Valve spring automatic image final inspection system

Abstract

The application discloses an automatic image final inspection system for valve springs, comprising: an upper computer and a valve spring detection mechanism main body; the valve spring detection mechanism main body comprises: a feeding mechanism, a carrying mechanism, a 3D scanning mechanism, an end face detection mechanism, a sorting mechanism, a detection flow channel and a discharging mechanism which are installed on a workbench; the upper computer is used for analyzing received side images of valve springs shot by the 3D scanning mechanism and end face images of valve springs shot by the end face detection mechanism to generate defect types of the valve springs, and generating corresponding control instructions based on the defect types to control the sorting mechanism to sort the valve springs. The automatic image final inspection system for valve springs uses a 3D camera line scan and a surface array camera to perform multi-angle rapid shooting, combines a deep learning algorithm to realize defect detection of each aspect of the valve springs, and greatly improves detection efficiency and detection accuracy.

Description

Technical Field

[0001] This invention relates to the field of automotive parts testing equipment, and in particular to an automatic imaging final inspection system for valve springs. Background Technology

[0002] Valve springs are small tools that ensure valves seat promptly and fit tightly, preventing them from bouncing during engine vibrations and compromising their seal. Because valve springs withstand torque during operation, the stress distribution across their circular cross-section is uneven. From the origin near the center towards the edges, the stress gradually increases, with the highest stress on the surface. Specifically, the innermost surface experiences the greatest stress, and is subject to plane stress. Therefore, any defects on the valve spring surface can lead to maximum stress concentration at the defect location, potentially causing premature spring breakage. Thus, inspecting valve spring surfaces for defects is essential. Currently, due to the complex geometry of valve springs, numerous inspection surfaces, and the large number of small defects, the industry typically relies on manual visual inspection for final inspection. This method is inefficient and lacks accuracy.

[0003] The above issues urgently need to be addressed. Summary of the Invention

[0004] To address at least one of the technical problems in the prior art, this invention provides an automatic image final inspection system for valve springs. The system includes a host computer and a valve spring inspection mechanism body. The valve spring inspection mechanism body includes a loading mechanism, a transport mechanism, a 3D scanning mechanism, an end-face inspection mechanism, a sorting mechanism, an inspection channel, and a unloading mechanism, all mounted on a workbench. The loading mechanism loads the valve springs to be inspected using a vibratory feeder. The transport mechanism clamps the valve springs onto a carrier in the inspection channel using a first gripper. When the inspection channel transports the valve springs to be inspected to the inspection station, a 3D scanner mounted at one end of the inspection channel... The system takes side images of the valve springs and end-face inspection images of the valve springs to be inspected. A sorting mechanism placed at the end of the inspection channel sorts the valve springs that fail the inspection to different defective product areas using a second gripper. A feeding mechanism transports the valve springs that pass the inspection to the qualified product area via a second conveyor belt. The host computer analyzes the side images of the valve springs taken by the 3D scanning mechanism and the end-face images of the valve springs taken by the end-face inspection mechanism to generate the defect types of the valve springs, and generates corresponding control commands based on the defect types to control the sorting mechanism to sort the valve springs.

[0005] Furthermore, the 3D scanning mechanism is equipped with a 3D camera, a rotational fine-tuning component for controlling the rotation of the 3D camera, and a first servo motor for controlling the rotational fine-tuning component.

[0006] Furthermore, the end face detection mechanism includes a first end face detection component and a second end face detection component. The first end face detection component is equipped with bowl-shaped lighting components on both sides, and a first area array camera is installed on one side for capturing an end face image of the valve spring to be detected. The second end face detection component is equipped with ring-shaped lighting components on both sides, and a second area array camera is installed on the side symmetrical to the first area array camera for capturing an end face image of the valve spring to be detected.

[0007] Furthermore, the main body of the valve spring testing mechanism also includes an adjustment mechanism installed on the other side of the testing flow channel corresponding to the 3D scanning mechanism. The adjustment mechanism includes a fixedly connected push assembly and a rotating assembly. The rotating assembly includes a second servo motor rotatably connected to a rubber wheel for rotating the valve spring to be tested placed on the carrier. The push assembly includes a push plate and an electric cylinder connected by a spring for making the rotating assembly fit against the spring to be tested.

