Refrigeration valve rod size and appearance defect detection equipment based on CCD (Charge Coupled Device) vision

Abstract

The invention discloses a refrigeration valve rod size and appearance defect detection device based on CCD vision, and the device comprises an arranging and feeding mechanism which is used for automatically arranging and feeding refrigeration valve rods to be detected; the visual detection mechanism is used for carrying out multi-directional appearance defect and size visual detection on the refrigeration valve rod; the sorting mechanism is used for automatically classifying and outputting good products and non-good products of the refrigeration valve rods subjected to visual detection; the stacking mechanism is used for automatically arranging and placing the refrigeration valve rods; the tray conveying mechanism is used for automatically feeding and positioning the split charging trays; and the grabbing manipulator mechanism is used for transferring the refrigeration valve rods into the split charging tray in groups. According to the automatic detection device, continuous automatic feeding, placing and positioning, all-directional detection, classified discharging, automatic arrangement and stacking of good products, group grabbing and containing and comprehensive appearance detection coverage can be achieved, the detection result is accurate and reliable, the detection period of a single product is short, multiple products are synchronously detected, and the detection efficiency is high.

Description

Technical Field

[0001] The invention relates to the technical field of visual inspection equipment, and in particular to a refrigeration valve stem size and appearance defect inspection device based on CCD vision. Background Art

[0002] Machine vision inspection is to use a computer equipped with a CCD visual inspection system to replace human eye inspection. It can detect and judge product appearance defects, material surface, migration, precipitation, frost, discoloration, foreign matter, pollutants and other unknown objects, including unknown powders, unknown liquids, unknown particles, etc. Appearance inspection is the most widely used in the field of machine vision inspection. Through the supporting visual inspection equipment, the inspection efficiency is greatly improved. Most products need to be inspected for quality after production, and appearance inspection is a type of quality inspection. Many quality problems can also be directly displayed through appearance. For example, Figure 1 Whether the appearance of the commonly used small part, such as the refrigeration valve stem shown in the figure, is qualified will directly affect its performance and the overall life of the refrigeration equipment using the refrigeration valve stem.

[0003] At present, the appearance inspection of existing refrigeration valve stem products is generally still carried out manually, but the traditional appearance inspection is done by human eyes, and the inspection results are affected by the experience level of the inspectors and vary. In addition, the inspectors' eyes will get tired after staring at small objects for a long time, and it is easy to reject defective products, which cannot guarantee the overall quality of batch products. The continuity of general employees' work is low, which leads to an increase in production costs. In addition, manual inspection reduces the automation level of the production line and reduces the inspection efficiency.

[0004] The author's R&D team has developed a CCD-based commutator size and appearance defect detection device (a Chinese invention patent has been applied for, announcement number CN113714143A). It uses CCD-based vision technology and mechanical functional components to achieve continuous automatic loading, placement, positioning, all-round detection and classified unloading of commutator products to be inspected. The appearance inspection is fully covered, the inspection results are accurate and reliable, and the inspection efficiency is high. This technical solution provides a good technical reference for the automated appearance inspection of refrigeration valve stems. Summary of the invention

[0005] In view of the above-mentioned defects and shortcomings, the refrigeration valve stem size and appearance defect detection equipment based on CCD vision proposed in the present invention can realize continuous automatic loading, placement and positioning, all-round detection, classified unloading, and automatic arrangement and stacking of good parts and group grabbing and packaging. It has comprehensive coverage of appearance inspection, and the inspection results are accurate and reliable. The inspection cycle of a single product is short, and multiple products can be inspected simultaneously, with high inspection efficiency.

[0006] In order to solve the above technical problems, a technical solution adopted by the present invention is:

[0007] A refrigeration valve stem size and appearance defect detection device based on CCD vision, including

[0008] The arranging and loading mechanism is fixedly arranged on the top of the loading platform and is used for automatically arranging and loading the refrigeration valve stems to be tested;

[0009] The visual inspection mechanism is fixedly arranged on the top of the inspection table and is used to perform multi-directional visual inspection of the appearance defects and dimensions of the refrigeration valve stems fed one by one by the arrangement feeding mechanism;

[0010] The sorting mechanism is fixedly arranged on the top of the inspection table and is used to automatically sort and output the good and bad refrigeration valve stems after visual inspection;

[0011] The stacking mechanism is fixedly arranged on one side of the top of the conveying platform and the good product output side of the sorting mechanism, and is used to automatically arrange and place qualified refrigeration valve stems;

[0012] The tray conveying mechanism is fixedly arranged on the top of the conveying platform and on one side of the stacking mechanism, and is used for automatically feeding and positioning the sub-packaging trays;

[0013] And a grabbing robot mechanism is fixedly arranged on the top of the conveying platform, located above the stacking mechanism and the tray conveying mechanism, and is used to transfer the refrigeration valve stems arranged on the stacking mechanism into the sub-packaging tray in groups.

