A visual inspection machine for inner cavity and an inspection method for inner cavity

Abstract

The present invention discloses a visual inspection machine for an inner cavity, comprising a frame, a feeding mechanism, a discharging mechanism, a material-retrieving manipulator, an inner wall inspection mechanism and a bottom inspection mechanism; the inner wall inspection mechanism comprises a first module bracket, a first adjustment slide, an inner wall inspection camera and a first tubular lens, and a first mirror is obliquely installed at the lower end of the first tubular lens; the bottom inspection mechanism comprises a second module bracket, a second adjustment slide, a bottom inspection camera and a second tubular lens, and a second mirror is horizontally installed at the lower end of the second tubular lens. The present invention also discloses a method for inspecting an inner cavity. The visual inspection machine for an inner cavity and the inspection method thereof are to respectively photograph and image the inner cavity through the inner wall inspection mechanism and the bottom inspection mechanism, and the system obtains the inner cavity image information of the product, and the back end uses an AI software algorithm to process the obtained image information, thereby judging the defects of the inner cavity, and the detection rate of minor defects has been significantly improved.

Description

Technical Field

[0001] The present invention relates to the technical field of visual inspection, and in particular to a visual inspection machine for an inner cavity and an inspection method for the inner cavity. Background Art

[0002] Machine vision is mainly used for computer simulation of human visual function. The image captured by the camera is converted into a digital image signal, and the required information is obtained from the image signal using the software of the back-end computer to make correct calculations and judgments. It is mainly used for surface defect detection, product size measurement, visual positioning, target recognition, etc. However, based on the principle of visual imaging, surface detection inside deep holes of some components is currently not achievable, and only external surfaces can be detected. Summary of the invention

[0003] The purpose of the present invention is to provide a visual inspection machine for an inner cavity and an inspection method for an inner cavity, so as to solve the problems existing in the prior art.

[0004] To achieve this object, the present invention adopts the following technical solutions:

[0005] A visual inspection machine for an inner cavity, comprising a frame, a feeding mechanism, a discharging mechanism, a material taking manipulator, an inner wall detection mechanism and a bottom detection mechanism, wherein the feeding mechanism and the discharging mechanism are respectively located on both sides of the frame, a turntable is arranged in the middle of the frame, a plurality of fixture sleeves are arranged on the edge of the turntable, and the material taking manipulator moves between the feeding mechanism and the discharging mechanism;

[0006] The inner wall detection mechanism includes a first module bracket, a first adjustment slide, an inner wall detection camera and a first tubular lens, wherein the first adjustment slide slides on the first module bracket along a vertical direction, the inner wall detection camera is fixed above the first adjustment slide, the upper end of the first tubular lens is connected to the inner wall detection camera, and the lower end of the first tubular lens is obliquely installed with a first mirror;

[0007] The bottom detection mechanism includes a second module bracket, a second adjustment slide, a bottom detection camera and a second tubular lens. The second adjustment slide slides on the second module bracket in a vertical direction. The bottom detection camera is fixed above the second adjustment slide. The upper end of the second tubular lens is connected to the bottom detection camera, and the lower end of the second tubular lens is horizontally installed with a second mirror.

[0008] As a preferred technical solution, the first module bracket is provided with a first linear module and a first motor, the first motor is transmission-connected to the first linear module, and the first adjustment slide is fixed on the movable end of the first linear module;

[0009] The second module bracket is provided with a second linear module and a second motor, the second motor is transmission-connected to the second linear module, and the second adjustment slide is fixed on the movable end of the second linear module.

[0010] As a preferred technical solution, a first back plate is installed on the first adjustment slide, the inner wall detection camera is located at the upper end of the first back plate, a first camera cover is fixed on the first back plate, the first tubular lens is located inside the first camera cover, and the lower end of the first camera cover is connected to a first lens cover;

[0011] A second back plate is installed on the second adjustment slide, the bottom detection camera is located at the upper end of the second back plate, a second camera cover is fixed on the second back plate, the second tubular lens is located inside the second camera cover, and a second lens cover is connected to the lower end of the second camera cover.

