Machine vision inspection and recognition device for intelligent manufacturing equipment and its usage method

Abstract

The present invention belongs to the field of visual inspection, especially a machine vision inspection and recognition device for intelligent manufacturing equipment. Aiming at the problem that the existing device can only inspect products one by one, and when inspecting products on the assembly line, it cannot work continuously and requires manual assistance, thus increasing labor costs and reducing efficiency, and being inconvenient to use. The following solution is now proposed. It includes a bottom plate, a side plate is fixedly connected to the top of the bottom plate, a top plate is fixedly connected to one side of the side plate, and two cameras are fixedly connected to the bottom of the top plate. In the present invention, by setting a clamping component to automatically clamp the object, and using the gravity of the object to drive the circular plate to rotate. At the same time, through the cooperation of the arc-shaped plate and the placement plate, it can help the second push plate move to directly below the next rectangular hole, facilitating continuous use, and can also automatically distinguish the quality of the object, which is convenient to use.

Description

Technical Field

[0001] The present invention relates to the technical field of visual detection, and particularly to a machine vision detection and recognition device for intelligent manufacturing equipment and a using method thereof. Background Technique

[0002] Visual detection is to use a machine to replace the human eye for measurement and judgment. Visual detection refers to converting the captured target into an image signal through a machine vision product (i.e., an image acquisition device, which is divided into two types: CMOS and CCD), and transmitting it to a dedicated image processing system. According to the pixel distribution, brightness, color and other information, it is converted into a digital signal; the image system performs various operations on these signals to extract the features of the target, and then controls the on-site equipment actions according to the discrimination results. It is a valuable mechanism for production, assembly or packaging. It has inestimable value in the function of detecting defects and preventing defective products from being delivered to consumers.

[0003] The invention with the publication number of CN106331443B belongs to a control cabinet for visual detection, which is used for graphic acquisition, processing and detection of products on a production line. It integrates three parts: a control cabinet, an intelligent camera bracket and a dual-camera intelligent camera, and can be relocated as a whole. The dual-camera intelligent camera acquires image information and transmits it to the control cabinet through an interface line for image processing and analysis, and finally displays it on a monitor. The control cabinet includes a vision controller, a monitor, and a keyboard device of the control cabinet body, realizing image processing and display functions. The intelligent camera bracket includes a gear-rack mechanism, a hinge mechanism and a spherical joint structure, realizing the adjustment of the shooting position and direction of the intelligent camera. The present invention has the characteristics of relatively high reliability, sensitive braking reaction, fewer deceleration mechanisms, and less space occupation.

[0004] A control cabinet for visual detection only provides the function of how to realize graphic acquisition, processing and detection, and can only detect products one by one. When detecting products on a production line, it cannot work continuously and requires manual assistance, thereby increasing labor costs and reducing efficiency at the same time. It is inconvenient to use and cannot meet the existing production requirements. Therefore, we propose a machine vision detection and recognition device for intelligent manufacturing equipment and a using method thereof to solve the above-mentioned problems. Summary of the Invention

[0005] The purpose of the present invention is to solve the disadvantages in the prior art that it can only detect products one by one. When detecting products on a production line, it cannot work continuously and requires manual assistance, thereby increasing labor costs and reducing efficiency at the same time, and it is inconvenient to use, and to propose a machine vision detection and recognition device for intelligent manufacturing equipment.

[0006] In order to achieve the above purpose, the present invention adopts the following technical solutions:

[0007] The machine vision detection and recognition device for intelligent manufacturing equipment includes a bottom plate, on the top of which a side plate is fixedly connected. On one side of the side plate, a top plate is fixedly connected. At the bottom of the top plate, two cameras are fixedly connected. At the bottom of the top plate, a discharging component for discharging materials is arranged.