[0008] Furthermore, the sorting mechanism is vertically fixed at the end of the detection channel, and uses the second gripper to grab the unqualified valve springs to the corresponding unqualified product area, wherein the unqualified product area includes at least one unqualified product area.

[0009] Furthermore, N carriers are installed at equal intervals on the detection channel, and rubber-coated rollers are symmetrically installed on the carriers. The valve springs to be tested are placed on the rubber-coated rollers and are transported to different workstations by the first conveyor belt.

[0010] Furthermore, the feeding mechanism is vertically installed at the end of the inspection channel, including a second conveyor belt. The qualified valve springs are conveyed to the second conveyor belt through nozzles and feeding blocks installed at the tail of the inspection channel. The second conveyor belt then conveys them to the qualified product areas located at both ends of the second conveyor belt.

[0011] Furthermore, the host computer includes an image receiving unit, an image analysis unit, and a control unit; the input port of the image receiving unit is electrically connected to the 3D scanning mechanism and the end face detection mechanism, and is used to receive the side and end face images of the valve spring sent by the 3D scanning mechanism and the end face detection mechanism; the image analysis unit is used to analyze and generate the defect types of the valve spring based on the side and end face images of the valve spring transmitted by the image receiving unit using a deep learning algorithm; the control unit is used to generate corresponding control commands based on the defect types of the valve spring, and is used to control the sorting mechanism to sort the defective valve springs.

[0012] Furthermore, the control unit is also used to classify valve spring defects based on a preset valve spring defect priority.

[0013] Furthermore, the control unit also includes a timing unit, which, when a defective valve spring is detected, controls the sorting mechanism to sort the defective valve spring to different areas by gripping it when the time reaches a preset time threshold.

[0014] The beneficial effects of the technical solution provided by the embodiments of the present invention are as follows: The present invention provides an automatic image final inspection system for valve springs, the system comprising: a host computer and a valve spring inspection mechanism body; the valve spring inspection mechanism body comprises: a loading mechanism, a conveying mechanism, a 3D scanning mechanism, an end face inspection mechanism, a sorting mechanism, an inspection channel, and a unloading mechanism mounted on a workbench; the loading mechanism loads the valve springs to be inspected via a vibratory feeder, the conveying mechanism clamps the valve springs onto the carrier of the inspection channel via a first gripper, and when the inspection channel transports the valve springs to be inspected to the inspection station, the 3D scanning mechanism mounted at one end of the inspection channel... The system captures side images of valve springs and end-face inspection images of both end faces of the valve springs to be inspected. A sorting mechanism at the end of the inspection channel sorts defective valve springs to different defective product areas using a second gripper. A feeding mechanism transports qualified valve springs to the qualified product area via a second conveyor belt. The host computer analyzes the side images of the valve springs captured by the 3D scanning mechanism and the end-face images captured by the end-face inspection mechanism to generate defect types for the valve springs. Based on these defect types, it generates corresponding control commands to control the sorting mechanism to sort the valve springs. This automatic image final inspection system for valve springs utilizes a 3D camera line scan and an area scan camera for rapid multi-angle imaging, combined with deep learning algorithms to detect defects in various aspects of the valve springs, greatly improving inspection efficiency and accuracy. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 This is a schematic diagram of an automatic image final inspection system for valve springs provided in one embodiment of the present invention.

[0017] Figure 2 This is a top view of the main body of the valve spring detection mechanism provided in one embodiment of the present invention.

[0018] Figure 3 This is a schematic diagram of a handling mechanism provided in one embodiment of the present invention.

[0019] Figure 4 This is a schematic diagram of the detection flow channel structure provided in one embodiment of the present invention.

[0020] Figure 5 This is a schematic diagram of a carrier structure within a detection channel provided in one embodiment of the present invention.

[0021] Figure 6 This is a schematic diagram of the 3D scanning mechanism-adjustment mechanism structure provided in one embodiment of the present invention.

[0022] Figure 7 This is a top view of the material flow channel structure provided in one embodiment of the present invention.