[0012] As a preferred technical solution, the frame is also provided with an end face detection mechanism, which includes a camera support rod, an end face camera and a dome light source. The camera support rod is fixed on the frame, the end face camera is fixed on the top of the camera support rod, a light source fixing plate is installed at the lower end of the camera support rod, and the dome light source is fixed on the light source fixing plate.

[0013] As a preferred technical solution, a material transfer motor is installed at the lower end of the turntable, a driving end of the material transfer motor is connected to the fixture sleeve, and a magnet is also installed on the fixture sleeve.

[0014] As a preferred technical solution, a turntable motor is provided at the lower end of the frame, a driving end of the turntable motor is connected to a rotating shaft, an electric slip ring is sleeved on the outer side of the rotating shaft, and the upper end of the rotating shaft is connected to the middle of the turntable.

[0015] As a preferred technical solution, the feeding mechanism is provided with a feeding belt and a feeding motor, and the feeding motor drives the feeding belt to rotate; the discharging mechanism is provided with a discharging belt and a discharging motor, and the discharging motor drives the discharging belt to rotate.

[0016] As a preferred technical solution, the material picking robot includes a third linear module, a material picking mounting plate, a horizontal cylinder, a vertical cylinder and a pneumatic clamp. The material picking mounting plate is installed on the movable end of the third linear module, the horizontal cylinder is fixed on the material picking mounting plate, the vertical cylinder is fixed on the driving end of the horizontal cylinder, and the pneumatic clamp is fixed on the driving end of the vertical cylinder.

[0017] As a preferred technical solution, the frame is also provided with a defective product receiving mechanism, which includes a receiving belt track, a receiving motor and a receiving chamber, the receiving chamber is located on the receiving belt track, the receiving motor and the receiving belt track are connected by belt transmission, a receiving baffle is provided at the end of the receiving chamber, a cavity cylinder is provided on one side of the receiving chamber, an upper cover plate is hinged above the receiving chamber, and a driving end of the cavity cylinder is inserted into one side of the upper cover plate.

[0018] As a preferred technical solution, a detection optical fiber is provided on one side of the turntable, and the detection optical fiber is fixed on the frame.

[0019] A method for detecting an inner cavity comprises the following steps:

[0020] The product is manually placed at the front end of the feeding mechanism, and the feeding mechanism moves the product to the end of the feeding mechanism;

[0021] The material taking robot grabs the product from the end of the feeding mechanism and places it in the first station on the turntable;

[0022] The turntable rotates to move the product from the first station to the second station;

[0023] The end face detection mechanism performs end face detection on the product;

[0024] The turntable rotates to move the product from the second station to the third station;

[0025] The inner wall detection mechanism extends the first tubular lens into the interior of the product to detect the inner wall of the product;

[0026] The turntable rotates to move the product from the second station to the third station;

[0027] The bottom detection mechanism extends the second tubular lens into the interior of the product to perform bottom detection on the product;

[0028] The turntable rotates to move the product from the third station to the first station;

[0029] The retrieving robot places qualified products at the front end of the discharging mechanism, and the retrieving robot places unqualified products at the front end of the defective product receiving mechanism;

[0030] The discharging mechanism moves qualified products from the front end of the discharging mechanism to the end of the discharging mechanism, and the defective product receiving mechanism moves unqualified products from the front end of the defective product receiving mechanism to the end of the defective product receiving mechanism.

[0031] The beneficial effects of the present invention are:

[0032] 1. Provide a visual inspection machine for inner cavities. The visual inspection machine for inner cavities uses inner wall inspection mechanisms and bottom inspection mechanisms to photograph and image the inner cavities respectively. The system obtains the inner cavity image information of the product. The back-end uses an AI software algorithm to process the acquired image information, thereby determining the defects of the inner cavity. The detection rate of minor defects has been significantly improved.

