Appearance Intelligent Detection System Based on Manipulator

Abstract

The present invention relates to an intelligent appearance detection system based on a manipulator, which has a workbench; a feeding mechanism, a first positioning mechanism and a manipulator mechanism are arranged on the workbench; the feeding mechanism is a vibrating disk and a feeding channel; the first positioning mechanism includes a first support frame; a lifting slider is arranged on the first support frame; a through channel for the workpiece to enter is arranged on the lifting slider; the front end of the through channel corresponds to and cooperates with the discharge end of the feeding channel; the feeding end of the feeding channel corresponds to and cooperates with the discharge end of the vibrating disk; the manipulator mechanism includes a manipulator, and a photographing device for photographing the appearance of the workpiece and a grasping device for grasping the workpiece in the through channel are fixedly arranged on the manipulator. The present invention can realize the appearance detection and grasping of the workpiece through the manipulator mechanism, and realize automatic detection.

Description

Technical Field

[0001] The present invention relates to an intelligent appearance detection system, and particularly to an intelligent appearance detection system based on a manipulator. Background Art

[0002] With the continuous development of industrial automation, more and more fields are trying to replace traditional manual operations with automated equipment. In the field of electronic production, the appearance of some tiny parts needs to be detected. Traditional appearance detection generally relies on the naked eye for rough inspection, and then manual fine inspection is carried out through detection equipment.

[0003] Therefore, a large amount of human input is required throughout the detection process. Especially with the development of industrial automation, the output of parts is increasing, the detection work of parts is becoming more and more onerous, and the labor cost is getting higher and higher. To solve this problem, automated appearance detection equipment has gradually emerged in recent years. However, these appearance detection equipment generally detect a single surface through an assembly line. Since the parts have multiple surfaces to be detected, in order to meet the detection requirements, the detection of one part requires special detection by multiple detection equipment. Although the detection accuracy and efficiency have been greatly improved, there is still much room for improvement. Summary of the Invention

[0004] The object of the present invention is to provide an intelligent appearance detection system based on a manipulator, which can detect the appearance of all surfaces of a workpiece and can realize automatic sorting of qualified and unqualified products.

[0005] The technical solution for achieving the object of the present invention is: the present invention has a workbench; a feeding mechanism, a first positioning mechanism and a manipulator mechanism are provided on the workbench; the feeding mechanism is a vibrating disk and a feeding channel;

[0006] The first positioning mechanism includes a first support frame fixedly arranged on the workbench; an elevating slider that can slide up and down on the first support frame under the drive of a lifting cylinder is arranged on the first support frame; a through channel for the workpiece to enter is arranged on the elevating slider; a limit baffle for blocking the workpiece is fixedly arranged at the tail end of the through channel on the first support frame; the through channel of the elevating slider can completely extend beyond the limit baffle under the drive of the lifting cylinder; the front end of the through channel corresponds to and cooperates with the discharging end of the feeding channel; the feeding end of the feeding channel corresponds to and cooperates with the discharging end of the vibrating disk;

[0007] The manipulator mechanism includes a manipulator, and a photographing device for photographing the appearance of the workpiece and a grasping device for grasping the workpiece in the through channel are fixedly arranged on the manipulator.

[0008] It also includes a second positioning mechanism and a sorting mechanism; the second positioning mechanism includes a second support frame, a driving rack and a positioning block; the second support frame is fixedly arranged on the workbench; a driving rack driven by a driving device to linearly slide on the second support frame is arranged on the second support frame; the positioning block includes a driven gear part and a positioning part connected into one body for positioning and placing workpieces; the driven gear part is rotatably arranged on the second support frame, and the driven gear part is in transmission cooperation with the driving rack; the number of positioning blocks is equal to the number of through channels on the lifting slider, and the positional relationship between the positioning blocks corresponds to the positional relationship between the through channels; the gripping device on the manipulator is used to grip the workpieces in the through channels and transfer them to the positioning parts;

