Visual inspection system and adaptive insert setting gripper

Abstract

The application provides a visual detection system and an adaptive insert embedding gripper, comprising an injection embedding gripper unit and a detection unit, a mounting plate is arranged on the injection embedding gripper unit through a floating assembly, an insert embedding assembly is mounted on the mounting plate, the insert embedding assembly can automatically correct the embedding position through the floating assembly, the detection unit is used for detecting and counting the displacement adjustment amount of the mounting plate, and the detection unit comprises a displacement indicating module, an image acquisition module, an image processing module and a display module. Through the floating assembly, the mounting plate can be automatically adjusted, that is, the insert embedding assembly can automatically correct the embedding position, the probability of the metal insert embedding being not smooth is reduced, the insert embedding assembly can be detected in real time, the frequency and direction of the adjustment position of the insert embedding assembly are understood, and the subsequent workers can conveniently maintain the insert embedding assembly.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of visual detection of injection molding, in particular to a visual detection system and an adaptive embedded part burying gripper. BACKGROUND

[0002] Embedded part injection molding is a process of fixing the embedded part in the appropriate position of the injection molding mold in advance, then injecting plastic to form, and after the mold is opened, the embedded part is tightly buried in the plastic by the cooled and solidified plastic to obtain a product with embedded parts such as threads, electrodes, etc.

[0003] In the embedded part injection molding process, the size difference between the cold mold and the hot mold due to thermal expansion and contraction, or the vibration displacement caused by the long-term work of the mechanical hand, may cause the metal embedded part to be buried in disorder.

[0004] For example, the "injection molding embedded part automatic burying adjusting device" disclosed in the Chinese utility model patent (application number: CN202223474906.6) has the following disclosure in the specification: during the injection molding process, it is often necessary to bury embedded parts of various shapes. At present, manual burying or mechanical hand burying is commonly used on the market. Manual burying is slow, and mechanical hand burying is efficient, but after a long time of work, due to factors such as equipment vibration, micro-positioning errors may occur, which often causes the mechanical hand to bury the embedded part not in place, seriously affecting the subsequent operation, and it is difficult to meet the production requirements of enterprises; the above-mentioned patent can prove the defects existing in the prior art.

[0005] Therefore, we improve it and propose a visual detection system and an adaptive embedded part burying gripper. SUMMARY

[0006] The purpose of the present application is to solve the problem that in the current embedded part injection molding process, the size difference between the cold mold and the hot mold due to thermal expansion and contraction, or the vibration displacement caused by the long-term work of the mechanical hand, may cause the metal embedded part to be buried in disorder.

[0007] In order to achieve the above-mentioned purpose of the application, the present application provides the following visual detection system and adaptive embedded part burying gripper to improve the above-mentioned problems.

[0008] The present application is as follows:

[0009] A visual detection system, comprising an injection molding burying gripper unit and a detection unit, a mounting plate is arranged on the injection molding burying gripper unit through a floating assembly, an embedded part burying assembly is mounted on the mounting plate, the embedded part burying assembly can automatically correct the embedded part burying position through the floating assembly, and the detection unit is used for detecting and counting the displacement adjustment amount of the mounting plate.

[0010] As a preferred technical scheme of the present application, the detection unit comprises an image acquisition module, an image processing module and a display module.

[0011] The image acquisition module acquires images of the displacement adjustment amount of the mounting plate.

[0012] The image processing module performs statistics and analysis on the acquired image information and issues an alarm signal when the mounting plate is continuously displaced in the same direction for multiple times.

[0013] The display module receives the alarm signal issued by the image processing module and displays the pre-warning, thereby informing the staff to adjust the injection embedding gripper unit.

[0014] As a preferred technical scheme of the present application, the image processing module first performs filtering and sharpening processing on the acquired image information, and then performs statistics and analysis on the processed image information.

[0015] As a preferred technical scheme of the present application, the detection unit further comprises a displacement indication module, which is used to indicate the displacement correction amount of the mounting plate, i.e., the displacement correction amount of the insert embedding assembly.

