(9)设置在移动机构(8)上；
    所述移动机构(8)尾端通过搬运机构(7)的第二组搬运装置(712)与第二组上料机构(10)首端连接；
    所述第二组上料机构(10)尾端与传送带四(11)首端连接；
    所述硬度测量装置(2)和硬度分选剔除装置(3)信号连接；所述称重装置(41)与重量剔除装置一(51)和重量剔除装置二(52)信号连接。
  2. 根据权利要求1所述的连杆检测系统，其特征在于：
    所述硬度分选剔除装置(3)、重量剔除装置一(51)和重量剔除装置二(52)的结构相同，均包括气缸(511)、推杆(512)和滑板(513)；
    所述气缸(511)和推杆(512)连接，气缸(511)驱动推杆(512)伸缩；
    所述推杆(512)和滑板(513)对称设置在传送带两侧；
    所述滑板(513)斜向下设置，滑板(513)顶部与传送带的一侧固定连接，滑板(513)顶部正下方可以设置收集箱。
  3. 根据权利要求2所述的连杆检测系统，其特征在于：
    所述第一组上料机构(6)包括第一拨料结构、第一上料导轨(601)和第一放置台(614)；
    所述第一放置台(614)上方安装有两个放置台限位块一(605)、两个放置台限位块二(606)和一个放置台挡块(607)；
    所述放置台限位块一(605)、放置台限位块二(606)和放置台挡块(607)沿着上料机构首端到尾端的方向依次设置，两个放置台限位块一(605)和两个放置台限位块二(606) 均对称设置在第一放置台(614)两侧；
    对称设置的两个放置台限位块一(605)内侧距离由大变小，并逐渐过渡至比连杆宽度略大；
    对称设置的两个放置台限位块二(606)内侧距离由大变小，并逐渐过渡至与连杆宽度相同；
    两个放置台限位块二(606)内侧距离最大的间距等于两个放置台限位块一(605)之间的最小的间距；
    所述第一放置台(614)在两个放置台限位块一(605)之间设置有通孔一(613)，第一放置台(614)在两个放置台限位块二(60)之间设置有通孔二(612)；
    所述放置台挡块(607)位于放置台限位块二(606)尾端；
    所述第一上料导轨(601)位于第一放置台(614)的正上方；
    所述第一拨料结构滑动设置在第一上料导轨(601)上；
    所述第一拨料结构包括滑动设置在第一上料导轨(601)上的第一拨料结构滑动块(602)，第一拨料结构滑动块(602)上沿着第一组上料机构(6)首端到尾端的方向依次设置有第一阻挡块(605)和第一拨料组件；
    所述第一拨料组件包括与第一滑动块铰接的第一转动块(603)和与第一转动块(603)固定连接的第一拨料杆(604)，第一转动块(603)和第一拨料杆(604)可以沿着竖直方向转动；第一阻挡块(605)用于限制第一拨料杆(604)向第一组上料机构(6)首端方向转动的幅度，使得在使用过程中拨料杆只能在垂直到朝向第一组上料机构(6)尾端方向偏转。
  4. 根据权利要求3所述的连杆检测系统，其特征在于：
    两个放置台限位块一(605)均等距设置有若干左右贯通的激光孔(608)；
    所述放置台挡块(607)和放置台限位块二(606)之间设置有缝隙；
    所述第一放置台(614)设置有第一组上料机构首端对射激光器(609)和第一组上料机构尾端对射激光器(610)；
    所述第一组上料机构首端对射激光器(609)射出的激光穿过两个放置台限位块一(605)的激光孔(608)；
    所述第一组上料机构尾端对射激光器(610)射出的激光穿过放置台挡块(607)和放置台限位块二(606)之间的缝隙。
  5. 根据权利要求4所述的连杆检测系统，其特征在于：
    所述第二组上料机构(10)包括第二拨料结构、第二上料导轨(1010)、第二放置台(1006) 和喷码系统；
    所述第二放置台(1006)在上依次设置有通孔三(1007)和通孔四(1008)；
    所述第二上料导轨(1010)位于第二放置台(1006)的一侧上方；
    所述第二拨料结构滑动设置在第二上料导轨(1010)上；