[0023] Figures 8a-8b These are schematic side and end face images of a valve spring provided in one embodiment of the present invention.

[0024] The attached figures are labeled as follows:

[0025] Upper computer-2, valve spring detection mechanism body-1, worktable-100, feeding mechanism-110, conveying mechanism-120, 3D scanning mechanism-130, end face detection mechanism-140, sorting mechanism-150, detection channel-160, unloading mechanism-170, valve spring-190, carrier-1601, rubber-coated roller-16011, first conveyor belt-1602, nozzle-1603, first gripper-1201, 3D camera-1301, rotary fine-tuning component-1302, first servo motor -1303, Adjustment Mechanism -180, Pushing Assembly -1801, Rotating Assembly -1802, Second Servo Motor -18022, First End Face Detection Assembly -1401, Second End Face Detection Assembly -1402, Bowl-shaped Lighting Assembly -14011, First Area Scan Camera -14012, Ring-shaped Lighting Assembly -14021, Second Area Scan Camera -14022, Second Gripper -1501, Second Conveyor Belt -1701, Image Receiving Unit -210, Image Analysis Unit -220, Control Unit -230. Detailed Implementation

[0026] To make the objectives, technical solutions, and advantages of the present invention clearer, the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.

[0027] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the invention. For example, terms such as “length,” “width,” “upper,” “lower,” “left,” “right,” “front,” “rear,” “vertical,” “horizontal,” “top,” “bottom,” “inner,” and “outer” indicate orientations or positions based on the orientations or positions shown in the accompanying drawings and are for ease of description only, and should not be construed as limiting the technical solution.

[0028] The terms "comprising" and "having," and any variations thereof, used in the specification, claims, and accompanying drawings of this invention are intended to cover non-exclusive inclusion; the terms "first," "second," etc., used in the specification, claims, and accompanying drawings are used to distinguish different objects, not to describe a particular order. "A plurality of" means two or more, unless otherwise explicitly specified.

[0029] Furthermore, the reference to "embodiment" herein means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of the invention. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0030] refer to Figure 1-2 The diagram shows a schematic of an automatic image final inspection system for valve springs according to an embodiment of the present invention.

[0031] As an example, the system includes a host computer 2 and a valve spring testing mechanism body 1. The valve spring testing mechanism body 1 includes: a loading mechanism 110, a conveying mechanism 120, a 3D scanning mechanism 130, an end-face testing mechanism 140, a sorting mechanism 150, a testing channel 160, and a unloading mechanism 170, all mounted on a workbench 100. The loading mechanism 110 loads the valve springs 190 to be tested using a vibratory feeder. The conveying mechanism 120 clamps the valve springs onto a carrier 1601 in the testing channel 160 using a first gripper. When the testing channel 160 transports the valve springs to be tested to the testing station, the 3D scanning mechanism 130, mounted at one end of the testing channel, captures a side image of the valve spring. The end-face testing mechanism... The 140 unit captures images of the two end faces of the valve spring to be inspected. The sorting mechanism 150, located at the end of the inspection channel, sorts the valve springs that fail the inspection to different non-conforming product areas using a second gripper. The unloading mechanism 170 transports the valve springs that pass the inspection to the qualified product area via a second conveyor belt. The host computer 2 is used to analyze the side image of the valve spring captured by the 3D scanning mechanism 130 and the end face image of the valve spring captured by the end face inspection mechanism 140 to generate the defect type of the valve spring, and generates corresponding control commands based on the defect type to control the sorting mechanism 150 to sort the valve springs.

[0032] Optional, combined Figure 3 As shown, the feeding mechanism 110 feeds the valve spring to be tested by vibrating the vibratory feeder. The conveying mechanism 120 can transport the products on the vibratory feeder's discharge channel to the corresponding detection channel 160 for two independent PPU conveying modules. The PPU is equipped with a first gripper 1201, which is a flexible gripper used to place the valve spring 190 to be tested on the detection channel 160. The gripping and placing action of the flexible gripper can be performed 5 times per second.