[0016] As a preferred technical scheme of the present application, the displacement indication module is arranged inside the injection embedding gripper unit, and the image acquisition module acquires image information of the mounting plate once during each insert embedding process.

[0017] An adaptive insert embedding gripper applied to an injection embedding gripper unit, comprising a connecting body, the rear end of the connecting body being connected with the output end of a robot, the floating assembly comprising a group of connecting shafts uniformly arranged at the front end of the connecting body, the mounting plate being provided with assembly holes matched with the connecting shafts, the hole diameter of the assembly holes being greater than the shaft diameter of the connecting shafts, the connecting shafts penetrating through the assembly holes and being respectively provided with thrust bearings on the inner and outer sides of the mounting plate, the connecting body being provided with an adjusting block at the end corner of the mounting plate, the adjusting block being provided with spring plungers abutting against the side of the mounting plate, the mounting plate being provided with guide columns matched with guide holes on an injection mold.

[0018] As a preferred technical scheme of the present application, the connecting body is further provided with a self-locking mechanism, the self-locking mechanism comprising a self-locking cylinder arranged on the inner side of the connecting body, the output end of the self-locking cylinder penetrating through the connecting body and being connected with a clamping jaw, the clamping jaw being matched with a self-locking hole on the injection mold and capable of locking the connecting body on the injection mold.

[0019] As a preferred technical scheme of the present application, the displacement indicating module comprises a displacement conversion mechanism, the displacement conversion mechanism comprises a machine body arranged on the top of the inner wall of the connecting body, the top of the machine body is equipped with a cylinder, the bottom of the mounting plate is provided with a displacement shaft penetrating through the connecting body and coaxial with the cylinder, a plurality of displacement blocks are uniformly arranged on the displacement shaft, the bottom of the displacement block is provided with a conversion assembly for generating a display mark signal, and the conversion assembly is elastically arranged on the cylinder.

[0020] As a preferred technical scheme of the present application, the conversion assembly comprises a positioning block corresponding to the displacement block, a plurality of elastic rods are equidistantly arranged on the positioning block from inside to outside, the bottom end of the displacement block is provided with an inclined surface and is in contact with the top end of the adjacent elastic rod, the bottom end of the elastic rod is rotationally provided with a display ball, the surface of the display ball is divided into a first surface and a second surface, different information is arranged on the first surface and the second surface for quick identification, the first surface of the display ball faces outward, and the positions of the first surface and the second surface are interchanged after the elastic rod moves downward under the pressure of the displacement block.

[0021] As a preferred technical scheme of the present application, the middle part of the elastic rod is provided with a linear notch, the bottom end of the linear notch is in communication with the display ball, a magnetic rod is arranged in the linear notch, the magnetic rod is fixed in the positioning block, a rotating protrusion is arranged on the display ball, the rotating protrusion is rotationally installed at the bottom of the elastic rod, a coil spring is arranged between the rotating protrusion and the elastic rod, a magnetic sheet corresponding to the magnetic rod is embedded on the display ball, and a detection camera for collecting information of the first surface and the second surface is arranged at the bottom of the machine body.

[0022] As a preferred technical scheme of the present application, the outer side of the sliding frame is provided with a magnetic plate, the two sides of the detection camera are respectively provided with electromagnetic members attracted to the magnetic plate, and the two electromagnetic members work alternately.

[0023] Compared with the prior art, the present application has the following beneficial effects:

[0024] In the scheme of the present application:

[0025] 1. In order to solve the problem of metal insert embedding disorder in the injection molding process in the prior art, the floating assembly is arranged, so that the mounting plate can be automatically adjusted, that is, the insert embedding assembly can automatically correct the embedding position, and the probability of metal insert embedding disorder is reduced.

[0026] 2. In order to solve the problem that the vibration generated by the pushing cylinder affects the use of the mechanical hand during embedding of the insert into the mold in the prior art, the self-locking mechanism is arranged, so that the pushing cylinder is connected with the mold as a whole between the injection embedding gripper unit and the mold during the pushing process, and the influence of the vibration generated by the pushing cylinder on the mechanical hand is reduced.