[0008] On the top of the bottom plate, a second rotating shaft is rotatably connected. At the top of the second rotating shaft, an overrunning clutch is arranged. At the other end of the overrunning clutch, a first rotating shaft is arranged. At the top of the first rotating shaft, a circular plate is rotatably connected. Inside the circular plate, a plurality of rectangular holes are opened. Inside the rectangular holes, a clamping component for clamping objects is arranged.

[0009] On the top of the bottom plate, a driving component for driving the second rotating shaft to rotate is arranged.

[0010] Preferably, the discharging component includes a fixed rod fixedly connected to the bottom of the top plate. On the outer wall of the fixed rod, two electric push rods are fixedly connected. The piston rod of the electric push rod is fixedly connected with a first push plate. On one side of the side plate, an annular plate is fixedly connected, which is used to realize the discharging function.

[0011] Preferably, the clamping component includes a fixing plate fixedly connected to the inner wall of one side of the rectangular hole. On one side of the fixing plate, a first sliding groove is opened. On the inner wall of the first sliding groove, a first sliding block is fixedly connected. Between the bottom of the first sliding block and the inner wall of the bottom of the first sliding groove, the same second spring is fixedly connected. One end of the first sliding block is fixedly connected with a placing plate. On one side of the fixing plate, two symmetrically arranged second installation grooves are opened. Inside the second installation groove, a second sliding plate is slidably connected. Between the side of the second sliding plate and the inner wall of one side of the second installation groove, the same compression spring is fixedly connected. On one side of the second sliding plate, a clamping plate is fixedly connected, which is used to clamp objects.

[0012] Preferably, the driving component includes a fixed block fixedly connected to the top of the bottom plate. A rotating rod is rotatably penetrated through the inner wall of the fixed block. At both ends of the rotating rod, a spur gear and a second bevel gear are respectively fixedly connected. On one side of the fixed block, a rack is slidably connected. Between the bottom of the rack and the top of the bottom plate, the same first spring is fixedly connected. The rack is engaged with the spur gear. On the top of the rack, a second push plate is fixedly connected. The second push plate is used in cooperation with the placing plate. On the outer wall of the second rotating shaft, a first bevel gear meshing with the second bevel gear is fixedly sleeved, which is used to drive the second rotating shaft to rotate.

[0013] Preferably, a plurality of bumps adapted to the rectangular holes penetrate through the side surface of the circular plate. One end of each bump is fixedly connected with a limiting block, and a same tension spring is fixedly connected between one side of the limiting block and one side of the circular plate. A clamping groove engaged with the bumps is formed in one side of the placing plate for braking the bumps and the clamping grooves.

[0014] Preferably, a cross plate is fixedly connected to one side of the side plate, and a triangular block adapted to the limiting block is fixedly connected to the top of the cross plate for releasing the braking state of the bumps and the clamping grooves.

[0015] Preferably, a plurality of arc grooves are formed in the bottom of the circular plate. A connecting block is fixedly connected to one side of the placing plate, and an arc plate adapted to the arc grooves is fixedly connected to one side of the connecting block for helping the second push plate move to directly below the next rectangular hole.

[0016] A method for using a machine vision detection and recognition device for intelligent manufacturing equipment specifically includes the following steps:

[0017] S1. During use, the manipulator clamps and places the object on the placing plate. The gravity of the object drives the placing plate to move vertically downward. At this time, the placing plate drives the first sliding block to move vertically downward and compress the second spring. When the placing plate moves to the lowest point, the two second sliding plates move horizontally under the elastic force of the compression spring. The two second sliding plates drive the two clamping plates to approach each other and clamp the object. At the same time, the clamping groove and the bump are engaged to prevent the second spring from rebounding.

[0018] S2. When the placing plate descends, it also pushes the second push plate to move vertically downward. The second push plate drives the rack to move vertically downward and compress the first spring. At this time, the rack drives the spur gear to rotate. The spur gear drives the rotating rod to rotate. The rotating rod drives the second bevel gear to rotate. The second bevel gear drives the first bevel gear to rotate. The first bevel gear drives the second rotating shaft to rotate. The second rotating shaft drives the first rotating shaft to rotate, thereby driving the circular plate to rotate. At this time, the placing plate drives the connecting block and the arc plate to continuously rotate during the vertical downward movement until the placing plate is limited.