[0009] The sorting mechanism includes a qualified aggregate hopper, an unqualified aggregate hopper, a first air blowing module, a second air blowing module and a third air blowing module arranged on the positioning block; a first air blowing module is correspondingly arranged on one side of each positioning block on the second support frame, and a second air blowing module is correspondingly arranged on the other side of each positioning block on the second support frame; the qualified aggregate hopper and the unqualified aggregate hopper are respectively arranged on the workbench and are respectively located on both sides of the positioning block;

[0010] The first air blowing module includes a first fixing body fixedly connected to the second support frame, a first air blowing port is arranged on the first fixing body, and the first air blowing port is connected to a first air blowing pipe capable of spraying compressed air; the second air blowing module includes a second fixing body fixedly connected to the second support frame, a second air blowing port is arranged on the second fixing body, and the second air blowing port is connected to a second air blowing pipe capable of spraying compressed air; the third air blowing module includes a third air blowing port arranged on the positioning part for blowing the workpiece away from the positioning part; the third air blowing port is connected to a third air blowing pipe capable of spraying compressed air; the first air blowing module is used to blow the workpiece separated from the positioning part into the qualified aggregate hopper; the second air blowing module is used to blow the workpiece separated from the positioning part into the unqualified aggregate hopper.

[0011] As an optimized design, two manipulator mechanisms, two second positioning mechanisms and two sorting mechanisms are provided; one manipulator mechanism corresponds to one second positioning mechanism, and one second positioning mechanism corresponds to one sorting mechanism; the two manipulator mechanisms respectively perform round-trip operations between the first positioning mechanism and its corresponding second positioning mechanism, and the two manipulator mechanisms operate alternately.

[0012] As an optimized design, there are two feeding mechanisms; at least two feeding grooves are provided on the feeding channels of each feeding mechanism; two feeding positions are provided on the lifting slider, and the feeding positions correspond to the feeding mechanisms one by one. A plurality of through channels corresponding to the feeding grooves on the corresponding feeding channels are provided at each feeding position; two sets of photographing devices are provided on the robot arm, and the two sets of photographing devices correspond to the two feeding positions one by one and are used to photograph the workpieces in the through channels at the corresponding feeding positions; the grasping device on the robot arm is a suction cup capable of adsorbing workpieces; a plurality of suction cups are provided on the robot arm, and the number of suction cups is equal to the number of through channels on the lifting slider, and each suction cup is in one-to-one correspondence and cooperation with the through channel. Preferably, two feeding grooves are provided on the feeding channel.

[0013] As a variant design of the above optimized design, there are two feeding mechanisms; one feeding groove is provided on the feeding channel of each feeding mechanism; two feeding positions are provided on the lifting slider, and the feeding positions correspond to the feeding mechanisms one by one. A plurality of linearly arranged through channels are provided at each feeding position;

[0014] A slide plate that can slide back and forth along the direction of the linear arrangement of the through channels is provided on the first support frame under the drive of a drive device; a lifting slider that can slide up and down on the slide plate under the drive of a lifting cylinder is provided on the slide plate;

[0015] An optical fiber sensor head for sensing whether there is a workpiece in the through channel currently docked with the feeding groove is fixedly provided on the limit baffle opposite to the feeding groove;

[0016] Two sets of photographing devices are provided on the robot arm, and the two sets of photographing devices are respectively used to photograph the workpieces in the through channels at each feeding position; the grasping device on the robot arm is a suction cup capable of adsorbing workpieces; a plurality of suction cups are provided on the robot arm, and the number of suction cups is equal to the number of through channels on the lifting slider, and the suction cups are in one-to-one correspondence and cooperation with the through channels. Two through channels are provided at each feeding position; the drive device for driving the slide plate to slide back and forth is a drive cylinder; after the drive cylinder extends, one through channel at each feeding position is docked with the corresponding feeding groove; after the drive cylinder retracts, the other through channel at each feeding position is docked with the corresponding feeding groove.