    所述第二拨料结构包括滑动设置在第二上料导轨(1010)上的第二滑动块(1011)，第二滑动块(1011)上沿着第二组上料机构(10)首端到尾端的方向依次设置有第二阻挡块(1014)和第二拨料组件；
    所述第二拨料组件包括与第二滑动块(1011)铰接的第二转动块(1012)和与第二转动块(1012)固定连接的第二拨料杆(1013)，第二转动块(1012)和第二拨料杆(1013)可以沿着竖直方向转动；第二阻挡块(1014)用于限制第二拨料杆(1013)向第二组上料机构(10)首端方向转动的幅度，使得在使用过程中第二拨料杆(1013)只能在垂直到朝向第二组上料机构(10)尾端方向偏转；
    所述第二放置台(1006)上还设置有第二组上料机构对射激光传感器，用于检测是否有连杆到达第二组上料机构(10)，从而启动喷码系统和第二拨料结构；
    所述喷码系统位于第二放置台(1006)一侧，喷码系统包括喷头(1001)、喷码系统Y轴模组和喷码系统X轴模组；
    所述喷码系统Y轴模组包括竖直设置的喷码系统Y轴滑轨(1003)；
    所述喷码系统X轴模组包括水平设置的喷码系统X轴滑轨(1005)；
    所述喷头(1001)通过喷码系统Y轴滑动块(1002)滑动设置在喷码系统Y轴滑轨(1003)上；
    所述喷码系统Y轴滑轨(1003)通过喷码系统X轴滑动块(1004)滑动设置在喷码系统X轴滑轨(1005)；
    所述第二放置台(1006)顶部首端还固定设置有垫板(1009)。
  6. 根据权利要求5所述的连杆检测系统，其特征在于：
    所述第一组搬运装置(711)和第二组搬运装置(712)均包括X轴模组、Y轴模组和夹爪；
    所述夹爪设置在Y轴模组上，Y轴模组设置在X轴模组上；
    所述Y轴模组包括Y轴滑轨(702)和Y轴连接块(703)，Y轴滑轨(702)和Y轴连接块(703)固定连接；
    所述X轴模组包括X轴滑轨(701)，Y轴连接块(703)滑动设置在X轴滑轨(701) 上；
    所述夹爪包括夹爪主体(704)、夹爪移动板一(705)和夹爪移动板二(706)；
    所述夹爪主体(704)滑动设置在Y轴模组的Y轴滑轨(702)上；
    所述夹爪移动板一(705)和夹爪移动板二(706)均滑动设置在夹爪主体(704)底部；
    所述夹爪移动板一(705)和夹爪移动板二(706)均为竖直设置；
    所述夹爪移动板一(705)和夹爪移动板二(706)沿着搬运机构(7)首端到尾端的方向依次设置，且位于同一直线上，夹爪移动板一(705)和夹爪移动板二(706)底部均设置有横向凸起(707)，两个横向凸起(707)均朝向外侧；
    所述夹爪移动板一(705)首端的爪手的横向凸起(707)为向着搬运机构(7)首端一侧水平设置的凸起；
    所述夹爪移动板二(706)尾端的爪手的横向凸起(707)为向着搬运机构(7)尾端一侧水平设置的凸起。
  7. 根据权利要求6所述的连杆检测系统，其特征在于：
    所述移动机构(8)包括移动机构滑轨(809)和支撑板(801)，支撑板(801)滑动设置在移动机构滑轨(809)上，由支撑板气缸驱动；支撑板(801)上方的左右两侧对称设置有两个移动机构夹爪(805)，两个移动机构夹爪(805)与同一气缸连接，可以做相对运动；
    所述移动机构夹爪(805)包括沿着移动机构(8)首端到尾端的方向设置的移动机构夹爪连接杆一(806)和与其垂直连接的移动机构夹爪连接杆二(807)，两个移动机构夹爪(805)的移动机构夹爪连接杆二(807)的相互朝向设置；
    所述支撑板(801)中间部分开设有支撑板凹槽(802)，支撑板凹槽(802)左右两侧对称设置有若干卡槽(803)，任何一侧的卡槽(803)均为等距均匀设置；
    若干支撑片(804)插入对称的两个卡槽(803)中，支撑片(804)用于放置连杆；
    所述支撑板(801)顶部尾端设置有移动机构阻挡块(808)，移动机构阻挡块(808)用于阻挡；
    所述移动机构阻挡块(808)和移动机构夹爪(805)配合使用。
  8. 根据权利要求7所述的连杆检测系统，其特征在于：
    所述激光检测系统(9)设置在移动机构(8)尾端，激光检测系统(9)包括上激光传感器(903)和下激光传感器(902)；