[0019] S3. At this time, the placing plate is no longer in contact with the second push plate. At the same time, the arc plate contacts the top surface of the second push plate. Since the bottom surface of the arc plate is inclined, the second push plate moves vertically upward under the elastic force of the first spring, and thus can continue to drive the circular plate to rotate along the bottom surface of the arc plate until the second push plate moves to directly below the next rectangular hole. The setting of the overrunning clutch will not cause the circular plate to reverse.

[0020] S4. The camera detects the object. When the placement plate carrying the object rotates to one side of the side plate, the limit block moves horizontally along the inclined surface of the cross plate, and then the tension spring is stretched, releasing the engagement state between the convex block and the card slot. One side of the annular plate is inclined, and the object and the placement plate can move upward along the annular plate until they move to the initial state. The two electric push rods respectively push the good objects and the bad objects out from different positions, which is convenient for collection.

[0021] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0022] 1. When in use, the manipulator clamps and places the object on the placement plate. The gravity of the object drives the placement plate to move vertically downward. At this time, the placement plate drives the first sliding block to move vertically downward and compress the second spring. When the placement plate moves to the lowest point, the two second sliding plates move horizontally under the elastic force of the compression spring. The two second sliding plates drive the two clamping plates to approach each other and clamp the object. At the same time, the card slot and the convex block are engaged to prevent the second spring from rebounding.

[0023] 2. When the placement plate descends, it also pushes the second push plate to move vertically downward. The second push plate drives the rack to move vertically downward and compress the first spring. At this time, the rack drives the spur gear to rotate. The spur gear drives the rotating rod to rotate. The rotating rod drives the second bevel gear to rotate. The second bevel gear drives the first bevel gear to rotate. The first bevel gear drives the second rotating shaft to rotate. The second rotating shaft drives the first rotating shaft to rotate, and then drives the circular plate to rotate. At this time, the placement plate drives the connecting block and the arc plate to continuously rotate during the vertical downward movement until the placement plate is limited.

[0024] 3. At this time, the placement plate no longer contacts the second push plate. At the same time, the arc plate contacts the top surface of the second push plate. Since the bottom surface of the arc plate is inclined, the second push plate moves vertically upward under the elastic force of the first spring, and then can continue to drive the circular plate to rotate along the bottom surface of the arc plate until the second push plate moves to directly below the next rectangular hole. The setting of the overrunning clutch will not cause the circular plate to reverse.

[0025] 4. The camera detects the object. When the placement plate carrying the object rotates to one side of the side plate, the limit block moves horizontally along the inclined surface of the cross plate, and then the tension spring is stretched, releasing the engagement state between the convex block and the card slot. One side of the annular plate is inclined, and the object and the placement plate can move upward along the annular plate until they move to the initial state. The two electric push rods respectively push the good objects and the bad objects out from different positions, which is convenient for collection.

[0026] In the present invention, by setting the clamping assembly to automatically clamp the object, and using the gravity of the object to drive the circular plate to rotate. At the same time, through the cooperation of the arc plate and the placement plate, it can help the second push plate move to directly below the next rectangular hole, which is convenient for continuous use and can automatically distinguish the quality of the object, making it convenient to use. Brief Description of the Drawings

[0027] Figure 1 It is a three-dimensional structural schematic diagram of the machine vision detection and recognition device for intelligent manufacturing equipment proposed by the present invention;

[0028] Figure 2 It is a three-dimensional structural schematic diagram of the electric push rod in the present invention;

[0029] Figure 3 It is a structural schematic diagram of the first bevel gear and the second bevel gear in the present invention;

[0030] Figure 4 It is a three-dimensional structural schematic diagram of the circular plate and the clamping plate in the present invention;

[0031] Figure 5 It is a bottom view structural schematic diagram of the circular plate in the present invention;

[0032] Figure 6 It is an exploded structural schematic diagram of the placing plate and the clamping plate in the present invention;

[0033] Figure 7 It is a structural schematic diagram of the arc plate in the present invention.

