An automated visual inspection device for automotive castings

Abstract

The present invention provides an automated visual inspection device for automotive castings, including a conveying bracket, a detection device is fixed on one side of the conveying bracket, a mechanical gripper for clamping the casting is fixed inside the conveying bracket, and the mechanical gripper includes a clamping member. The inspection device of the present invention controls the opening of the clamping member by extending the third electric telescopic rod, and controls the downward movement of the clamping member by extending the first cylinder, so that the casting to be grasped is located between all the L-shaped clamping arms on the clamping member, and the casting is clamped by contracting the third electric telescopic rod. During the clamping process, the PLC controller module can calculate the size of the casting clamped by the two opposite L-shaped clamping arms according to the straight-line distance between the L-shaped clamping arms and the fixed box, and match it with the size information of the stored casting. When it cannot match the size information of the stored casting, it is put into a recycling box, thereby realizing the preliminary screening of the casting and improving the inspection efficiency.

Description

Technical Field

[0001] The invention relates to a visual inspection device, in particular to an automated visual inspection device for automobile castings. Background Art

[0002] Visual inspection is to use machines to replace human eyes to make measurements and judgments. Visual inspection refers to converting the captured target into image signals through machine vision products (i.e. image capture devices), transmitting them to a dedicated image processing system, and converting them into digital signals based on pixel distribution, brightness, color and other information; the image system performs various operations on these signals to extract the characteristics of the target, and then controls the operation of the equipment on site based on the results of the judgment.

[0003] When visually inspecting automotive castings, the traditional visual inspection method usually involves directly grabbing the castings for inspection. During the grabbing process, it is impossible to tell whether the castings obviously do not meet the size requirements. When it is found that the castings do not meet the size requirements after inspection, they are placed in a recycling bin for recycling. This method cannot screen the castings in advance, making visual inspection inefficient. At the same time, it is usually difficult to determine the placement of the castings in the tray. After the image capture device captures the image of a certain part of the casting, it can only be searched from the database stored in advance, which undoubtedly reduces the efficiency of visual inspection. Summary of the invention

[0004] The object of the present invention is to provide an automated visual inspection equipment for automobile castings, which controls the opening of the clamping member by extending the third electric telescopic rod, and controls the downward movement of the clamping member by extending the first cylinder, so that the casting to be grasped is located between all the L-shaped clamping arms on the clamping member, and the casting is clamped by contracting the third electric telescopic rod. During the clamping process, the PLC controller module can calculate the size of the casting clamped by the two opposite L-shaped clamping arms according to the straight-line distance between the L-shaped clamping arm and the fixed box, and match it with the size information of the stored casting. When the size information of the casting cannot be matched, it is placed in a recycling box, thereby realizing the preliminary screening of the casting and improving the inspection efficiency.

[0005] The purpose of the present invention can be achieved through the following technical solutions:

[0006] An automated visual inspection device for automobile castings comprises a conveying bracket, a detection device is fixed on one side of the conveying bracket, and a mechanical gripper for clamping the casting is fixed inside the conveying bracket.

[0007] The mechanical gripper includes a clamping member, which includes a fixed box with an opening downward. A second sliding shaft distributed in a circumference is vertically fixed to the outer wall of the fixed box. An L-shaped clamp arm is slidably provided on the second sliding shaft. A spring is connected between the L-shaped clamp arm and the fixed box.

[0008] The L-shaped clamp arm is fixed to a connecting rod on one side close to the fixing box, a triangular block is fixed to one end of the connecting rod close to the axis of the fixing box, the upper surface of the triangular block is inclined toward the side close to the axis of the fixing box, a third electric telescopic rod is fixed inside the fixing box, and a conical block for pushing the triangular block is fixed on the output shaft of the third electric telescopic rod.

[0009] Furthermore, a plurality of first material trays for placing the castings to be inspected and a plurality of second material trays for placing qualified castings are slidably provided on the conveying bracket, and the second material trays and the first material trays are respectively located on both sides of the mechanical gripper.

[0010] The conveying bracket is slidably provided with two driving members, one driving member is used to push the second material tray to slide, and the other driving member is used to push the first material tray to slide.