[0027] 3. Through the detection unit arranged, the insert embedding assembly can be detected in real time, the frequency and direction of the insert embedding assembly adjusting position are known, the running condition of the insert embedding assembly is grasped by the staff, and the insert embedding assembly is conveniently maintained and adjusted subsequently.

[0028] 4. Through the displacement conversion mechanism arranged, the information of the insert embedding assembly adjusting position is displayed through the surface with distinguished information on the display ball, has more obvious and specific characteristics, the detection camera can quickly acquire the information of the insert embedding assembly adjusting position, the workload of the image processing module is reduced, and the detection efficiency is improved.

[0029] 5. Through the cylinder, displacement shaft, displacement block, elastic rod, display ball and magnetic rod and other mechanisms arranged, after the displacement of the mounting plate, the display can be concentrated at the bottom of the cylinder, the detection camera can quickly and concentratedly acquire the information of the displacement of the mounting plate, and in the process of the elastic rod moving downward, the display ball automatically rotates, is obviously distinguished from other display balls, and is more intuitive. BRIEF DESCRIPTION OF DRAWINGS

[0030] Figure 1 A system block diagram of a visual detection system provided by the application;

[0031] Figure 2 A whole structure schematic view of the adaptive insert embedding gripper provided by the application;

[0032] Figure 3 A whole structure schematic view of the adaptive insert embedding gripper provided by the application; Figure 2 An enlarged view of A in FIG. 7;

[0033] Figure 4 An internal structure front view of the adaptive insert embedding gripper provided by the application;

[0034] Figure 5 A whole schematic view of the displacement conversion mechanism of the adaptive insert embedding gripper provided by the application;

[0035] Figure 6 A connection structure schematic view of the displacement block and the positioning block of the adaptive insert embedding gripper provided by the application;

[0036] Figure 7 A bottom structure schematic view of the displacement conversion mechanism of the adaptive insert embedding gripper provided by the application;

[0037] Figure 8 An enlarged view of B in FIG. 7; Figure 7

[0038] Figure 9 ​A side view of a positioning block of an adaptive insert burying gripper provided by the present application is shown in the figure.

[0039] Figure 10 A structure schematic diagram of a display ball of an adaptive insert burying gripper provided by the present application is shown in the figure. Figure 9 An enlarged view of C in the figure.

[0040] Figure 11 A structure schematic diagram of a display ball of an adaptive insert burying gripper provided by the present application is shown in the figure.

[0041] Indicated in the figure:

[0042] 1. An injection molding burying gripper unit; 101, a mounting plate; 102, an insert burying assembly; 103, a connecting body; 104, a connecting shaft; 105, an assembly hole; 106, a thrust bearing; 107, an adjusting block; 108, a spring plunger; 109, a guide column; 110, a self-locking cylinder; 111, a clamping jaw;

[0043] 2. A displacement conversion mechanism; 201, a machine body; 202, a cylinder; 203, a displacement shaft; 204, a displacement block; 205, a positioning block; 206, an elastic rod; 207, a display ball; 208, a magnetic sheet; 209, a linear notch; 210, a magnetic rod;

[0044] 3. A detection camera; 301, a slide rail; 302, a slide carriage; 303, a cleaning brush; 304, a magnetic plate; 305, an electromagnetic component. DETAILED DESCRIPTION

[0045] In order to make the person skilled in the art better understand the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by the person skilled in the art without creative labor should belong to the protection scope of the present application.

[0046] As described in the background, in the insert injection molding process, the size difference between the cold mold and the hot mold due to thermal expansion and cold contraction, or the vibration displacement generated by the long-term work of the mechanical hand, leads to the problem of metal insert burying disorder.

[0047] In order to solve this technical problem, the present application provides a visual detection system and an adaptive insert burying gripper, which is applied to the metal insert injection molding process.

[0048] Specifically, please refer to Figure 1The visual detection system specifically comprises an injection embedding gripper unit 1 and a detection unit, the injection embedding gripper unit 1 is provided with a mounting plate 101 through a floating assembly, the mounting plate 101 is installed with an insert embedding assembly 102, the insert embedding assembly 102 can automatically correct the insert embedding position through the floating assembly, and the detection unit is used for detecting and counting the displacement adjustment amount of the mounting plate 101.