[0017] The robot arm described above is a robotic arm that can rotate 360°; a mounting plate is fixedly provided at the free end of the robotic arm; the photographing device and the grasping device are both fixedly arranged on the mounting plate.

[0018] The drive device for driving the drive rack to slide includes a drive motor and an output gear; the drive motor is fixedly connected to the second support frame, and the output shaft of the drive motor is in transmission connection with the output gear; a mounting groove is provided on the second support frame;

[0019] The driving rack is slidably arranged in the installation groove and slides along the extending direction of the installation groove; the output gear is arranged in the installation groove and is in transmission cooperation with the driving rack; the driven gear part of the positioning block is rotatably arranged in the installation groove and is in transmission cooperation with the driving rack; the installation groove is covered with a cover plate; a through hole through which the positioning part of the positioning block can extend is arranged on the cover plate.

[0020] The above driving motor is fixedly connected to the lower surface of the second support frame; the output shaft of the driving motor extends into the installation groove and is in transmission connection with the output gear.

[0021] The present invention has positive effects: (1) By means of the lifting slider in the present invention, the end face of the workpiece penetrating the through-channel close to the limiting plate can be exposed, which is convenient for the shooting device to shoot and the background to compare; especially for some slender workpieces, in order to realize automatic feeding through the vibrating disk, the end face to be detected cannot be exposed, resulting in problems that the detection cannot be carried out or special positioning jigs need to be relied on for positioning to carry out the detection.

[0022] (2) In the present invention, the appearance of the bottom of the workpiece is detected at the first positioning mechanism, and then the workpiece is transferred to the second positioning mechanism by the grasping device on the manipulator. Then, the shooting device on the manipulator shoots the other faces of the workpiece. Finally, the sorting mechanism realizes the sorting of qualified products and unqualified products. The whole process is automated, and the all-round appearance detection of the workpiece can be realized without manual operation, greatly improving the detection efficiency and detection accuracy.

[0023] (3) The present invention can realize double-station detection through two manipulator mechanisms, two second positioning mechanisms and two sorting mechanisms, further improving the detection efficiency.

[0024] (4) The present invention can realize a larger feeding amount through two feeding mechanisms, thereby further improving the detection efficiency.

[0025] (5) In the present invention, the first positioning mechanism can realize the accuracy and timeliness of feeding through the sliding plate, the lifting slider and the induction optical fiber, and can cooperate better with the manipulator mechanism, effectively improving the detection efficiency.

[0026] (6) In the present invention, the driving device for driving the driving rack adopts output gear transmission, with high accuracy; the rotation angle of the output shaft of the driving motor can effectively determine the shooting angle, further improving the accuracy of appearance detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to make the content of the present invention easier to be clearly understood, the following further describes the present invention in detail according to specific embodiments in combination with the drawings, where

[0028] Figure 1 is a structural schematic diagram of the present invention;

[0029] Figure 2 It is a schematic structural diagram of the loading mechanism in the present invention;

[0030] Figure 3 It is a schematic structural diagram of the first positioning mechanism of Embodiment 1 in the present invention;

[0031] Figure 4 It is a schematic structural diagram of the first positioning mechanism of Embodiment 2 in the present invention;

[0032] Figure 5 It is a schematic structural diagram of the second positioning mechanism and the sorting mechanism in the present invention;

[0033] Figure 6 It is a schematic structural diagram of the second positioning mechanism in the present invention

[0034] Figure 7 It is a schematic structural diagram of the inside of the installation groove on the second support frame in the present invention;

[0035] Figure 8 It is a schematic structural diagram of the positioning block in the present invention;

[0036] Figure 9 It is a schematic structural diagram of the manipulator mechanism in the present invention;

[0037] Figure 10 It is a schematic structural diagram of the photographing device and the grasping device in the present invention. Detailed implementation manners

[0038] (Embodiment 1)

[0039] See Figures 1 to 3 and Figures 5 to 10 The present invention has a workbench 1; two sets of loading mechanisms 2, a first positioning mechanism 3, two manipulator mechanisms 4, two second positioning mechanisms 5 and two sorting mechanisms 6 are provided on the workbench 1; the loading mechanism 2 is a vibrating disk 21 and a feeding channel 22; a feeding device 7 for feeding can be cooperatively installed at the feeding end of the vibrating disk 21.