[0011] Furthermore, the detection device includes a detection platform fixed on one side of the U-shaped frame, the detection platform is located between the first material tray and the second material tray, and symmetrically distributed vertical plates are fixed above the detection platform, a first motor is fixed on one side of the vertical plate, and a first electric telescopic rod is vertically fixed on the output shaft of the first motor through the vertical plate.

[0012] A second electric telescopic rod is vertically fixed on the output shaft of the first electric telescopic rod. The second electric telescopic rod is parallel to the output shaft of the first motor. A clamping block is fixed on the output shaft of the second electric telescopic rod.

[0013] Furthermore, a connecting plate is fixed to a side of the inspection platform away from the U-shaped frame, and a visual inspection machine is installed above the connecting plate, and the visual inspection machine faces the middle position of the two vertical plates.

[0014] Furthermore, the conveying bracket includes a U-shaped frame, and the bottom of the U-shaped frame is provided with symmetrically distributed first linear slide rails, and the two first linear slide rails are respectively located on both sides of the mechanical gripper, and the inner walls on both sides of the U-shaped frame are provided with multiple second linear slide rails of different heights, and the first material tray and the second material tray are respectively located on the second linear slide rails on both sides of the mechanical gripper and slide.

[0015] Furthermore, the mechanical gripper also includes a fixed platform fixed at the middle position of the U-shaped frame, a drive box is fixed above the fixed platform, a third motor is fixed inside the drive box, the output shaft of the third motor passes through the first rotating arm vertically fixed above the drive box, a fourth motor is fixed inside the first rotating arm, the output shaft of the fourth motor passes through the second rotating arm fixed above the first rotating arm.

[0016] A cavity is provided inside the second rotating arm, a rotating hole connected to the cavity is provided at the bottom of the second rotating arm, a sleeve is rotatably provided in the rotating hole, a first sliding shaft is sleeved in the sleeve, a first cylinder is fixed above the second rotating arm, the top of the first sliding shaft is rotatably connected to the output shaft of the first cylinder, a first gear is fixed above the sleeve, a second motor is fixed in the cavity, a second gear meshing with the first gear is fixed on the output shaft of the second motor, and a fixed box is fixed below the first sliding shaft.

[0017] Furthermore, a U-shaped block is fixed at one end of the first material tray and the second material tray, and array-distributed placement grooves are provided above the first material tray and the second material tray, and the opening of the U-shaped block faces one side.

[0018] Furthermore, the driving member includes an electric slider sliding in the first linear slide rail, a second cylinder is fixed above the electric slider, a rectangular block is fixed on one side of the output shaft of the second cylinder, and the rectangular block is inserted into the corresponding U-shaped block by controlling the extension and retraction of the second cylinder.

[0019] Beneficial effects of the present invention:

[0020] 1. The detection device of the present invention controls the opening of the clamping member by extending the third electric telescopic rod, and controls the downward movement of the clamping member by extending the first cylinder, so that the casting to be grasped is located between all the L-shaped clamping arms on the clamping member, and the casting is clamped by contracting the third electric telescopic rod. During the clamping process, the PLC controller module can calculate the size of the casting clamped by the two opposite L-shaped clamping arms according to the straight-line distance between the L-shaped clamping arm and the fixing box, and match it with the size information of the stored casting. When the size information of the casting cannot be matched, it is put into the recycling box, thereby realizing the preliminary screening of the casting and improving the detection efficiency;

[0021] 2. When the size of the casting calculated by the detection device of the present invention matches the size information of the casting stored, the position of the clamped casting can be distinguished by the matching information, which is convenient for subsequent detection work;

[0022] 3. The detection device of the present invention moves the clamping piece holding the casting between the vertical plates, extends the second electric telescopic rod so that the two clamping blocks are in contact with the casting, calculates the diameter of the casting at the detection position by obtaining the extension length of the second electric telescopic rod, and controls the detection position of the casting through the cooperation of the first cylinder and the second motor. This method can realize all-round detection of the side wall of the casting. When the size of the casting is detected, the visual inspection machine can also perform all-round visual inspection of the side wall of the casting;