[0049] The visual detection system can realize real-time detection on the insert embedding assembly 102, understand the frequency and direction of the adjustment position of the insert embedding assembly 102, and facilitate subsequent workers to overhaul the insert embedding assembly 102 (that is, the mounting plate 101 is displaced and corrected in the same direction for multiple times, and part of the structure in the direction may be abnormal).

[0050] In order for those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings.

[0051] It should be noted that the embodiments in the present application and the features and technical solutions in the embodiments can be combined with each other without conflict.

[0052] It should be noted that: similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings.

[0053] Embodiment 1

[0054] Please refer to Figure 1 A visual detection system, the detection unit comprises a displacement indicating module, an image acquisition module, an image processing module and a display module; the displacement indicating module is arranged in the interior of the injection embedding gripper unit 1, the image acquisition module acquires image information of the mounting plate 101 once in each insert embedding process to convert and display the displacement amount of the self-adaptive adjustment of the mounting plate 101, and generates a display signal; the image acquisition module acquires image information of the display signal; the image processing module statistically analyzes the acquired image information, and issues an alarm signal when the mounting plate 101 continuously adjusts the displacement in the same direction for multiple times; the display module receives the alarm signal issued by the image processing module and displays the early warning, and notifies the workers to adjust the injection embedding gripper unit 1; the image processing module first filters and sharpens the acquired image information, and then statistically analyzes the processed image information.

[0055] The displacement indicating module makes the information of the position adjustment of the insert embedding assembly 102 more obvious and specific, facilitates the detection camera 3 to quickly obtain the frequency and direction of the position adjustment of the insert embedding assembly 102, and improves the detection efficiency.

[0056] Please refer to Figure 2 and Figure 3 An adaptive insert embedding gripper includes a mounting plate 101, the mounting plate 101 is provided with an insert embedding assembly 102, the insert embedding assembly 102 includes a pair of clamping cylinders (which is prior art, not marked in the figure), which is used for clamping metal inserts such as various forms of PIN needles, and further includes a connecting body 103, the rear end of the connecting body 103 is connected with the output end of a robot, the connecting body 103 is internally provided with a pushing cylinder opposite to the metal insert, which is used for pushing the metal insert into an injection mold, wherein the floating assembly includes a set of connecting shafts 104 uniformly arranged at the front end of the connecting body 103, the mounting plate 101 is provided with assembly holes 105 matched with the connecting shafts 104, the hole diameter of the assembly holes 105 is greater than the shaft diameter of the connecting shafts 104, that is, the mounting plate 101 has a certain displacement amount, the connecting shafts 104 pass through the assembly holes 105 and are respectively provided with thrust bearings 106 on the inner and outer sides of the mounting plate 101, the connecting body 103 is provided with an adjusting block 107 at the end corner of the mounting plate 101, the adjusting block 107 is provided with spring plungers 108 abutting against the side of the mounting plate 101, the spring plungers 108 keep the mounting plate 101, i.e. the insert embedding assembly 102 stable during operation, and can also be used for horizontal position fine adjustment, the mounting plate 101 is provided with guide columns 109 matched with guide holes on the injection mold, during the insertion of the guide columns 109 into the guide holes on the injection mold, if there is a deviation between the insert embedding assembly 102 and the injection cavity of the injection mold, i.e. the guide columns 109 also have a certain deviation, at this time, the guide columns 109 can drive the mounting plate 101 to perform horizontal position fine adjustment through the cooperation of the guide columns 109 and the guide holes, so as to ensure the accurate alignment of the mounting plate 101 and the mold; through the floating assembly, the mounting plate 101 can be automatically adjusted, i.e. the insert embedding assembly 102 can automatically correct the embedding position, thereby reducing the probability of improper embedding of the metal insert.