[0034] In the figure: 1, bottom plate; 2, circular plate; 3, first rotating shaft; 4, side plate; 5, top plate; 6, camera; 7, clamping plate; 8, fixing plate; 9, spur gear; 10, rack; 11, first spring; 12, fixing block; 13, second rotating shaft; 14, first bevel gear; 15, electric push rod; 16, fixing rod; 17, first push plate; 18, second push plate; 19, overrunning clutch; 20, rotating rod; 21, second bevel gear; 22, placing plate; 23, annular plate; 24, cross plate; 25, triangular block; 26, limiting block; 27, tension spring; 28, arc groove; 29, rectangular hole; 30, convex block; 31, clamping groove; 32, first sliding block; 33, first sliding groove; 34, second spring; 35, compression spring; 36, second sliding plate; 37, second installation groove; 38, connecting block; 39, arc plate. Detailed Embodiments

[0035] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments.

[0036] Embodiment 1

[0037] Refer to Figures 1-7, A machine vision detection and recognition device for intelligent manufacturing equipment, including a bottom plate 1. A side plate 4 is fixedly connected to the top of the bottom plate 1. A top plate 5 is fixedly connected to one side of the side plate 4. Two cameras 6 are fixedly connected to the bottom of the top plate 5. A discharging assembly for discharging is arranged at the bottom of the top plate 5;

[0038] A second rotating shaft 13 is rotatably connected to the top of the bottom plate 1. An overrunning clutch 19 is arranged at the top of the second rotating shaft 13. The other end of the overrunning clutch 19 is provided with a first rotating shaft 3. The top of the first rotating shaft 3 is rotatably connected to a circular plate 2. A plurality of rectangular holes 29 are formed inside the circular plate 2. A clamping assembly for clamping objects is arranged inside the rectangular holes 29;

[0039] A driving assembly for driving the second rotating shaft 13 to rotate is arranged at the top of the bottom plate 1.

[0040] Embodiment 2

[0041] Refer to Figures 1-7 , A machine vision detection and recognition device for intelligent manufacturing equipment, including a bottom plate 1. A side plate 4 is fixedly connected to the top of the bottom plate 1. A top plate 5 is fixedly connected to one side of the side plate 4. Two cameras 6 are fixedly connected to the bottom of the top plate 5. A discharging assembly for discharging is arranged at the bottom of the top plate 5. The discharging assembly includes a fixed rod 16 fixedly connected to the bottom of the top plate 5. Two electric push rods 15 are fixedly connected to the outer wall of the fixed rod 16. The piston rod of the electric push rod 15 is fixedly connected to a first push plate 17. An annular plate 23 is fixedly connected to one side of the side plate 4, for realizing the discharging function;

[0042] A second rotating shaft 13 is rotatably connected to the top of the bottom plate 1. An overrunning clutch 19 is arranged at the top of the second rotating shaft 13. The other end of the overrunning clutch 19 is provided with a first rotating shaft 3. The top of the first rotating shaft 3 is rotatably connected to a circular plate 2. A plurality of rectangular holes 29 are formed inside the circular plate 2. A clamping assembly for clamping objects is arranged inside the rectangular holes 29. The clamping assembly includes a fixing plate 8 fixedly connected to one side inner wall of the rectangular hole 29. A first sliding groove 33 is formed on one side of the fixing plate 8. A first sliding block 32 is fixedly connected to the inner wall of the first sliding groove 33. The same second spring 34 is fixedly connected between the bottom of the first sliding block 32 and the bottom inner wall of the first sliding groove 33. One end of the first sliding block 32 is fixedly connected to a placing plate 22. Two symmetrically arranged second installation grooves 37 are formed on one side of the fixing plate 8. A second sliding plate 36 is slidably connected to the inner wall of the second installation groove 37. The same compression spring 35 is fixedly connected between one side of the second sliding plate 36 and one side inner wall of the second installation groove 37. A clamping plate 7 is fixedly connected to one side of the second sliding plate 36, for clamping objects;