[0023] 4. The detection device of the present invention can clamp the casting by extending the second electric telescopic rod. After clamping, the first motor is started to control the casting to rotate in the vertical direction, so that the casting is placed horizontally. When placed horizontally, the two clamping blocks are respectively rotated to the two ends of the casting, and the first electric telescopic rod is contracted so that the two clamping blocks are in contact with the two ends of the casting. The length of the casting is calculated by monitoring the output length of the first electric telescopic rod. During the length calculation process, the visual inspection machine can also perform visual inspection on the end of the casting facing the visual inspection machine;

[0024] After the inspection of one end is completed, the casting can be clamped by retracting the first electric telescopic rod. After the clamping is completed, the first motor is started to flip the casting, so that the visual inspection machine can perform visual inspection on the other end of the casting. Therefore, the inspection device can realize all-round size inspection of the casting;

[0025] 5. When the image captured by the visual inspection machine of the inspection device of the present invention is not clear, the first electric telescopic rod and the second electric telescopic rod can cooperate to push the casting forward, backward, left and right, so that the visual inspection machine can capture a clearer image;

[0026] 6. The detection device of the present invention places the castings to be detected in the first material tray, and after it is full, pushes the first material tray to the side of the mechanical gripper, so that the mechanical gripper can grab and detect the castings in the first material tray. When the castings on the first material tray are detected, other first material trays can be loaded. After all the castings on one first material tray are detected, the first material tray is pushed away from the mechanical gripper, and the other first material tray that is already full is pushed toward the side close to the mechanical gripper, thereby achieving continuous loading.

[0027] By placing the castings that have passed the inspection into the second material tray close to the mechanical gripper, and after it is full, pushing the second material tray to the side away from the mechanical gripper, and at the same time pushing the other empty second material tray to the side close to the mechanical gripper, continuous unloading is achieved. Therefore, the inspection equipment can achieve continuous loading and unloading, ensure the continuous operation of the inspection device, and improve the inspection efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The present invention will be further described below in conjunction with the accompanying drawings.

[0029] Figure 1 It is a schematic diagram of the structure of the detection device of the present invention;

[0030] Figure 2 It is a schematic diagram of the structure of the detection device of the present invention;

[0031] Figure 3 yes Figure 1The enlarged structural diagram at A in the middle;

[0032] Figure 4 It is a schematic cross-sectional view of the structure of the mechanical gripper of the present invention;

[0033] Figure 5 It is a schematic diagram of the structure of the clamping member of the present invention.

[0034] In the figure: 1. conveying bracket; 2. detection device; 3. mechanical gripper; 4. first material tray; 5. second material tray; 6. driving member; 7. recycling box; 11. U-shaped frame; 12. first linear slide; 13. second linear slide; 21. detection table; 22. vertical plate; 23. first motor; 24. first electric telescopic rod; 25. second electric telescopic rod; 26. clamping block; 27. connecting plate; 28. visual inspection machine; 31. fixed table; 32. driving box; 33. first rotating arm; 34. second rotating arm; 35. cavity; 36. rotating hole; 37 , sleeve; 38, first cylinder; 39, first sliding shaft; 311, first gear; 312, second motor; 313, second gear; 314, clamping piece; 3140, fixing box; 3141, second sliding shaft; 3142, limit block; 3143, L-shaped clamp arm; 3144, spring; 3145, connecting rod; 3146, triangular block; 3147, third electric telescopic rod; 3148, conical block; 3149, displacement sensor; 41, placement slot; 42, U-shaped block; 61, electric slider; 62, second cylinder; 63, rectangular block. DETAILED DESCRIPTION

[0035] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0036] In the description of the present invention, it should be understood that the terms "opening", "upper", "lower", "thickness", "top", "middle", "length", "inside", "all around" and the like indicating orientation or positional relationship are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the components or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0037] An automated visual inspection device for automotive castings, the inspection device comprising a conveying bracket 1, such as Figure 1 , Figure 2As shown, a detection device 2 is fixed on one side of the conveying bracket 1, and a mechanical gripper 3 for clamping the casting is fixed inside the conveying bracket 1. A plurality of first material trays 4 for placing the castings to be detected and a plurality of second material trays 5 for placing qualified castings are slidably provided on the conveying bracket 1, and the second material trays 5 and the first material tray 4 are respectively located on both sides of the mechanical gripper 3, and two driving members 6 are slidably provided on the conveying bracket 1, one driving member 6 is used to push the second material tray 5 to slide, and the other driving member 6 is used to push the first material tray 4 to slide, and a recovery box 7 for recovering unqualified castings is fixed on the side of the detection device 2 close to the first material tray 4.