[0057] Please refer to Figure 2 and Figure 4The connector 103 is further provided with a self-locking mechanism, which comprises a self-locking cylinder 110 arranged inside the connector 103, the output end of the self-locking cylinder 110 is arranged through the connector 103 and connected with a clamping jaw 111, the clamping jaw 111 is matched with a self-locking hole on the injection mold, the self-locking hole has a stepped surface matched with the clamping jaw 111, and the connector 103 can be locked on the injection mold; through the self-locking mechanism, the injection embedding gripper unit 1 is connected with the mold as a whole during the pushing process of the pushing cylinder, thereby reducing the influence of the vibration of the pushing cylinder on the mechanical hand.

[0058] Embodiment 2

[0059] The adaptive insert embedding gripper provided in embodiment 1 is further optimized, and specifically, refer to Figure 5 The displacement indicating module comprises a displacement conversion mechanism 2, the displacement conversion mechanism 2 comprises a body 201 arranged on the inner wall top of the connector 103, the top of the body 201 is equipped with a cylinder 202, the bottom of the mounting plate 101 is provided with a displacement shaft 203 penetrating through the connector 103 and coaxial with the cylinder 202, a group of displacement blocks 204 are uniformly arranged on the displacement shaft 203, the bottom of the displacement block 204 is provided with a conversion assembly for generating a display mark signal, the conversion assembly is elastically arranged on the cylinder 202, during the automatic correction position process of the mounting plate 101, the displacement shaft 203 moves synchronously with the mounting plate 101, can be in contact with the corresponding conversion assembly, and the image acquisition of the detection camera 3 is facilitated.

[0060] Please refer to Figure 6 , Figure 7 , Figure 8 and Figure 11 The conversion assembly comprises a positioning block 205 corresponding to the displacement block 204, a group of elastic rods 206 are equidistantly arranged on the positioning block 205 from inside to outside, the bottom end of the displacement block 204 is provided with an inclined surface and in contact with the top end of the adjacent elastic rod 206, the bottom end of the elastic rod 206 is rotationally provided with a display ball 207, the surface of the display ball 207 is divided into a first surface and a second surface, and different information is arranged on the first surface and the second surface, the different information can be different bright colors or special image marks, such as circles and rectangles, which facilitates the quick identification and detection of the detection camera 3, the first surface of the display ball 207 faces outward, when the elastic rod 206 moves downward under the pressure of the displacement block 204, the positions of the first surface and the second surface are interchanged, that is, the different information is generated, through the cooperation of the above structure, the information of the adjusting position of the insert embedding assembly 102 is more obvious and specific, which facilitates the detection camera 3 to quickly obtain the frequency and direction of the adjusting position of the insert embedding assembly 102, and improves the detection efficiency.

[0061] Please refer to 9, Figure 10And Figure 11 The middle part of the elastic rod 206 is provided with a linear notch 209, the bottom end of the linear notch 209 is communicated with the display ball 207, a magnetic rod 210 is arranged in the linear notch 209, the magnetic rod 210 is fixed in the positioning block 205, a rotating lug is arranged on the display ball 207, the rotating lug is rotatably installed at the bottom of the elastic rod 206, and a coil spring is arranged between the rotating lug and the elastic rod 206, the display ball 207 is embedded with a magnetic sheet 208 corresponding to the magnetic rod 210, the area of the magnetic sheet 208 gradually increases from one end to the other end, that is, during the downward movement of the elastic rod 206, the position of the magnetic rod 210 is unchanged, that is, the display ball 207 and the magnetic sheet 208 are relatively far away from the magnetic rod 210, and then the magnetic force of the magnetic rod 210 on the magnetic sheet 208 gradually disappears, under the action of the coil spring, the display ball 207 rotates by 180°, that is, the positions of the first surface and the second surface are exchanged, and the camera 3 is convenient for detection.