[0043] A driving assembly for driving the rotation of the second rotating shaft 13 is provided at the top of the bottom plate 1. The driving assembly includes a fixed block 12 fixedly connected to the top of the bottom plate 1. A rotating rod 20 is rotatably penetrated through the inner wall of the fixed block 12. A spur gear 9 and a second bevel gear 21 are respectively fixedly connected to both ends of the rotating rod 20. A rack 10 is slidably connected to one side of the fixed block 12. A same first spring 11 is fixedly connected between the bottom of the rack 10 and the top of the bottom plate 1. The rack 10 meshes with the spur gear 9. A second push plate 18 is fixedly connected to the top of the rack 10. The second push plate 18 is used in cooperation with the placing plate 22. A first bevel gear 14 meshing with the second bevel gear 21 is fixedly sleeved on the outer wall of the second rotating shaft 13 for driving the rotation of the second rotating shaft 13. A plurality of bumps 30 cooperating with the rectangular holes 29 are slidably penetrated through the side surface of the circular plate 2. A limiting block 26 is fixedly connected to one end of the bump 30. A same tension spring 27 is fixedly connected between one side of the limiting block 26 and one side of the circular plate 2. A clamping groove 31 engaging with the bump 30 is formed on one side of the placing plate 22 for realizing the braking of the bump 30 and the clamping groove 31. A cross plate 24 is fixedly connected to one side of the side plate 4. A triangular block 25 cooperating with the limiting block 26 is fixedly connected to the top of the cross plate 24 for releasing the braking state of the bump 30 and the clamping groove 31. A plurality of arc grooves 28 are formed at the bottom of the circular plate 2. A connecting block 38 is fixedly connected to one side of the placing plate 22. An arc plate 39 cooperating with the arc groove 28 is fixedly connected to one side of the connecting block 38 for helping the second push plate 18 to move to directly below the next rectangular hole 29.

[0044] The using method of the machine vision detection and recognition device for intelligent manufacturing equipment specifically includes the following steps:

[0045] S1. During use, the manipulator clamps and places the object on the placing plate 22. The gravity of the object drives the placing plate 22 to move vertically downward. At this time, the placing plate 22 drives the first sliding block 32 to move vertically downward and compress the second spring 34. When the placing plate 22 moves to the lowest point, the two second sliding plates 36 move horizontally under the elastic force of the compression spring 35. The two second sliding plates 36 drive the two clamping plates 7 to approach each other and clamp the object. At the same time, the clamping groove 31 engages with the bump 30 to prevent the second spring 34 from rebounding;

[0046] S2. When the placement plate 22 descends, it also pushes the second push plate 18 to move vertically downward. The second push plate 18 drives the rack 10 to move vertically downward and compress the first spring 11. At this time, the rack 10 drives the spur gear 9 to rotate, the spur gear 9 drives the rotating rod 20 to rotate, the rotating rod 20 drives the second bevel gear 21 to rotate, the second bevel gear 21 drives the first bevel gear 14 to rotate, the first bevel gear 14 drives the second rotating shaft 13 to rotate, and the second rotating shaft 13 drives the first rotating shaft 3 to rotate, thereby driving the circular plate 2 to rotate. At this time, the placement plate 22 drives the connecting block 38 and the arc plate 39 to continuously rotate during the vertical downward movement until the placement plate 22 is limited;