[0038] The conveying bracket 1 includes a U-shaped frame 11, and a symmetrically distributed first linear slide rail 12 is provided at the bottom of the U-shaped frame 11. The two first linear slide rails 12 are respectively located on both sides of the mechanical gripper 3. The inner walls on both sides of the U-shaped frame 11 are provided with multiple second linear slide rails 13 with different heights. The first material tray 4 and the second material tray 5 are respectively located on the second linear slide rails 13 on both sides of the mechanical gripper 3 and slide.

[0039] The detection device 2 includes a detection table 21 fixed to one side of the U-shaped frame 11, such as Figure 3-5 As shown, the detection table 21 is located between the first material tray 4 and the second material tray 5, and a symmetrically distributed vertical plate 22 is fixed above the detection table 21, a first motor 23 is fixed on one side of the vertical plate 22, and a first electric telescopic rod 24 is vertically fixed on the output shaft of the first motor 23 that passes through the vertical plate 22.

[0040] A second electric telescopic rod 25 is vertically fixed on the output shaft of the first electric telescopic rod 24. The second electric telescopic rod 25 is parallel to the output shaft of the first motor 23. A clamping block 26 is fixed on the output shaft of the second electric telescopic rod 25. A connecting plate 27 is fixed on the side of the inspection platform 21 away from the U-shaped frame 11. A visual inspection machine 28 is installed above the connecting plate 27. The visual inspection machine 28 faces the middle position of the two vertical plates 22.

[0041] The mechanical gripper 3 includes a fixed platform 31 fixed in the middle position of the U-shaped frame 11, a driving box 32 is fixed above the fixed platform 31, a third motor is fixed inside the driving box 32, the output shaft of the third motor passes through the top of the driving box 32, and a first rotating arm 33 is vertically fixed thereto, a fourth motor is fixed inside the first rotating arm 33, the output shaft of the fourth motor passes through the top of the first rotating arm 33 and a second rotating arm 34 is fixed thereto.

[0042] A cavity 35 is provided inside the second rotating arm 34, and a rotating hole 36 connected to the cavity 35 is provided at the bottom of the second rotating arm 34. A shaft sleeve 37 is rotatably provided in the rotating hole 36, and a first sliding shaft 39 is sleeved in the shaft sleeve 37. A first cylinder 38 is fixed above the second rotating arm 34, and the top of the first sliding shaft 39 is rotatably connected to the output shaft of the first cylinder 38. A first gear 311 is fixed above the shaft sleeve 37, and a second motor 312 is fixed in the cavity 35. A second gear 313 meshing with the first gear 311 is fixed on the output shaft of the second motor 312.

[0043] A clamping member 314 is fixed below the first sliding shaft 39 .

[0044] The clamping member 314 includes a fixed box 3140 fixed below the first sliding shaft 39. The fixed box 3140 is cylindrical, and the opening of the fixed box 3140 is downward. The outer wall of the fixed box 3140 is vertically fixed with a circumferentially distributed second sliding shaft 3141. A limiting block 3142 is fixed at one end of the second sliding shaft 3141 away from the fixed box 3140. An L-shaped clamp arm 3143 is slidably provided on the second sliding shaft 3141, and a spring 3144 is connected between the L-shaped clamp arm 3143 and the fixed box 3140.

[0045] A connecting rod 3145 parallel to the second sliding axis 3141 is fixed to the side of the L-shaped clamp arm 3143 close to the fixed box 3140. The top of the connecting rod 3145 is slidably connected to the bottom of the fixed box 3140. A triangular block 3146 is fixed to the end of the connecting rod 3145 close to the axis of the fixed box 3140. The upper surface of the triangular block 3146 is inclined toward the side close to the axis of the fixed box 3140.