[0033] 2. Provide an inner cavity detection method, which performs visual inspection on the end face, inner wall and bottom of the product in turn, and judges whether the product is qualified based on the inspection results, and places the product in different positions for processing. The whole process is automated, saving labor, improving production capacity, speeding up the inspection process, and meeting the efficiency requirements of the production line. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The present invention is further described in detail below based on the accompanying drawings and embodiments.

[0035] Figure 1 It is an overall stereogram of a visual inspection machine for an inner cavity according to an embodiment;

[0036] Figure 2 It is a structural schematic diagram of the detection position in a visual inspection machine for an inner cavity described in an embodiment;

[0037] Figure 3 It is a structural schematic diagram of the feeding mechanism and the discharging mechanism described in the embodiment;

[0038] Figure 4 It is a structural schematic diagram of the end face detection mechanism described in the embodiment;

[0039] Figure 5 It is a first structural schematic diagram of the inner wall detection mechanism and the bottom detection mechanism described in the embodiment;

[0040] Figure 6 A second structural schematic diagram of the inner wall detection mechanism and the bottom detection mechanism described in the embodiment;

[0041] Figure 7 It is a structural schematic diagram of the position of the turntable described in the embodiment;

[0042] Figure 8 It is a structural schematic diagram of the material taking manipulator described in the embodiment;

[0043] Fig. 9 It is a structural schematic diagram of the defective product receiving mechanism described in the embodiment.

[0044] Figures 1 to 9 middle:

[0045] 1. Feeding mechanism; 101. Feeding belt; 102. Feeding motor;

[0046] 2. Discharging mechanism; 201. Discharging belt; 202. Discharging motor;

[0047] 3. Material retrieving manipulator; 301. Third linear module; 302. Material retrieving mounting plate; 303. Horizontal cylinder; 304. Vertical cylinder; 305. Pneumatic gripper;

[0048] 4. Inner wall detection mechanism; 401. First module bracket; 402. First adjustment slide; 403. Inner wall detection camera; 404. First tubular lens; 405. First linear module; 406. First motor; 407. First back plate; 408. First camera cover; 409. First lens cover;

[0049] 5. Bottom detection mechanism; 501. Second module bracket; 502. Second adjustment slide; 503. Bottom detection camera; 504. Second tubular lens; 505. Second linear module; 506. Second motor; 507. Second back plate; 508. Second camera cover; 509. Second lens cover;

[0050] 6. End face detection mechanism; 601. Camera support rod; 602. End face camera; 603. Dome light source; 604. Light source fixing plate;

[0051] 7. Defective product receiving mechanism; 701. Receiver belt track; 702. Receiver motor; 703. Receiver cavity; 704. Receiver baffle; 705. Cavity cylinder; 706. Upper cover plate;

[0052] 8. Rack; 9. Product; 10. Turntable; 11. Fixture set; 12. Material transfer motor; 13. Turntable motor; 14. Rotating shaft; 15. Electric slip ring; 16. Display screen; 17. Control panel; 18. Detection optical fiber. DETAILED DESCRIPTION

[0053] The technical solution of the present invention is further described below with reference to the accompanying drawings and through specific implementation methods.

[0054] like Figures 1 to 9 As shown, in this embodiment, a visual inspection machine for an inner cavity includes a frame 8, a feeding mechanism 1, a discharging mechanism 2, a material picking robot 3, an inner wall detection mechanism 4 and a bottom detection mechanism 5, wherein the feeding mechanism 1 and the discharging mechanism 2 are respectively located on both sides of the frame 8, a turntable 10 is provided in the middle of the frame 8, and a plurality of fixture sleeves 11 are provided on the edge of the turntable 10, and the material picking robot 3 moves between the feeding mechanism 1 and the discharging mechanism 2.