[0033] Optional, such as Figure 4-5 As shown, N carriers 1601 are installed at equal intervals on the testing channel 160. Rubber-coated rollers 16011 are symmetrically mounted on the carriers 1601. The valve springs 190 to be tested are placed on the rubber-coated rollers 16011 and transported to different workstations by the first conveyor belt 1602. A nozzle 1603 is located at the tail of the testing channel 160 to ensure that the products can be smoothly fed into the channel of the unloading mechanism.

[0034] Optional, such as Figure 6As shown, the 3D scanning mechanism 130 is equipped with a 3D camera 1301, and a rotational fine-tuning component 1302 for controlling the rotation of the 3D camera 1301 is rotatably mounted to the 3D camera 1301. A first servo motor 1303 is used to control the rotational fine-tuning component 1302. The main body 1 of the valve spring detection mechanism also includes an adjustment mechanism 180, which is installed on the other side of the detection flow channel 160 corresponding to the 3D scanning mechanism 130. It includes a fixedly connected pushing component and a rotating component. The rotating component includes a second servo motor 18022 rotatably connected to a rubber wheel 18021 for rotating the valve spring 190 to be detected, which is placed on the carrier 1601. The pushing component 1801 includes a push plate and an electric cylinder connected by a spring for making the rotating component 1802 fit with the valve spring 190 to be detected. The electric cylinder and the Z-axis servo motor can quickly change shapes according to different diameters, ensuring the quality of imaging.

[0035] Optional, such as Figure 2 As shown, the end face inspection mechanism 140 includes a first end face inspection component 1401 and a second end face inspection component 1402. The first end face inspection component 1401 has bowl-shaped lighting components 14011 mounted on both sides, with a first area array camera 14012 mounted on one side for capturing an image of one end face of the valve spring to be inspected. The second end face inspection component 1402 has ring-shaped lighting components 14021 mounted on both sides, and a second area array camera 14022 mounted on the side symmetrical to the first area array camera 14012 for capturing an image of the other end face of the valve spring to be inspected. The sorting mechanism 150 is vertically fixed at the end of the inspection channel. It uses a second gripper 1501 to grip and move defective valve springs to the corresponding defective product area, which includes at least one defective product area. The system includes three defective product areas: an end-face defective area, a side defective area, and a front defective area. The end-face defective area contains valve springs with defects such as unground, poor bore diameter, and poor chamfering. The front defective area contains valve springs with defects such as deformed end face opening, scratches, poor top marking, and poor grinding angle. The side defective area contains valve springs with defects such as side impacts, foreign objects, incorrect spring height, and excessively large end face opening. Through a specific mechanism, the automated image final inspection system can sort defective and qualified valve springs, improving production efficiency. Specifically, the end-face inspection mechanism 140 has two different configurations, located on both sides of the inspection channel 160. Defective valve springs are collected in three ways, corresponding to three different inspection stations. Using a module to remove defective valve springs, compared to cylinder ejection, reduces two defective valve spring unloading stations, optimizing space.

[0036] Optionally, as shown in Figure 8, the unloading mechanism 170 is vertically installed at the end of the detection channel 160, including a second conveyor belt 1701. The qualified valve springs are conveyed to the second conveyor belt 1701 via nozzles and unloading blocks installed at the end of the detection channel. The second conveyor belt then conveys them to the qualified product areas located at both ends of the second conveyor belt. Specifically, qualified products on the detection channel are stably unloaded from the carrier onto the second conveyor belt by the action of the unloading blocks and nozzles. By switching different movement directions of the second conveyor belt, products can flow into frame A or frame B.

[0037] Optionally, the host computer 2 includes an image receiving unit 210, an image analysis unit 220, and a control unit 230; the input port of the image receiving unit 220 is electrically connected to the 3D scanning mechanism 130 and the end face detection mechanism 140, and is used to receive the side and end face images of the valve spring sent by the 3D scanning mechanism 130 and the end face detection mechanism 140; the image analysis unit 220 is used to analyze and generate the defect type of the valve spring based on the side and end face images of the valve spring transmitted by the image receiving unit 210 using a deep learning algorithm; the control unit 230 is used to generate corresponding control commands based on the defect type of the valve spring, and to control the sorting mechanism to sort the defective valve springs.