[0046] A third electric telescopic rod 3147 is fixed inside the fixed box 3140, and a conical block 3148 for pushing the triangular block 3146 is fixed on the output shaft of the third electric telescopic rod 3147. The tip of the conical block 3148 faces downward, and the conical block 3148 is coaxial with the fixed box 3140. The conical block 3148 is controlled to move up and down by controlling the extension and retraction of the third electric telescopic rod 3147, and the triangular block 3146 is pushed to move horizontally by the up and down movement of the conical block 3148. A displacement sensor 3149 is fixed on the side of the L-shaped clamp arm 3143 close to the fixed box 3140. The displacement sensor 3149 is used to measure the straight-line distance between the L-shaped clamp arm 3143 and the fixed box 3140.

[0047] A U-shaped block 42 is fixed to one end of the first material tray 4 and the second material tray 5 , and array-distributed placement slots 41 are provided above the first material tray 4 and the second material tray 5 , and the opening of the U-shaped block 42 faces one side.

[0048] The driving member 6 includes an electric slider 61 sliding in the first linear slide rail 12, a second cylinder 62 is fixed above the electric slider 61, a rectangular block 63 is fixed on one side of the output shaft of the second cylinder 62, the rectangular block 63 is controlled by telescoping the second cylinder 62 to be inserted into the corresponding U-shaped block 42, and the rectangular block 63 driven by starting the electric slider 61 moves, thereby driving the corresponding first material tray 4 or the second material tray 5 to move.

[0049] The detection equipment also includes a PLC controller module, which can control the operation of all electrical equipment on the detection equipment. The PLC controller module is electrically connected to a preset control system. The control system stores information such as the size, pixel distribution, brightness and color of standard castings, so that the external preset control system can make judgments based on the data obtained during the detection process and give accurate signal instructions, thereby enabling the PLC controller module to accurately control each component to operate in an orderly manner.

[0050] When in use, the castings to be inspected are placed in the first material tray 4. After it is full, the second cylinder 62 is started to control the rectangular block 63 to be inserted into the U-shaped block 42 on the first material tray 4. The first material tray 4 is pushed to the side of the mechanical gripper 3 by starting the electric slider 61, so that the mechanical gripper 3 can grab and inspect the castings in the first material tray 4. When the castings on the first material tray 4 are inspected, other first material trays 4 can be loaded. After all the castings on a first material tray 4 have been inspected, the first material tray 4 is pushed away from the mechanical gripper 3, and the other first material tray 4 that is already full is pushed toward the side close to the mechanical gripper 3, thereby achieving continuous loading.

[0051] By placing the castings that have passed the inspection into the second material tray 5 close to the mechanical gripper 3, after it is full, the second material tray 5 is pushed to the side away from the mechanical gripper 3, and at the same time, the other empty second material tray 5 is pushed to the side close to the mechanical gripper 3, continuous unloading is achieved. Therefore, the inspection equipment can achieve continuous loading and unloading, ensure the continuous operation of the inspection device 2, and improve the inspection efficiency.

[0052] The clamping member 314 on the mechanical gripper 3 is moved to the top of the casting to be grasped, and the conical block 3148 is driven to move downward to press all the triangular blocks 3146 by extending the third electric telescopic rod 3147. In the process of pressing, all the connecting rods 3145 are driven to move away from the axis of the fixing box 3140, and then all the L-shaped clamp arms 3143 on the clamping member 314 are driven to move away from the axis of the fixing box 3140, so as to realize the opening of the clamping member 314. The clamping member 314 is controlled to move downward by extending the first cylinder 38, so that the casting to be grasped is located between all the L-shaped clamp arms 3143 on the clamping member 314. The conical block 3148 is separated from the triangular block 3146 by contracting the third electric telescopic rod 3147. Under the pulling force of the spring 3144, all the L-shaped clamp arms 31 43 are all moved toward the axial direction of the fixed box 3140 to clamp the casting. During the clamping process, the displacement sensor 3149 can detect the straight-line distance between the L-shaped clamp arm 3143 and the fixed box 3140. The PLC controller module can calculate the size of the casting clamped by the two relative L-shaped clamp arms 3143 according to the straight-line distance between the L-shaped clamp arm 3143 and the fixed box 3140, and match it with the size information of the stored casting. When it cannot match the size information of the stored casting, it means that the casting obviously does not meet the size requirement. At this time, the clamping piece 314 on the mechanical gripper 3 is moved to the top of the recycling box 7, and the casting is released by extending the third electric telescopic rod 3147 and placed in the recycling box 7, thereby realizing the preliminary screening of the casting and improving the detection efficiency.