[0040] The first positioning mechanism 3 includes a first support frame 31 fixedly arranged on the workbench 1; a lifting slider 32 that can slide up and down on the first support frame 31 under the drive of a lifting air cylinder is arranged on the first support frame 31; a through channel 321 through which a workpiece can enter is arranged on the lifting slider 32; a limit baffle 33 for blocking the workpiece is fixedly arranged at the tail end of the through channel 321 on the first support frame 31; the through channel 321 of the lifting slider 32 can completely extend beyond the limit baffle 33 under the drive of the lifting air cylinder; the feeding end of the feeding channel 22 corresponds to and cooperates with the discharging end of the vibrating disk 21;

[0041] The manipulator mechanism 4 includes a manipulator 41, on which a photographing device 42 for photographing the appearance of the workpiece and a grasping device 43 for grasping the workpiece in the through-channel 321 are fixedly provided.

[0042] The second positioning mechanism 5 includes a second support frame 51, a driving rack 52, and a positioning block 53; the second support frame 51 is fixedly arranged on the workbench 1; a driving rack 52 driven by a driving device to linearly slide on the second support frame 51 is arranged on the second support frame 51; the positioning block 53 includes a driven gear portion 531 and a positioning portion 532 connected integrally for positioning and placing the workpiece; the driven gear portion 531 is rotatably arranged on the second support frame 51, and the driven gear portion 531 is in transmission cooperation with the driving rack 52; the number of positioning blocks 53 is equal to the number of through-channels 321 on the lifting slider 32, and the positional relationship between the positioning blocks 53 corresponds to the positional relationship between the through-channels 321; the grasping device 43 on the manipulator 41 is used to grasp the workpieces in the through-channels 321 and transfer them to the positioning portions 532;

[0043] The sorting mechanism 6 includes a qualified aggregate hopper 61, an unqualified aggregate hopper 62, a first blowing module 63, a second blowing module 64, and a third blowing module 65 arranged on the positioning block 53; a first blowing module 63 is correspondingly arranged on one side of each positioning block 53 on the second support frame 51, and a second blowing module 64 is correspondingly arranged on the other side of each positioning block 53 on the second support frame 51; the qualified aggregate hopper 61 and the unqualified aggregate hopper 62 are respectively arranged on the workbench 1 and are respectively located on both sides of the positioning block 53;

[0044] The first blowing module 63 includes a first fixing body fixedly connected to the second support frame 51, a first blowing port is arranged on the first fixing body, and the first blowing port is connected to a first blowing pipe capable of spraying compressed air; the second blowing module 64 includes a second fixing body fixedly connected to the second support frame 51, a second blowing port is arranged on the second fixing body, and the second blowing port is connected to a second blowing pipe capable of spraying compressed air; the third blowing module 65 includes a third blowing port arranged on the positioning portion 532 for blowing the workpiece away from the positioning portion 532; the third blowing port is connected to a third blowing pipe capable of spraying compressed air; the first blowing module 63 is used to blow the workpiece separated from the positioning portion 532 into the qualified aggregate hopper 61; the second blowing module 64 is used to blow the workpiece separated from the positioning portion 532 into the unqualified aggregate hopper 62.

[0045] One manipulator mechanism 4 corresponds to one second positioning mechanism 5, and one second positioning mechanism 5 corresponds to one sorting mechanism 6; the two manipulator mechanisms 4 respectively perform round-trip operations between the first positioning mechanism 3 and its corresponding second positioning mechanism 5, and the two manipulator mechanisms 4 operate alternately.