[0062] Embodiment 3

[0063] The adaptive insert burying gripper, specifically, please refer to Figure 5 The bottom of the machine body 201 is provided with a detection camera 3 for collecting first surface and second surface information, both sides of the detection camera 3 are provided with sliding rails 301, the sliding rails 301 are provided with sliding carriages 302, the bottom end of the sliding carriage 302 is rollingly connected with the sliding rail 301, the sliding carriage 302 freely slides in the sliding rail 301 along with the movement of the robot, the inner side of the sliding carriage 302 is provided with a cleaning brush 303 for cleaning the detection camera 3, during the insert injection molding process, the robot drives the gripper to move in multiple directions, through the sliding rail 301 and the sliding carriage 302, the sliding carriage 302 can reciprocate under the inertia of the movement of the robot, that is, the lens of the detection camera 3 is wiped and cleaned through the cleaning brush 303, and the clarity of the image information acquisition is ensured.

[0064] Embodiment 4

[0065] The adaptive insert burying gripper, specifically, please refer to Figure 5 The outer side of the sliding carriage 302 is provided with a magnetic plate 304, both sides of the detection camera 3 are respectively provided with electromagnetic members 305 attracted to the magnetic plate 304, the two electromagnetic members 305 work alternately, and the operation of the cleaning brush 303 is ensured, that is, through the alternate energization of the two electromagnetic members 305, two direction forces can be generated on the magnetic plate 304, that is, the lens of the detection camera 3 can be cleaned by the cleaning brush 303, and the clarity of the lens is ensured.

[0066] The use process of the visual detection system and the adaptive insert burying gripper provided by the application is as follows:

[0067] After the insert embedding assembly grabs the metal insert, the robot moves the gripper unit to the injection mold, the guide column 109 on the mounting plate 101 is inserted into the guide hole on the injection mold, and when there is a deviation between the insert embedding assembly 102 and the injection cavity of the injection mold, that is, the guide column 109 also has a certain deviation, at this time, the guide column 109 can drive the mounting plate 101 to be finely adjusted in the horizontal direction through the cooperation of the guide column 109 and the guide hole, so as to ensure the accurate alignment of the mounting plate and the mold. During the fine adjustment of the mounting plate 101, the displacement shaft 203 moves synchronously with the mounting plate 101, the displacement block 204 extrudes the corresponding elastic rod 206, the elastic rod 206 moves downward, the display ball 207 and the magnetic sheet 208 are relatively far away from the magnetic rod 210, and then the magnetic force of the magnetic rod 210 on the magnetic sheet 208 disappears. Under the action of the coil spring, the display ball 207 rotates by 180°, that is, the position exchange between the first face and the second face in the above is completed. At this time, the camera performs image acquisition once, the mounting plate 101 is automatically corrected in position, the self-locking cylinder 110 works, and the injection embedding gripper unit 1 is connected with the mold to form a whole, and the material pushing cylinder pushes the insert into the injection mold.

[0068] In the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connection", "fixing" and the like should be understood in a broad sense. For example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected or communicate with each other; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise explicitly limited. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0069] Obviously, the above-described embodiments are only a part of the embodiments of the present application, and are not all the embodiments. The preferred embodiments of the present application are shown in the drawings, but do not limit the patent scope of the present application. The present application can be realized in many different forms, and conversely, the purpose of providing these embodiments is to make the disclosure of the present application more thorough and comprehensive. Although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions recorded in the foregoing specific embodiments, or equivalently replace some technical features therein. Any equivalent structure made by using the contents of the present application specification and drawings, directly or indirectly applied to other related technical fields, is also within the patent protection scope of the present application.