[0053] When the calculated size of the casting matches the stored size information of the casting, the position of the clamped casting can be identified through the matching information, which facilitates subsequent detection work.

[0054] By moving the clamping piece 314 that clamps the casting between the vertical plates 22, starting the first motor 23 to rotate the first electric telescopic rod 24 to a vertical state, extending the second electric telescopic rod 25 so that the two clamping blocks 26 are in contact with the casting, and calculating the diameter of the casting at the detection position by obtaining the extended length of the second electric telescopic rod 25, the detection position of the casting is controlled by the cooperation of the first cylinder 38 and the second motor 312. This method can realize all-round detection of the side wall of the casting. When performing size detection on the casting, the visual inspection machine 28 can also perform all-round visual inspection on the side wall of the casting.

[0055] The casting can be clamped by extending the second electric telescopic rod 25. After clamping, the casting is controlled to rotate in the vertical direction by starting the first motor 23, so that the casting is placed horizontally. When placed horizontally, the two clamping blocks 26 are respectively rotated to the two ends of the casting, and the two clamping blocks 26 are contacted with the two ends of the casting by contracting the first electric telescopic rod 24. The length of the casting is calculated by monitoring the output length of the first electric telescopic rod 24. During the length calculation process, the visual inspection machine 28 can also perform visual inspection on the end of the casting facing the visual inspection machine 28.

[0056] When the inspection of one end is completed, the casting can be clamped by retracting the first electric telescopic rod 24. After clamping is completed, the first motor 23 is started to flip the casting, so that the visual inspection machine 28 can perform visual inspection on the other end of the casting. Therefore, the inspection device 2 can realize all-round size inspection of the casting, and can perform visual inspection at the same time as size inspection, saving inspection time and improving inspection efficiency. When any inspection data in size inspection and visual inspection does not meet the requirements, the casting will be put into the recovery box 7, and then the mechanical gripper 3 will return to the top of the first material tray 4 to re-grab the casting for inspection. When all inspections are qualified, the qualified casting will be placed on the second material tray 5.

[0057] In order to avoid interference between the casting and the inspection platform 21 during flipping, the first electric telescopic rod 24 located at the bottom can be retracted while rotating, and the first electric telescopic rod 24 located at the top can be extended.

[0058] When the image captured by the visual inspection machine 28 is not clear, the first electric telescopic rod 24 and the second electric telescopic rod 25 can cooperate to push the casting forward, backward, left and right, so that the visual inspection machine 28 can capture a clearer image.

[0059] In the description of this specification, the description with reference to the terms "one embodiment", "example", "specific example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0060] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments, and the above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, and these changes and improvements all fall within the scope of the present invention to be protected.