[0055] Specifically, the feeding mechanism 1 is provided with a feeding belt 101 and a feeding motor 102, and the feeding motor 102 drives the feeding belt 101 to rotate; the discharging mechanism 2 is provided with a discharging belt 201 and a discharging motor 202, and the discharging motor 202 drives the discharging belt 201 to rotate.

[0056] A display screen 16 and a control panel 17 are also installed on the rack 8 . The display screen 16 displays the detection image in real time, and the control panel 17 is responsible for controlling the detection process of the rack 8 .

[0057] The feeding motor 102 at the front end controls the feeding belt 101 to drive the product 9 to be input, and the discharging motor 202 at the rear end controls the discharging belt 201 to drive the product 9 to be output.

[0058] The product 9 is placed on the feeding mechanism 1 for loading, the picking robot 3 grabs the product 9 to the jig sleeve 11 of the turntable 10, the turntable 10 drives the jig sleeve 11 to move on the inspection station, the inner wall inspection mechanism 4 and the bottom inspection mechanism 5 respectively perform defect inspection on the inner bottom and inner side wall of the product 9, and finally the picking robot 3 places the intact product 9 on the discharging mechanism 2 for discharging.

[0059] The inner wall detection mechanism 4 includes a first module bracket 401, a first adjustment slide 402, an inner wall detection camera 403 and a first tubular lens 404. The first adjustment slide 402 slides on the first module bracket 401 along the vertical direction, the inner wall detection camera 403 is fixed above the first adjustment slide 402, the upper end of the first tubular lens 404 is connected to the inner wall detection camera 403, and the lower end of the first tubular lens 404 is obliquely installed with a first mirror.

[0060] Specifically, a first linear module 405 and a first motor 406 are disposed on the first module bracket 401 . The first motor 406 is transmission-connected to the first linear module 405 . The first adjustment slide 402 is fixed on the movable end of the first linear module 405 .

[0061] When the turntable 10 brings the product 9 to the bottom of the inner wall detection camera 403, the first motor 406 controls the first linear module 405 to start working, and the first linear module 405 controls the first adjusting slide 402 to move downward, driving the first tubular lens 404 to move down to the inside of the product 9, and performs defect detection on the inner wall of the product 9 through the inclined first mirror, and the inner wall detection camera 403 transmits the digital signal to the back-end computer for collection and processing, and then the first adjusting slide 402 controls the first tubular lens 404 to move upward, so that the turntable 10 can move the inspected product 9 to the next inspection station.

[0062] The bottom detection mechanism 5 includes a second module bracket 501, a second adjustment slide 502, a bottom detection camera 503 and a second tubular lens 504. The second adjustment slide 502 slides on the second module bracket 501 along the vertical direction. The bottom detection camera 503 is fixed above the second adjustment slide 502. The upper end of the second tubular lens 504 is connected to the bottom detection camera 503. The lower end of the second tubular lens 504 is horizontally installed with a second mirror.

[0063] Specifically, the second module bracket 501 is provided with a second linear module 505 and a second motor 506 , the second motor 506 is transmission-connected to the second linear module 505 , and the second adjustment slide 502 is fixed on the movable end of the second linear module 505 .

[0064] When the turntable 10 brings the product 9 to the bottom of the bottom detection camera 503, the second motor 506 controls the second linear module 505 to start working, and the second linear module 505 controls the second adjustment slide 502 to move downward, driving the second tubular lens 504 to move down to the inside of the product 9, and performs defect detection on the bottom of the product 9 through the horizontally set second mirror, and the bottom detection camera 503 transmits the digital signal to the back-end computer for collection and processing, and then the second adjustment slide 502 controls the second tubular lens 504 to move upward, so that the turntable 10 can move the inspected product 9 to the unloading station.

[0065] A first back plate 407 is installed on the first adjustment slide 402, the inner wall detection camera 403 is located at the upper end of the first back plate 407, a first camera cover 408 is fixed on the first back plate 407, the first tubular lens 404 is located inside the first camera cover 408, and the lower end of the first camera cover 408 is connected to the first lens cover 409.