[0046] There are two feeding grooves provided on the feeding channels 22 of each of the two feeding mechanisms 2; there are two feeding positions provided on the lifting slider 32, and the feeding positions correspond to the feeding mechanisms 2 one by one. A plurality of through channels 321 corresponding to the feeding grooves on the corresponding feeding channels 22 are provided at each feeding position; two sets of photographing devices 42 are provided on the manipulator 41, and the two sets of photographing devices 42 correspond to the two feeding positions one by one, and are used for photographing the workpieces in the through channels 321 at the corresponding feeding positions; the gripping device 43 on the manipulator 41 is a suction cup capable of adsorbing workpieces; a plurality of suction cups are provided on the manipulator 41, and the number of suction cups is equal to the number of through channels 321 on the lifting slider 32, and each suction cup corresponds to and cooperates with a through channel 321 one by one.

[0047] The manipulator 41 is a robotic arm capable of 360° rotation; a mounting plate 44 is fixedly provided at the free end of the robotic arm; the photographing device 42 and the gripping device 43 are both fixedly provided on the mounting plate 44.

[0048] The driving device for driving the driving rack 52 to slide includes a driving motor and an output gear 54; the driving motor is fixedly connected to the second support frame 51, and the output shaft of the driving motor is in transmission connection with the output gear 54; a mounting groove is provided on the second support frame 51;

[0049] The driving rack 52 is slidably arranged in the mounting groove and slides along the extending direction of the mounting groove; the output gear 54 is arranged in the mounting groove and is in transmission cooperation with the driving rack 52; the driven gear portion 531 of the positioning block 53 is rotatably arranged in the mounting groove and is in transmission cooperation with the driving rack 52; a cover plate 55 is provided on the mounting groove; a through hole for the positioning portion 532 of the positioning block 53 to extend out is provided on the cover plate 55.

[0050] The driving motor is fixedly connected to the lower surface of the second support frame 51; the output shaft of the driving motor extends into the mounting groove and is in transmission connection with the output gear 54.

[0051] The detection process for detecting the appearance of workpieces in this embodiment is as follows:

[0052] S1. The vibrating bowl 21 feeds the workpieces one by one into the through channels 321 of the lifting slider 32 through the feeding channels 22;

[0053] S2. The lifting slider 32 rises under the drive of the lifting cylinder, so that the through channels 321 on the lifting slider 32 exceed the limit baffle 33, so that one end of the workpiece in the through channel 321 close to the limit baffle 33 is exposed

[0054] S3. A manipulator 41 drives the photographing device 42 to photograph one end of the workpiece close to the limit baffle 33 and perform appearance detection;

[0055] S4. After the above detection is completed, the manipulator 41 drives the grasping device 43 to pick up the workpiece in the through-channel 321 and place the workpiece on the positioning portion 532 of the positioning block 53 of a positioning mechanism;

[0056] S5. The output gear 54 on the second positioning mechanism 5 drives the driving rack 52 to slide. The driving rack 52 drives the driven gear portion 531, and the positioning block 53 rotates, thereby driving the workpiece on the positioning portion 532 to rotate; at this time, the photographing device 42 photographs the workpiece; meanwhile, another manipulator 41 repeats the steps of S3 and S4 to realize the alternate operation of the two manipulators 41;

[0057] S6. After the detection is completed, if the workpiece on the positioning block 53 is qualified, it is blown off the positioning portion 532 by the third blowing module 65 and blown into the qualified aggregate hopper 61 by the first blowing module 63; if it is unqualified, it is blown off the positioning portion 532 by the third blowing module 65 and blown into the unqualified aggregate hopper 62 by the second blowing module 64.