[0014] Furthermore, the arrangement and loading mechanism includes a fixed loading tray bracket and a vibrator bracket, a loading tray fixedly connected to the top of the loading tray bracket, and a vibrator fixedly connected to the top of the vibrator bracket and located above the loading tray, guide plates are fixedly provided on both sides of the top surface of the loading tray, a material guide channel is provided between the two guide plates, and an arrangement groove connected to the material guide channel is fixedly connected to the end of the loading tray, and the end of the arrangement groove extends to the feeding position of the visual inspection mechanism.

[0015] Furthermore, the arrangement channel includes a groove bottom plate fixedly connected to the side surface of the end of the loading plate, and clamping plates fixedly connected to both sides of the top of the groove bottom plate. A clamping channel connected to the material guide channel is formed between the two clamping plates. Clamping strips parallel to the top surface of the groove bottom plate are arranged on the opposite sides of the two clamping plates, and the two sides of the refrigeration valve stem located in the clamping channel are movable clamped between the two clamping strips.

[0016] Furthermore, the vibrator includes a vibrating cylinder and a friction impact block fixedly connected to the bottom of the output rod end of the vibrating cylinder. The friction impact block is movably embedded in one of the guide plates, and the side of the friction impact block is connected to the inlet end of the material guide channel.

[0017] Furthermore, the visual inspection mechanism includes a glass rotating mechanism connected to the discharge end of the arranging and loading mechanism, and the top surface of the inspection platform is provided with a material guide assembly located outside the glass rotating mechanism, an optical fiber detection assembly, a top positive light detection assembly, a bottom positive light detection assembly, a tangential positive and reflected light detection assembly, and a radial positive and reflected light detection assembly in sequence starting from the discharge port of the arranging and loading mechanism along the rotation direction of the glass rotating mechanism.

[0018] Furthermore, the glass rotating mechanism includes a rotating drive motor fixedly installed at the center of the bottom surface of the detection platform, a rotating support platform fixedly arranged at the center of the top surface of the detection platform, a rotating pallet rotatably connected to the top of the rotating support platform and drivingly connected to the output shaft end of the rotating drive motor, and a glass plate fixedly installed on the top of the rotating pallet, wherein the glass plate is a transparent glass plate with an annular structure.

[0019] Furthermore, the material guide assembly includes a first horizontal and vertical adjustment bracket fixedly arranged on the top surface of the detection table, a material guide plate connecting frame connected to one side of the top position adjustment end of the first horizontal and vertical adjustment bracket, and a material guide plate fixedly connected to the end of the bottom surface of the material guide plate connecting frame, and the axial distance between the end of the material guide plate close to the arrangement and loading mechanism and the glass plate is smaller than the axial distance between the discharge end of the arrangement and loading mechanism and the glass plate.

[0020] Furthermore, the optical fiber detection assembly includes a second horizontal and vertical adjustment bracket fixedly arranged on the top surface of the detection platform, a sensor connecting frame connected to one side of the top position adjustment end of the second horizontal and vertical adjustment bracket, and a photoelectric sensor and a reflective plate respectively fixedly connected to the two end portions of the bottom surface of the guide plate connecting frame and located above the glass plate.

[0021] Furthermore, the top positive light detection assembly includes a third horizontal and vertical adjustment bracket fixedly arranged on the top surface of the detection platform, a first CCD camera and a first annular fill light respectively connected to one side of the top position adjustment end of the third horizontal and vertical adjustment bracket, and the first annular fill light is located directly below the first CCD camera and above the glass plate;

[0022] The bottom positive light detection assembly includes a fourth horizontal and vertical adjustment bracket fixedly arranged on the top surface of the detection platform, a second CCD camera and a second annular fill light respectively connected to one side of the bottom position adjustment end of the fourth horizontal and vertical adjustment bracket, and the second annular fill light is located directly above the second CCD camera and below the glass plate;