[0066] A second back plate 507 is installed on the second adjustment slide 502, the bottom detection camera 503 is located at the upper end of the second back plate 507, a second camera cover 508 is fixed on the second back plate 507, the second tubular lens 504 is located inside the second camera cover 508, and the lower end of the second camera cover 508 is connected to a second lens cover 509.

[0067] The first camera cover 408 and the second camera cover 508 protect the inner wall detection camera 403 and the bottom detection camera 503 respectively, and the first lens cover 409 and the second lens cover 509 protect the first tubular lens 404 and the second tubular lens 504 respectively.

[0068] An end face detection mechanism 6 is also provided on the frame 8, and the end face detection mechanism 6 includes a camera support rod 601, an end face camera 602 and a dome light source 603. The camera support rod 601 is fixed on the frame 8, the end face camera 602 is fixed on the top of the camera support rod 601, and a light source fixing plate 604 is installed at the lower end of the camera support rod 601, and the dome light source 603 is fixed on the light source fixing plate 604.

[0069] Before inspecting the inner wall and bottom of product 9, the end face of product 9 also needs to be inspected. The dome light source 603 illuminates the end face of product 9, and then the end face camera 602 accurately captures the end face image, and the computer subsequently processes the captured end face data.

[0070] A material transfer motor 12 is installed at the lower end of the turntable 10 , and a driving end of the material transfer motor 12 is connected to the fixture sleeve 11 , and a magnet is also installed on the fixture sleeve 11 .

[0071] During the detection process, the magnet adsorbs and fixes the product 9, and the material transfer motor 12 controls the fixture sleeve 11 to rotate at a certain angle, so that the lens can detect various positions in the product 9.

[0072] A turntable motor 13 is disposed at the lower end of the frame 8 , a driving end of the turntable motor 13 is connected to a rotating shaft 14 , an outer side of the rotating shaft 14 is sleeved with an electric slip ring 15 , and an upper end of the rotating shaft 14 is connected to the middle of the turntable 10 .

[0073] When moving from a previous station to a next station, the turntable motor 13 works, driving the turntable 10 to rotate through the rotating shaft 14, and the fixture sleeve 11 on the turntable 10 moves to a suitable station accordingly.

[0074] The material picking robot 3 includes a third linear module 301, a material picking mounting plate 302, a horizontal cylinder 303, a vertical cylinder 304 and a pneumatic clamp 305. The material picking mounting plate 302 is installed on the movable end of the third linear module 301, the horizontal cylinder 303 is fixed on the material picking mounting plate 302, the vertical cylinder 304 is fixed on the driving end of the horizontal cylinder 303, and the pneumatic clamp 305 is fixed on the driving end of the vertical cylinder 304.

[0075] Moreover, a detection optical fiber 18 is disposed on one side of the turntable 10 , and the detection optical fiber 18 is fixed on the frame 8 .

[0076] No matter the product 9 moves from the feeding mechanism 1 to the turntable 10 or from the turntable 10 to the discharging mechanism 2, it is operated by the material taking robot 3, the third linear module 301 moves in the X-axis direction, the horizontal cylinder 303 moves in the Y-axis direction, the vertical cylinder 304 moves in the Z-axis direction, and the pneumatic clamp 305 clamps and grasps the outer surface of the product 9, and the action starts when the detection optical fiber 18 detects the product 9.

[0077] The frame 8 is also provided with a defective product receiving mechanism 7, and the defective product receiving mechanism 7 includes a receiving belt track 701, a receiving motor 702 and a receiving chamber 703. The receiving chamber 703 is located on the receiving belt track 701, and the receiving motor 702 is connected to the receiving belt track 701 by belt transmission. A receiving baffle 704 is provided at the end of the receiving chamber 703, and a cavity cylinder 705 is provided on one side of the receiving chamber 703. An upper cover plate 706 is hinged above the receiving chamber 703, and a driving end of the cavity cylinder 705 is inserted into one side of the upper cover plate 706.