[0047] S3. At this time, the placement plate 22 is no longer in contact with the second push plate 18. At the same time, the arc plate 39 is in contact with the top surface of the second push plate 18. Since the bottom surface of the arc plate 39 is inclined, the second push plate 18 moves vertically upward under the elastic force of the first spring 11, and thus can continue to drive the circular plate 2 to rotate along the bottom surface of the arc plate 39 until the second push plate 18 moves to directly below the next rectangular hole 29. The setting of the overrunning clutch 19 will not cause the circular plate 2 to reverse;

[0048] S4. The camera 6 detects the object. When the placement plate 22 carrying the object rotates to one side of the side plate 4, the limit block 26 moves horizontally along the inclined surface of the cross plate 24, and thus the tension spring 27 is stretched, releasing the engagement state between the convex block 30 and the card slot 31. One side of the annular plate 23 is inclined, and the object and the placement plate 22 can move upward along the annular plate 23 until they move to the initial state. The two electric push rods 15 respectively push the good objects and the bad objects out from different positions, which is convenient for collection.

[0049] However, as is well known to those skilled in the art, the working principles and wiring methods of the electric push rod 15 and the camera 6 are common knowledge, and they both belong to conventional means or well-known common sense, so they will not be elaborated here. Those skilled in the art can make arbitrary selections according to their needs or convenience.

[0050] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution of the present invention and its inventive concept, makes equivalent substitutions or changes, and should be covered by the protection scope of the present invention.

Claims

1. A machine vision detection and recognition device for intelligent manufacturing equipment, comprising a bottom plate (1), characterized in that, a side plate (4) is fixedly connected to the top of the bottom plate (1), a top plate (5) is fixedly connected to one side of the side plate (4), two cameras (6) are fixedly connected to the bottom of the top plate (5), and a discharging assembly for discharging materials is arranged at the bottom of the top plate (5); a second rotating shaft (13) is rotatably connected to the top of the bottom plate (1), an overrunning clutch (19) is arranged at the top of the second rotating shaft (13), a first rotating shaft (3) is arranged at the other end of the overrunning clutch (19), a circular plate (2) is rotatably connected to the top of the first rotating shaft (3), a plurality of rectangular holes (29) are formed in the circular plate (2), and a clamping assembly for clamping objects is arranged in the rectangular holes (29); a driving assembly for driving the second rotating shaft (13) to rotate is arranged at the top of the bottom plate (1). The driving assembly includes a fixed block (12) fixedly connected to the top of the bottom plate (1). A rotating rod (20) rotatably penetrates through the inner wall of the fixed block (12). A spur gear (9) and a second bevel gear (21) are respectively fixedly connected to both ends of the rotating rod (20). A rack (10) is slidably connected to one side of the fixed block (12). A same first spring (11) is fixedly connected between the bottom of the rack (10) and the top of the bottom plate (1). The rack (10) is engaged with the spur gear (9). A second push plate (18) is fixedly connected to the top of the rack (10). The second push plate (18) is used in cooperation with a placing plate (22). A first bevel gear (14) meshing with the second bevel gear (21) is fixedly sleeved on the outer wall of the second rotating shaft (13). A plurality of arc grooves (28) are formed in the bottom of the circular plate (2). A connecting block (38) is fixedly connected to one side of the placing plate (22). An arc plate (39) cooperating with the arc groove (28) is fixedly connected to one side of the connecting block (38) for helping the second push plate (18) to move to directly below the next rectangular hole (29).

2. The machine vision detection and recognition device for intelligent manufacturing equipment according to claim 1, characterized in that, the discharging assembly includes a fixed rod (16) fixedly connected to the bottom of the top plate (5). Two electric push rods (15) are fixedly connected to the outer wall of the fixed rod (16). A first push plate (17) is fixedly connected to the piston rod of the electric push rod (15). An annular plate (23) is fixedly connected to one side of the side plate (4).