Claims

1. An automated visual inspection device for automotive castings, the inspection device comprising a conveying bracket (1), characterized in that: A detection device (2) is fixed on one side of the conveying bracket (1), and a mechanical gripper (3) for clamping the casting is fixed inside the conveying bracket (1); The conveying support (1) comprises a U-shaped frame (11), the bottom of the U-shaped frame (11) is provided with symmetrically distributed first linear slide rails (12), the two first linear slide rails (12) are respectively located on both sides of the mechanical gripper (3), and the inner walls on both sides of the U-shaped frame (11) are provided with a plurality of second linear slide rails (13) of different heights; The mechanical gripper (3) comprises a clamping member (314), the clamping member (314) comprising a fixed box (3140), the opening of the fixed box (3140) facing downward, a circumferentially distributed second sliding shaft (3141) being vertically fixed to the outer wall of the fixed box (3140), an L-shaped clamping arm (3143) being slidably provided on the second sliding shaft (3141), a displacement sensor (3149) being fixed to a side of the L-shaped clamping arm (3143) close to the fixed box (3140), and a spring (3144) being connected between the L-shaped clamping arm (3143) and the fixed box (3140); The mechanical gripper (3) further comprises a fixed platform (31) fixed at a middle position of the U-shaped frame (11), a driving box (32) being fixed above the fixed platform (31), a third motor being fixed inside the driving box (32), an output shaft of the third motor passing through the driving box (32), a first rotating arm (33) being vertically fixed above the third motor, a fourth motor being fixed inside the first rotating arm (33), an output shaft of the fourth motor passing through the first rotating arm (33), a second rotating arm (34) being fixed above the third motor; A cavity (35) is provided inside the second rotating arm (34); a rotating hole (36) communicating with the cavity (35) is provided at the bottom of the second rotating arm (34); a shaft sleeve (37) is rotatably provided in the rotating hole (36); a first sliding shaft (39) is sleeved in the shaft sleeve (37); a first cylinder (38) is fixed above the second rotating arm (34); the first sliding shaft (39) is rotatably connected to the output shaft of the first cylinder (38); a first gear (311) is fixed above the shaft sleeve (37); a second motor (312) is fixed in the cavity (35); a second gear (313) meshing with the first gear (311) is fixed on the output shaft of the second motor (312); and a fixing box (3140) is fixed below the first sliding shaft (39); A connecting rod (3145) is fixed to a side of the L-shaped clamp arm (3143) close to the fixing box (3140); a triangular block (3146) is fixed to one end of the connecting rod (3145) close to the axis of the fixing box (3140); an upper surface of the triangular block (3146) is inclined toward a side close to the axis of the fixing box (3140); a third electric telescopic rod (3147) is fixed inside the fixing box (3140); and a conical block (3148) for pushing the triangular block (3146) is fixed to an output shaft of the third electric telescopic rod (3147); The detection device (2) comprises a detection table (21) fixed to one side of a U-shaped frame (11), symmetrically distributed vertical plates (22) are fixed above the detection table (21), a first motor (23) is fixed to one side of the vertical plate (22), a first electric telescopic rod (24) is vertically fixed to the output shaft of the first motor (23) passing through the vertical plate (22), a connecting plate (27) is fixed to the side of the detection table (21) away from the U-shaped frame (11), a visual inspection machine (28) is installed above the connecting plate (27), and the visual inspection machine (28) faces the middle position between the two vertical plates (22); A second electric telescopic rod (25) is vertically fixed to the output shaft of the first electric telescopic rod (24); the second electric telescopic rod (25) is parallel to the output shaft of the first motor (23); and a clamping block (26) is fixed to the output shaft of the second electric telescopic rod (25).

2. The automated visual inspection equipment for automotive castings according to claim 1, characterized in that: A plurality of first material trays (4) for placing castings to be inspected and a plurality of second material trays (5) for placing qualified castings are slidably disposed on the conveying bracket (1), and the second material trays (5) and the first material trays (4) are respectively located on both sides of the mechanical gripper (3); Two driving members (6) are slidably provided on the conveying bracket (1), one driving member (6) is used to push the second material tray (5) to slide, and the other driving member (6) is used to push the first material tray (4) to slide.

3. The automated visual inspection equipment for automotive castings according to claim 2, characterized in that: The detection platform (21) is located between the first material tray (4) and the second material tray (5).

4. The automated visual inspection equipment for automotive castings according to claim 2, characterized in that: The first material tray (4) and the second material tray (5) are respectively located on the second linear slide rails (13) on both sides of the mechanical gripper (3) and slide therein.

5. The automated visual inspection equipment for automotive castings according to claim 2, characterized in that: A U-shaped block (42) is fixed to one end of each of the first material tray (4) and the second material tray (5); placement slots (41) distributed in an array are provided above each of the first material tray (4) and the second material tray (5); and the opening of the U-shaped block (42) faces one side.

6. The automated visual inspection equipment for automotive castings according to claim 5, characterized in that: The driving member (6) comprises an electric slider (61) which slides in the first linear slide rail (12); a second cylinder (62) is fixed above the electric slider (61); a rectangular block (63) is fixed on one side of the output shaft of the second cylinder (62); and the rectangular block (63) is inserted into the corresponding U-shaped block (42) by controlling the second cylinder (62) to extend or retract.

7. An automated visual inspection device for automotive castings according to any one of claims 1 to 6, characterized in that: The detection device also includes a PLC controller module, which controls the operation of all electrical devices on the detection device.

8. The automated visual inspection equipment for automotive castings according to claim 2, characterized in that: A recovery box (7) for recovering unqualified castings is fixed on one side of the detection device (2) close to the first material tray (4).

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