    所述上激光传感器(903)滑动设置在上可调底座(901)上；
    所述下激光传感器(902)滑动设置在下可调底座(904)上。
  9. 根据权利要求8所述的连杆检测系统，其特征在于：
    所述支撑板(801)两侧还设置有移动机构对射管线传感器(810)，用于检测是否有连杆放在支撑板(801)上。
  10. 利用如权利要求1-9任一所述的连杆检测系统的连杆检测方法，其特征在于：包括以下步骤：
    1)、连杆放置在传送带一(1)上，经过硬度测量装置(2)检测硬度，硬度不合格的连杆通过硬度分选剔除装置(3)剔除，硬度合格则连杆进入传送带二(4)；
    2)、传送带二(4)通过称重装置(41)对连杆的重量进行测量，然后连杆进入传送带三(5)，重量过重、过轻的连杆分别通过重量剔除装置一(51)和重量剔除装置二(52)剔除，重量合格的连杆进入第一组上料机构(6)；
    3)、连杆在传送带三(5)的带动下推动第一拨料杆(604)向第一组上料机构(6)尾端转动，然后连杆进入到第一放置台(614)上，此时第一拨料杆(604)会落入连杆的大孔中，接着启动上料气缸，上料气缸驱动滑动块向着第一放置台(614)尾端滑动，第一拨料杆(604)与连杆的大孔的内壁抵接，第一阻挡块(605)和第一拨料杆(604)共同带动连杆向放置台尾端滑动，经过两个放置台限位块一(605)和两个放置台限位块二(606)的限位作用，直至与第一放置台(614)挡块抵接；此时连杆的小孔正对着通孔一(613)，连杆的大孔正对着通孔二(612)；
    4)、通过第一组搬运装置(711)的X轴模组和Y轴模组的气缸，移动夹爪，使得夹爪移动板一(705)穿过连杆的小孔和通孔一(613)，夹爪移动板二(706)穿过连杆的大孔和通孔二(612)，接着启动爪手驱动装置，使得夹爪移动板一(705)向搬运机构(7)首端一侧移动，夹爪移动板二(706)向搬运机构(7)尾端一侧移动，直至分别与连杆的小孔和大孔的内壁抵接，然后通过通过X轴模组和Y轴模组移动夹爪，使得连杆位于移动机构(8)正上方，接着启动爪手驱动装置，使得夹爪移动板一(705)和夹爪移动板二(706)的位置复原，连杆落到落到支撑片(804)上，且位于移动机构(8)的两个移动机构夹爪(805)之间；
    5)、启动移动机构夹爪(805)，使得两个移动机构夹爪(805)相对运动，两个移动机构夹爪连接杆二(807)与连杆的两侧壁侧壁抵接；移动机构夹爪连接杆二(807)逐渐挤压使得连杆向支撑板(801)尾端移动，直至与阻挡块(808)抵接，此时连杆被定位；接着支撑板(801)在移动机构滑轨(809)上滑动，从首端移动到尾端；
    6)、使用激光检测系统(9)完成连杆的尺寸、瑕疵的检测及字符识别；
    7)、通过第二组搬运装置(712)的X轴模组和Y轴模组的气缸，移动夹爪，使得夹爪移动板一(705)穿过连杆的小孔和相邻支撑片(804)间的间隙，夹爪移动板二(706)穿过连杆的大孔和相邻支撑片(804)间的间隙，接着启动爪手驱动装置，使得夹爪移动板一(705)向搬运机构(7)首端一侧移动，夹爪移动板二(706)向搬运机构(7)尾端一侧移动，直至分别与连杆的小孔和大孔的内壁抵接，然后通过X轴模组和Y轴模组移动夹爪，使得连杆位于第二组上料机构(10)正上方，接着启动爪手驱动装置，使得夹爪移动板一(705)和夹爪移动板二(706)的位置复原，连杆落到第二组上料机构(10)上；
    8)、喷码系统对连杆进行喷码，接着驱动第二滑动块(1011)向着第二放置台(1006)首端滑动，使得第二拨料杆(1013)与连杆首端抵接，连杆首端推动第二拨料杆(1013)向第二组上料机构(10)尾端转动，直至第二拨料杆(1013)划过连杆首端落入连杆的大孔中，接着启动第二上料气缸，第二上料气缸驱动滑动块向着第二放置台(1006)尾端滑动，第二拨料杆(1013)与连杆的大孔的内壁抵接，第二阻挡块(1014)和第二拨料杆(1013)共同带动连杆向传送带四(11)首端滑动；
    9)、连杆进入传送带四(11)，然后卸料。
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