[0058] (Embodiment 2)

[0059] See Figure 4 In the present invention, a feeding groove is provided on the feeding channel 22 of each of the two feeding mechanisms 2; two feeding positions are provided on the lifting slider 32, and the feeding positions correspond to the feeding mechanisms 2 one by one. Two linearly arranged through-channels 321 are provided at each feeding position;

[0060] A sliding plate 34 that can slide back and forth along the linearly arranged direction of the through-channel 321 under the drive of a driving device is provided on the first support frame 31; a lifting slider 32 that can slide up and down on the sliding plate 34 under the drive of a lifting cylinder is provided on the sliding plate 34;

[0061] An optical fiber sensor head for sensing whether there is a workpiece in the through-channel 321 currently docked with the feeding groove is fixedly provided on the limiting baffle 33 opposite to the feeding groove;

[0062] Two photographing devices 42 are provided on the manipulator 41, and the two photographing devices 42 are respectively used for photographing the workpieces in the through-channels 321 at each feeding position; the grasping device 43 on the manipulator 41 is a suction cup capable of adsorbing the workpiece; a plurality of suction cups are provided on the manipulator 41, and the number of suction cups is equal to the number of through-channels 321 on the lifting slider 32, and the suction cups cooperate with the through-channels 321 one by one.

[0063] The driving device for driving the sliding plate 34 to slide back and forth is a driving cylinder; after the driving cylinder extends, one through-channel 321 at each feeding position is docked with the corresponding feeding groove; after the driving cylinder retracts, the other through-channel 321 at each feeding position is docked with the corresponding feeding groove.

[0064] Other technical solutions are the same as those in Embodiment 1.

[0065] The detection process of this embodiment for detecting the appearance of workpieces is as follows:

[0066] S1. The vibrating disk 21 of a feeding mechanism 2 feeds workpieces one by one through the feeding channel 22 to the corresponding feeding positions, and at this time, into the through-channel 321 docked with the feeding channel 22; when the fiber optic sensor head senses a workpiece, the driving cylinder works, prompting another through-channel 321 at the feeding position to dock with the feeding channel 22. When the fiber optic sensor head senses a workpiece, a rising command is sent to the lifting cylinder;

[0067] S2. The lifting slider 32 rises under the drive of the lifting cylinder, so that the through-channel 321 on the lifting slider 32 exceeds the limit baffle 33, thereby exposing one end of the workpiece in the through-channel 321 close to the limit baffle 33.

[0068] S3. A manipulator 41 drives the photographing device 42 to photograph one end of the workpiece close to the limit baffle 33 and perform appearance detection;

[0069] S4. After the above detection is completed, the manipulator 41 drives the grasping device 43 to grab the workpiece in the through-channel 321 and place the workpiece on the positioning part 532 of the positioning block 53 of a positioning mechanism;

[0070] S5. The output gear 54 on the second positioning mechanism 5 drives the driving rack 52 to slide. The driving rack 52 drives the driven gear part 531, and the positioning block 53 rotates, thereby driving the workpiece on the positioning part 532 to rotate; at this time, the photographing device 42 photographs the workpiece; meanwhile, another manipulator 41 repeats the steps of S3 and S4 to realize the alternating operation of the two manipulators 41;

[0071] S6. After the detection is completed, if the workpiece on the positioning block 53 is qualified, it is blown off the positioning part 532 by the third blowing module 65 and blown into the qualified aggregate hopper 61 by the first blowing module 63; if it is unqualified, it is blown off the positioning part 532 by the third blowing module 65 and blown into the unqualified aggregate hopper 62 by the second blowing module 64.