[0038] Optionally, the image analysis unit 220 is further configured to recognize the acquired side and end face images of the valve spring based on a deep learning algorithm. Further, the deep learning algorithm employs a CSW-Yolov7 deep learning neural network. Optionally, a Cot-Net Transformer module is used as the backbone, incorporating a parameter-free attention mechanism (Sim-AM) and using WIo Uv3 as the loss function. By combining these three important modules, the CSW-Yolov7 network exhibits high robustness and network performance. The Cot-Net Transformer module combines a Transformer module for visual recognition with a context converter network (Cot-Net) to generate a transformer-type backbone network (Cot-NetTransformer). The Transformer for visual recognition and the Cot-Net context converter network are already very mature in existing technologies and will not be elaborated upon here. It should be noted that no restriction is placed on the deep learning algorithm used here; for example, a CSW-Yolov7 deep learning neural network or a Yolov7 deep learning neural network can be used.

[0039] Optionally, the control unit 230 is further configured to classify valve spring defects based on a preset valve spring defect priority. Specifically, when a valve spring to be inspected is found to have both side and end face defects, the side defect is classified as the defect type of the valve spring, and it is placed within the side non-conforming area 1504. Figure 8a The image shown is a side view of a valve spring obtained by a 3D scanning mechanism. It is a schematic diagram of the side view obtained when foreign objects are adhered to the side of the valve spring. Figure 8b The image shown is an end face image of the valve spring obtained by the end face inspection mechanism 140. It is a schematic diagram of the end face image obtained when the valve spring has a defect of poor inner diameter.

[0040] Optionally, the control unit 230 further includes a timing unit, used to control the sorting mechanism to sort the defective valve spring to different areas by gripping it when a preset time threshold is reached after a defect is detected. This effectively ensures that the defective valve spring is accurately picked up.

[0041] Optionally, the host computer 2 also includes a storage unit for storing the test results and related data of each valve spring, facilitating subsequent analysis and traceability.

[0042] The automated image final inspection system disclosed in the above embodiments utilizes a 3D camera line scan and an area scan camera for rapid multi-angle imaging, combined with deep learning algorithms to detect defects in various aspects of valve springs, greatly improving inspection efficiency. Specifically, the CT (Critical Time) at the 3D inspection station, 2D inspection station, and NG unloading station of this system are 1.5s, 1.5s, 1.2s, and 1.5s respectively, so the CT of this system is 1.5s. Through deep learning algorithms, the automated image final inspection system can accurately identify and detect various defects in valve springs, including side impacts, foreign objects, etc. The system improves inspection accuracy by identifying issues such as spring height defects, excessively large end face openings, end face deformation, scratches, lack of grinding, poor hole diameter, poor chamfering, poor top marking, and poor grinding angles. The automated video final inspection system monitors the inspection process in real time and records the inspection results and related data for each valve spring, facilitating subsequent analysis and traceability. By sorting qualified and unqualified products, the system improves production efficiency. Compared to manual visual final inspection, the automated video final inspection system requires only a small number of personnel for operation and maintenance, effectively reducing labor costs.

[0043] The above descriptions are merely embodiments of the present invention. Commonly known structures and characteristics are not described in detail here. Those skilled in the art are aware of all common technical knowledge in the field prior to the application date or priority date, are aware of all existing technologies in that field, and have the ability to apply conventional experimental methods prior to that date. Those skilled in the art can, under the guidance of this application, improve and implement this solution in combination with their own capabilities. Some typical known structures or methods should not be obstacles for those skilled in the art to implement this application. It should be noted that those skilled in the art can make several modifications and improvements without departing from the structure of the present invention. These should also be considered within the scope of protection of the present invention, and will not affect the effectiveness of the implementation of the present invention or the practicality of the patent. The scope of protection claimed in this application should be determined by the content of its claims, and the specific embodiments described in the specification can be used to interpret the content of the claims.