3. The machine vision detection and recognition device for intelligent manufacturing equipment according to claim 1, characterized in that, The clamping assembly includes a fixing plate (8) fixedly connected to the inner wall of one side of a rectangular hole (29). A first sliding groove (33) is formed in one side of the fixing plate (8). A first sliding block (32) is fixedly connected to the inner wall of the first sliding groove (33). A same second spring (34) is fixedly connected between the bottom of the first sliding block (32) and the inner wall of the bottom of the first sliding groove (33). One end of the first sliding block (32) is fixedly connected to a placing plate (22). Two symmetrically arranged second mounting grooves (37) are formed in one side of the fixing plate (8). A second sliding plate (36) is slidably connected to the inner wall of the second mounting groove (37). A same compression spring (35) is fixedly connected between one side of the second sliding plate (36) and the inner wall of one side of the second mounting groove (37). A clamping plate (7) is fixedly connected to one side of the second sliding plate (36).

4. The machine vision detection and recognition device for intelligent manufacturing equipment according to claim 3, wherein, A plurality of convex blocks (30) that cooperate with the rectangular hole (29) slidably penetrate through the side surface of the circular plate (2). One end of the convex block (30) is fixedly connected to a limiting block (26). A same tension spring (27) is fixedly connected between one side of the limiting block (26) and one side of the circular plate (2). A clamping groove (31) that is engaged with the convex block (30) is formed in one side of the placing plate (22).

5. The machine vision detection and recognition device for intelligent manufacturing equipment according to claim 1, wherein, A cross plate (24) is fixedly connected to one side of the side plate (4). A triangular block (25) that cooperates with the limiting block (26) is fixedly connected to the top of the cross plate (24).

6. The usage method of the machine vision detection and recognition device for intelligent manufacturing equipment according to any one of claims 1-5, wherein, specifically includes the following steps: S1. The manipulator clamps and places an object on the placing plate (22). The gravity of the object drives the placing plate (22) to move vertically downward. At this time, the placing plate (22) drives the first sliding block (32) to move vertically downward and compress the second spring (34). When the placing plate (22) moves to the lowest point, the two second sliding plates (36) move horizontally under the elastic force of the compression spring (35). The two second sliding plates (36) drive the two clamping plates (7) to approach each other and clamp the object. At the same time, the clamping groove (31) is engaged with the convex block (30). S2. When the placement plate (22) descends, it also pushes the second push plate (18) to move vertically downward. The second push plate (18) drives the rack (10) to move vertically downward and compress the first spring (11). At this time, the rack (10) drives the spur gear (9) to rotate, the spur gear (9) drives the rotating rod (20) to rotate, the rotating rod (20) drives the second bevel gear (21) to rotate, the second bevel gear (21) drives the first bevel gear (14) to rotate, the first bevel gear (14) drives the second rotating shaft (13) to rotate, the second rotating shaft (13) drives the first rotating shaft (3) to rotate, and then drives the circular plate (2) to rotate. At this time, the placement plate (22) drives the connecting block (38) and the arc plate (39) to continuously rotate during the vertical downward movement until the placement plate (22) is limited; S3. At this time, the placement plate (22) no longer contacts the second push plate (18). At the same time, the arc plate (39) contacts the top surface of the second push plate (18). Since the bottom surface of the arc plate (39) is inclined, the second push plate (18) moves vertically upward under the elastic force of the first spring (11), and then can continue to drive the circular plate (2) to rotate along the bottom surface of the arc plate (39) until the second push plate (18) moves to directly below the next rectangular hole (29). The setting of the overrunning clutch (19) will not cause the circular plate (2) to reverse; S4. The camera (6) detects the object. When the placement plate (22) carrying the object rotates to one side of the side plate (4), the limit block (26) moves horizontally along the inclined surface of the cross plate (24), and then the tension spring (27) is stretched, releasing the clamping state between the convex block (30) and the clamping groove (31). One side of the annular plate (23) is inclined, and the object and the placement plate (22) can move upward along the annular plate (23) until they return to the initial state. The two electric push rods (15) respectively push the good object and the bad object out from different positions.

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