[0072] In the above specific embodiments, the purpose, technical solutions, and beneficial effects of the present invention are further described in detail. It should be understood that the above are only specific embodiments of the present invention and do not limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An intelligent appearance detection system based on a manipulator, comprising a workbench (1); Characterized in that: An unloading mechanism (2), a first positioning mechanism (3) and a manipulator mechanism (4) are provided on the workbench (1); the unloading mechanism (2) is a vibrating disk (21) and a feeding channel (22); The first positioning mechanism (3) includes a first support frame (31) fixedly arranged on the workbench (1); a lifting slider (32) that can slide up and down on the first support frame (31) is provided on the first support frame (31); a through channel (321) for the workpiece to enter is provided on the lifting slider (32); a limit baffle (33) for blocking the workpiece is fixedly arranged at the end of the through channel (321) on the first support frame (31); the through channel (321) of the lifting slider (32) can completely extend beyond the limit baffle (33) under the drive of a lifting cylinder; the front end of the through channel (321) corresponds and cooperates with the discharge end of the feeding channel (22); the feeding end of the feeding channel (22) corresponds and cooperates with the discharge end of the vibrating disk (21); The manipulator mechanism (4) includes a manipulator (41), and a photographing device (42) for photographing the appearance of the workpiece and a grasping device (43) for grasping the workpiece in the through channel (321) are fixedly arranged on the manipulator (41); It further includes a second positioning mechanism (5); the second positioning mechanism (5) includes a second support frame (51), a driving rack (52) and a positioning block (53); the second support frame (51) is fixedly arranged on the workbench (1); a driving rack (52) that is driven by a driving device to slide linearly on the second support frame (51) is provided on the second support frame (51); the positioning block (53) includes a driven gear part (531) and a positioning part (532) connected into one body for positioning and placing the workpiece; the driven gear part (531) is rotatably arranged on the second support frame (51), and the driven gear part (531) is in transmission cooperation with the driving rack (52); the number of positioning blocks (53) is equal to the number of through channels (321) on the lifting slider (32), and the positional relationship between the positioning blocks (53) corresponds to the positional relationship between the through channels (321); the grasping device (43) on the manipulator (41) is used for grasping the workpieces in the through channels (321) and transferring them to the positioning parts (532).

2. The intelligent appearance detection system based on a manipulator according to claim 1, Characterized in that: It further includes a sorting mechanism (6); the sorting mechanism (6) includes a qualified aggregate hopper (61), an unqualified aggregate hopper (62), a first air blowing module (63), a second air blowing module (64), and a third air blowing module (65) arranged on the positioning block (53); a first air blowing module (63) is correspondingly provided on one side of each positioning block (53) on the second support frame (51), and a second air blowing module (64) is correspondingly provided on the other side of each positioning block (53) on the second support frame (51); the qualified aggregate hopper (61) and the unqualified aggregate hopper (62) are respectively arranged on the workbench (1) and are respectively located on both sides of the positioning block (53). The first air blowing module (63) includes a first fixing body fixedly connected to the second support frame (51), the first fixing body is provided with a first air blowing port, and the first air blowing port is connected to a first air blowing pipe capable of ejecting compressed air; the second air blowing module (64) includes a second fixing body fixedly connected to the second support frame (51), the second fixing body is provided with a second air blowing port, and the second air blowing port is connected to a second air blowing pipe capable of ejecting compressed air; the third air blowing module (65) includes a third air blowing port arranged on the positioning part (532) for blowing the workpiece away from the positioning part (532); the third air blowing port is connected to a third air blowing pipe capable of ejecting compressed air; the first air blowing module (63) is used for blowing the workpiece separated from the positioning part (532) into the qualified aggregate hopper (61); the second air blowing module (64) is used for blowing the workpiece separated from the positioning part (532) into the unqualified aggregate hopper (62).

3. The appearance intelligent detection system based on a manipulator according to claim 2, characterized in that: it has two manipulator mechanisms (4), two second positioning mechanisms (5), and two sorting mechanisms (6); one manipulator mechanism (4) corresponds to one second positioning mechanism (5), and one second positioning mechanism (5) corresponds to one sorting mechanism (6); the two manipulator mechanisms (4) respectively perform round-trip operations between the first positioning mechanism (3) and its corresponding second positioning mechanism (5), and the two manipulator mechanisms (4) operate alternately.