Claims

1. An adaptive insert embedding gripper, characterized in that: The invention comprises a connector (103), the rear end of the connector (103) is connected to the output end of the robot, the floating assembly comprises a group of connecting shafts (104) evenly arranged at the front end of the connector (103), the mounting plate (101) has an assembly hole (105) adapted to the connecting shaft (104), the aperture of the assembly hole (105) is larger than the shaft diameter of the connecting shaft (104), the connecting shaft (104) passes through the assembly hole (105) and thrust bearings (106) are respectively installed on the inner and outer sides of the mounting plate (101), the connector (103) is provided with an adjustment block (107) located at the end corner of the mounting plate (101), the adjustment block (107) is provided with a spring plunger (108) abutting against the side of the mounting plate (101), the mounting plate (101) is provided with a guide column (109), and the guide column (109) is adapted to the guide hole on the injection mold; The connector (103) is also provided with a self-locking mechanism, the self-locking mechanism comprising a self-locking cylinder (110) provided inside the connector (103), the output end of the self-locking cylinder (110) passing through the connector (103) and connected to a clamping claw (111), the clamping claw (111) cooperating with a self-locking hole on the injection mold, and being able to lock the connector (103) on the injection mold; The displacement representation module comprises a displacement conversion mechanism (2), wherein the displacement conversion mechanism (2) comprises a body (201) arranged at the top of the inner wall of a connecting body (103), a cylinder (202) being assembled on the top of the body (201), a displacement shaft (203) passing through the connecting body (103) and coaxial with the cylinder (202) being arranged at the bottom of the mounting plate (101), a group of displacement blocks (204) being evenly arranged on the displacement shaft (203), a conversion component for generating a display mark signal being arranged at the bottom of the displacement block (204), and the conversion component being elastically arranged on the cylinder (202).

2. The adaptive insert embedding gripper according to claim 1, characterized in that: The conversion assembly comprises a positioning block (205) corresponding to the displacement block (204); a group of elastic rods (206) are equidistantly arranged on the positioning block (205) from the inside to the outside; a slope is arranged at the bottom end of the displacement block (204) and contacts the top end of the adjacent elastic rod (206); a display ball (207) is rotatably arranged at the bottom end of the elastic rod (206); the surface of the display ball (207) is divided into a first surface and a second surface, and different information is arranged on the first surface and the second surface for quick identification; the first surface of the display ball (207) faces outward; when the elastic rod (206) is moved downward by the pressure of the displacement block (204), the positions of the first surface and the second surface are interchanged.

3. The adaptive insert embedding gripper according to claim 2, characterized in that: A linear slot (209) is provided in the middle of the elastic rod (206), the bottom end of the linear slot (209) is connected to the display ball (207), a magnetic rod (210) is provided in the linear slot (209), and the magnetic rod (210) is fixed in the positioning block (205), a rotating protrusion is provided on the display ball (207), the rotating protrusion is rotatably mounted on the bottom of the elastic rod (206), and a coil spring is provided between the rotating protrusion and the elastic rod (206), a magnetic sheet (208) corresponding to the magnetic rod (210) is embedded in the display ball (207), and a detection camera (3) for collecting information of the first surface and the second surface is provided at the bottom of the body (201).

4. A visual inspection system, applied to the adaptive insert embedding gripper according to claim 1, characterized in that: The invention comprises an injection molding embedded gripper unit (1) and a detection unit, wherein a mounting plate (101) is provided on the injection molding embedded gripper unit (1) via a floating component, an insert embedding component (102) is installed on the mounting plate (101), and the insert embedding component (102) can automatically correct the insert embedding position via the floating component, and the detection unit is used to detect and count the displacement adjustment amount of the mounting plate (101).

5. A visual inspection system according to claim 4, characterized in that: The detection unit includes an image acquisition module, an image processing module and a display module; An image acquisition module for acquiring an image of the displacement adjustment amount of the mounting plate (101); An image processing module performs statistics and analysis on the collected image information and issues an alarm signal when the mounting plate (101) is repeatedly displaced in the same direction; The display module receives the alarm signal from the image processing module and issues an early warning display to notify the staff to adjust the injection molding embedded gripper unit (1).

6. A visual inspection system according to claim 5, characterized in that: The image processing module first performs filtering and sharpening processing on the acquired image information, and then performs statistics and analysis on the processed image information.

7. A visual inspection system according to claim 6, characterized in that: The detection unit further comprises a displacement representation module, which is used to represent the amount of displacement correction of the mounting plate (101), that is, the amount of displacement correction of the embedded component (102).

8. A visual inspection system according to claim 7, characterized in that: The displacement representation module is arranged inside the injection molding embedding gripper unit, and the image acquisition module acquires image information of the mounting plate (101) once during each insert embedding process.

Images