Claims

1. An automatic image final inspection system for valve springs, characterized in that, The system includes: a host computer and a valve spring detection mechanism body; The main body of the valve spring testing mechanism includes: a feeding mechanism, a conveying mechanism, a 3D scanning mechanism, an end face testing mechanism, a sorting mechanism, a testing flow channel, and a discharging mechanism, all mounted on a workbench. The feeding mechanism feeds the valve springs to be tested using a vibratory feeder. The conveying mechanism clamps the valve springs onto the carrier in the testing channel using the first gripper. When the testing channel transports the valve springs to be tested to the testing station, the 3D scanning mechanism installed at one end of the testing channel takes a side image of the valve spring, and the end face inspection mechanism takes two end face images of the valve springs to be tested. The sorting mechanism at the end of the testing channel sorts the valve springs that fail the test to different non-conforming product areas using the second gripper. The unloading mechanism transports the valve springs that pass the test to the qualified product area using the second conveyor belt. The host computer is used to analyze the side image of the valve spring captured by the 3D scanning mechanism and the end face image of the valve spring captured by the end face inspection mechanism to generate the defect type of the valve spring, and generate corresponding control instructions based on the defect type to control the sorting mechanism to sort the valve spring.

2. The automatic image final inspection system for valve springs according to claim 1, characterized in that, The 3D scanning mechanism is equipped with a 3D camera, a rotational fine-tuning component for controlling the rotation of the 3D camera, and a first servo motor for controlling the rotational fine-tuning component.

3. The automatic image final inspection system for valve springs according to claim 1, characterized in that, The end face detection mechanism includes a first end face detection component and a second end face detection component. The first end face detection component has bowl-shaped lighting components installed on both sides, and a first area array camera is installed on one side for capturing an end face image of the valve spring to be detected. The second end face detection component has ring-shaped lighting components installed on both sides, and a second area array camera is installed on the side symmetrical to the first area array camera for capturing an end face image of the valve spring to be detected.

4. The automatic image final inspection system for valve springs according to claim 1, characterized in that, The main body of the valve spring testing mechanism also includes an adjustment mechanism installed on the other side of the testing flow channel corresponding to the 3D scanning mechanism. The adjustment mechanism includes a pusher assembly and a rotating assembly that are fixedly connected. The rotating assembly includes a second servo motor that is rotatably connected to a rubber wheel for rotating the valve spring to be tested placed on the carrier. The pusher assembly includes a push plate and an electric cylinder connected by a spring for making the rotating assembly fit against the spring to be tested.

5. The automatic image final inspection system for valve springs according to claim 1, characterized in that, The sorting mechanism is vertically fixed at the end of the detection channel. It uses the second gripper to grab the unqualified valve springs and move them to the corresponding unqualified product area. The unqualified product area includes at least one unqualified product area.

6. The automatic image final inspection system for valve springs according to claim 1, characterized in that, N carriers are installed at equal intervals on the testing channel. Rubber-coated rollers are symmetrically installed on the carriers. The valve springs to be tested are placed on the rubber-coated rollers and are transported to different workstations by the first conveyor belt.

7. The automatic image final inspection system for valve springs according to claim 1, characterized in that, The feeding mechanism is vertically installed at the end of the detection channel and includes a second conveyor belt. The qualified valve springs are conveyed to the second conveyor belt through nozzles and feeding blocks installed at the tail of the detection channel. The second conveyor belt then conveys them to the qualified product areas located at both ends of the second conveyor belt.

8. The automatic image final inspection system for valve springs according to claim 1, characterized in that, The host computer includes an image receiving unit, an image analysis unit, and a control unit; The input port of the image receiving unit is electrically connected to the 3D scanning mechanism and the end face detection mechanism, and is used to receive the side and end face images of the valve spring sent by the 3D scanning mechanism and the end face detection mechanism. The image analysis unit is used to analyze and generate the types of defects in the valve spring based on the side and end images of the valve spring transmitted by the image receiving unit using a deep learning algorithm. The control unit is used to generate corresponding control commands based on the type of defect of the valve spring, and to control the sorting mechanism to sort the defective valve springs.

9. The automatic image final inspection system for valve springs according to claim 8, characterized in that, The control unit is also used to classify valve spring defects based on a preset valve spring defect priority.

10. The automatic image final inspection system for valve springs according to claim 8, characterized in that, The control unit also includes a timing unit, which, when a defective valve spring is detected, controls the sorting mechanism to sort the defective valve spring to different areas by gripping it when the time reaches a preset time threshold.

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