4. The appearance intelligent detection system based on a manipulator according to claim 1 or 2 or 3, characterized in that: It has two feeding mechanisms (2); there are at least two feeding grooves on the feeding channels (22) of each feeding mechanism (2); two feeding positions are provided on the lifting slider (32), the feeding positions correspond to the feeding mechanisms (2) one by one, and a plurality of through channels (321) corresponding to the feeding grooves on the corresponding feeding channels (22) are provided on each feeding position; two sets of photographing devices (42) are provided on the manipulator (41), the two sets of photographing devices (42) correspond to the two feeding positions one by one, and are used for photographing the workpieces in the through channels (321) at the corresponding feeding positions; the grasping device (43) on the manipulator (41) is a suction cup capable of adsorbing workpieces; a plurality of suction cups are provided on the manipulator (41), the number of suction cups is equal to the number of through channels (321) on the lifting slider (32), and each suction cup is in one-to-one correspondence and cooperation with the through channel (321).

5. The appearance intelligent detection system based on a manipulator according to claim 1 or 2 or 3, characterized in that: It has two feeding mechanisms (2); there is one feeding groove on the feeding channel (22) of each feeding mechanism (2); two feeding positions are provided on the lifting slider (32), the feeding positions correspond to the feeding mechanisms (2) one by one, and a plurality of linearly arranged through channels (321) are provided on each feeding position; A sliding plate (34) that can slide back and forth along the linearly arranged direction of the through channels (321) under the drive of a drive device is provided on the first support frame (31); a lifting slider (32) that can slide up and down on the sliding plate (34) under the drive of a lifting cylinder is provided on the sliding plate (34); An optical fiber sensor head for sensing whether there is a workpiece in the through channel (321) currently docked with the feeding groove is fixedly provided on the limiting baffle (33) directly opposite to the feeding groove; Two sets of photographing devices (42) are provided on the manipulator (41), and the two sets of photographing devices (42) are respectively used for photographing the workpieces in the through channels (321) at each feeding position; the grasping device (43) on the manipulator (41) is a suction cup capable of adsorbing workpieces; a plurality of suction cups are provided on the manipulator (41), the number of suction cups is equal to the number of through channels (321) on the lifting slider (32), and the suction cups are in one-to-one correspondence and cooperation with the through channels (321).

6. The appearance intelligent detection system based on a manipulator according to claim 4, characterized in that: There are two feeding grooves on the feeding channel (22).

7. The appearance intelligent detection system based on a manipulator according to claim 5, characterized in that: Two through channels (321) are provided on each feeding position; the drive device for driving the sliding plate (34) to slide back and forth is a drive cylinder; after the drive cylinder extends, one through channel (321) on each feeding position is docked with the corresponding feeding groove; after the drive cylinder retracts, the other through channel (321) on each feeding position is docked with the corresponding feeding groove.

8. The appearance intelligent detection system based on a manipulator according to claim 3, characterized in that: The manipulator (41) is a robotic arm that can rotate 360°; a mounting plate (44) is fixedly provided at the free end of the robotic arm; the photographing device (42) and the grasping device (43) are both fixedly arranged on the mounting plate (44).

9. The intelligent appearance detection system based on a manipulator according to claim 2, characterized in that: The driving device for driving the driving rack (52) to slide includes a driving motor and an output gear (54); the driving motor is fixedly connected to the second support frame (51), and the output shaft of the driving motor is in transmission connection with the output gear (54); an installation groove is provided on the second support frame (51); The driving rack (52) is slidably arranged in the installation groove and slides along the extension direction of the installation groove; the output gear (54) is arranged in the installation groove and is in transmission cooperation with the driving rack (52); the driven gear part (531) of the positioning block (53) is rotatably arranged in the installation groove and is in transmission cooperation with the driving rack (52); a cover plate (55) is provided on the installation groove; a through hole for the positioning part (532) of the positioning block (53) to extend out is provided on the cover plate (55).

10. The intelligent appearance detection system based on a manipulator according to claim 9, characterized in that: The driving motor is fixedly connected to the lower surface of the second support frame (51); the output shaft of the driving motor extends into the installation groove and is in transmission connection with the output gear (54).

Images