[0078] During the inspection process, if any of the end face, inner wall or bottom of the product 9 is found to have defects, the material picking robot 3 places the product 9 at the front end of the material receiving belt track 701, and the material receiving motor 702 controls the rotation of the material receiving belt track 701 to move the product 9 to the end of the material receiving belt track 701, where it is blocked by the material receiving baffle 704. When the cavity cylinder 705 contracts, the upper cover 706 can be opened to remove the defective products from above.

[0079] The specific detection methods are as follows:

[0080] The product 9 is manually placed at the front end of the feeding mechanism 1, and the feeding mechanism 1 moves the product 9 to the end of the feeding mechanism 1;

[0081] The material taking robot 3 grabs the product 9 from the end of the feeding mechanism 1 and places it at the first station on the turntable 10;

[0082] The turntable 10 rotates to move the product 9 from the first station to the second station;

[0083] The end surface detection mechanism 6 performs end surface detection on the product 9;

[0084] The turntable 10 rotates to move the product 9 from the second station to the third station;

[0085] The inner wall detection mechanism 4 extends the first tubular lens 404 into the interior of the product 9 to detect the inner wall of the product 9;

[0086] The turntable 10 rotates to move the product 9 from the second station to the third station;

[0087] The bottom detection mechanism 5 extends the second tubular lens 504 into the interior of the product 9 to perform bottom detection on the product 9;

[0088] The turntable 10 rotates to move the product 9 from the third station to the first station;

[0089] The material taking robot 3 places the qualified product 9 at the front end of the material discharging mechanism 2, and the material taking robot 3 places the unqualified product 9 at the front end of the defective product receiving mechanism 7;

[0090] The discharging mechanism 2 moves the qualified products 9 from the front end of the discharging mechanism 2 to the end of the discharging mechanism 2 , and the defective product receiving mechanism 7 moves the unqualified products 9 from the front end of the defective product receiving mechanism 7 to the end of the defective product receiving mechanism 7 .

[0091] It should be stated that the above-mentioned specific implementation methods are only preferred embodiments of the present invention and the technical principles used. Within the technical scope disclosed by the present invention, any changes or substitutions that can be easily thought of by technicians familiar with this technical field should be included in the protection scope of the present invention.

Claims

1. A visual inspection machine for inner cavities, characterized in that: It includes a frame, a feeding mechanism, a discharging mechanism, a material taking manipulator, an inner wall detection mechanism and a bottom detection mechanism. The feeding mechanism and the discharging mechanism are respectively located on both sides of the frame. A turntable is arranged in the middle of the frame. A plurality of fixture sleeves are arranged on the edge of the turntable. A material transfer motor is installed at the lower end of the turntable. The driving end of the material transfer motor is connected to the fixture sleeve. A magnet is also installed on the fixture sleeve. The material taking manipulator moves between the feeding mechanism and the discharging mechanism. The inner wall detection mechanism includes a first module bracket, a first adjustment slide, an inner wall detection camera and a first tubular lens, wherein the first adjustment slide slides on the first module bracket along a vertical direction, the inner wall detection camera is fixed above the first adjustment slide, the upper end of the first tubular lens is connected to the inner wall detection camera, and the lower end of the first tubular lens is obliquely installed with a first mirror; The bottom detection mechanism includes a second module bracket, a second adjustment slide, a bottom detection camera and a second tubular lens, wherein the second adjustment slide slides on the second module bracket along a vertical direction, the bottom detection camera is fixed above the second adjustment slide, the upper end of the second tubular lens is connected to the bottom detection camera, and the lower end of the second tubular lens is horizontally mounted with a second mirror; The frame is also provided with an end face detection mechanism, which includes a camera support rod, an end face camera and a dome light source. The camera support rod is fixed on the frame, the end face camera is fixed on the top of the camera support rod, a light source fixing plate is installed at the lower end of the camera support rod, and the dome light source is fixed on the light source fixing plate.

2. The inner cavity visual inspection machine according to claim 1, characterized in that: The first module bracket is provided with a first linear module and a first motor, the first motor is transmission-connected to the first linear module, and the first adjustment slide is fixed on the movable end of the first linear module; The second module bracket is provided with a second linear module and a second motor, the second motor is transmission-connected to the second linear module, and the second adjustment slide is fixed on the movable end of the second linear module.

3. The visual inspection machine for inner cavity according to claim 1, characterized in that: A first back plate is installed on the first adjustment slide, the inner wall detection camera is located at the upper end of the first back plate, a first camera cover is fixed on the first back plate, the first tubular lens is located inside the first camera cover, and a first lens cover is connected to the lower end of the first camera cover; A second back plate is installed on the second adjustment slide, the bottom detection camera is located at the upper end of the second back plate, a second camera cover is fixed on the second back plate, the second tubular lens is located inside the second camera cover, and a second lens cover is connected to the lower end of the second camera cover.

4. The visual inspection machine for inner cavity according to claim 1, characterized in that: A turntable motor is arranged at the lower end of the frame, a driving end of the turntable motor is connected with a rotating shaft, an electric slip ring is sleeved on the outer side of the rotating shaft, and the upper end of the rotating shaft is connected to the middle part of the turntable.

5. The inner cavity visual inspection machine according to claim 1, characterized in that: The feeding mechanism is provided with a feeding belt and a feeding motor, and the feeding motor drives the feeding belt to rotate; the discharging mechanism is provided with a discharging belt and a discharging motor, and the discharging motor drives the discharging belt to rotate.

6. The inner cavity visual inspection machine according to claim 1, characterized in that: The material picking robot includes a third linear module, a material picking mounting plate, a horizontal cylinder, a vertical cylinder and a pneumatic clamp. The material picking mounting plate is installed on the movable end of the third linear module, the horizontal cylinder is fixed on the material picking mounting plate, the vertical cylinder is fixed on the driving end of the horizontal cylinder, and the pneumatic clamp is fixed on the driving end of the vertical cylinder.

7. The inner cavity visual inspection machine according to claim 1, characterized in that: The frame is also provided with a defective product receiving mechanism, which includes a receiving belt track, a receiving motor and a receiving chamber. The receiving chamber is located on the receiving belt track, and the receiving motor is connected to the receiving belt track by a belt transmission. A receiving baffle is provided at the end of the receiving chamber, a chamber cylinder is provided on one side of the receiving chamber, an upper cover plate is hinged above the receiving chamber, and a driving end of the chamber cylinder is inserted into one side of the upper cover plate.

8. A method for detecting an inner cavity of a visual inspection machine for an inner cavity as claimed in any one of claims 1 to 7, characterized in that: The following steps are involved: The product is manually placed at the front end of the feeding mechanism, and the feeding mechanism moves the product to the end of the feeding mechanism; The material taking robot grabs the product from the end of the feeding mechanism and places it in the first station on the turntable; The turntable rotates to move the product from the first station to the second station; The end face detection mechanism performs end face detection on the product; The turntable rotates to move the product from the second station to the third station; The inner wall detection mechanism extends the first tubular lens into the interior of the product to detect the inner wall of the product; The turntable rotates to move the product from the second station to the third station; The bottom detection mechanism extends the second tubular lens into the interior of the product to perform bottom detection on the product; The turntable rotates to move the product from the third station to the first station; The retrieving robot places qualified products at the front end of the discharging mechanism, and the retrieving robot places unqualified products at the front end of the defective product receiving mechanism; The discharging mechanism moves qualified products from the front end of the discharging mechanism to the end of the discharging mechanism, and the defective product receiving mechanism moves unqualified products from the front end of the defective product receiving mechanism to the end of the defective product receiving mechanism.

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