[0023] The tangential positive and negative light detection assembly comprises a fifth horizontal and vertical adjustment bracket fixedly arranged on the top surface of the detection platform, a first camera hanging plate connected to one side of the top position adjustment end of the fifth horizontal and vertical adjustment bracket, two ends of the bottom surface of the first camera hanging plate are respectively connected to a third CCD camera and a fourth CCD camera which are arranged oppositely, the connection line between the third CCD camera and the fourth CCD camera is perpendicular to the radial direction of the glass plate at this position, and the bottom surface of the first camera hanging plate is connected to a first semi-annular fill light and a second semi-annular fill light which are located between and opposite to the third CCD camera and the fourth CCD camera;

[0024] The radial positive and negative light detection component includes a sixth horizontal and vertical adjustment bracket fixedly arranged on the top surface of the detection platform, and a second camera hanging plate connected to one side of the top position adjustment end of the sixth horizontal and vertical adjustment bracket. The two ends of the bottom surface of the second camera hanging plate are respectively connected to a fifth CCD camera and a sixth CCD camera which are arranged opposite to each other. The connection line between the fifth CCD camera and the sixth CCD camera is parallel to the radial direction of the glass plate at this position. The bottom surface of the second camera hanging plate is connected to a third semi-annular fill light and a fourth semi-annular fill light which are located between and opposite to the fifth CCD camera and the sixth CCD camera.

[0025] Furthermore, the sorting mechanism includes an air nozzle bracket fixedly arranged on the top surface of the detection table, an air nozzle fixedly arranged at the front end of the top of the air nozzle bracket and located above the inner edge of the glass plate, a guide plate fixedly arranged at the rear end of the top of the air nozzle bracket and located above the glass plate, a waste hopper fixedly arranged on the top surface of the detection table and located on the outside of the glass plate, and a waste box arranged below the waste hopper, a feed port arranged opposite to the air nozzle is opened on the top side wall of the waste hopper, and a feed discharge guide groove is fixedly arranged between the end of the guide plate and the feed end of the stacking mechanism.

[0026] Furthermore, the stacking mechanism includes a chain conveying assembly fixedly connected to the side of the conveying platform, and a frame plate fixedly arranged above one end of the chain conveying assembly, the chain plate of the chain conveying assembly is fixedly connected with a stacking groove, the side of the frame plate is provided with a posture adjustment hole which is connected with the discharge end of the sorting mechanism and is through at the bottom, a pushing cylinder is fixedly arranged on one side of the top of the frame plate, and the output rod end of the pushing cylinder is fixedly connected with a sealing plate 409 which is movably sealed below the posture adjustment hole.

[0027] Furthermore, the tray conveying mechanism includes a first chain conveyor line and a second chain conveyor line which are arranged side by side and in opposite conveying directions. A tray loading mechanism is fixedly arranged at one end of the first chain conveyor line and the second chain conveyor line close to the stacking mechanism, which is used to transfer empty sub-packaging trays from the first chain conveyor line to the second chain conveyor line. A tray unloading mechanism is fixedly arranged at one end of the first chain conveyor line and the second chain conveyor line away from the stacking mechanism, which is used to transfer sub-packaging trays containing refrigeration valve stems from the second chain conveyor line to the first chain conveyor line.

[0028] Furthermore, the tray loading mechanism and the tray unloading mechanism both include a magnetic rodless cylinder horizontally fixedly arranged above the ends of the first chain conveyor line and the second chain conveyor line, and guide rails parallelly arranged on both sides of the magnetic rodless cylinder. A cylinder bracket is fixedly connected to the power output end of the magnetic rodless cylinder, one side surface of the cylinder bracket is slidably connected to the guide rail, and the top of the other side surface is fixedly connected to a cylinder mounting plate, a first lifting cylinder is fixedly installed on the bottom surface of the cylinder mounting plate, and the bottom output shaft end of the first lifting cylinder is fixedly connected to a support plate that can be immersed in the first chain conveyor line / the second chain conveyor line.

[0029] Furthermore, a first limiting mechanism and a second limiting mechanism are arranged inside one end of the second chain conveyor line close to the tray loading mechanism and are located on the side of the stacking mechanism, and a third limiting mechanism and a fourth limiting mechanism are arranged inside one end of the second chain conveyor line close to the tray unloading mechanism and are located on the side of the stacking mechanism.

[0030] Furthermore, the grasping robot mechanism includes a gantry, a linear module horizontally fixed on one side of the top of the gantry, a second lifting cylinder fixed on the side of the power output end of the linear module, and a pneumatic finger connected to the output rod end at the bottom of the second lifting cylinder, and the pneumatic finger is a parallel jaw type.

[0031] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0032] 1. The present invention can realize the vibration-propelled feeding of multiple products to be inspected by adopting an arranged feeding assembly. Through the material guide assembly arranged on one side of the top of the glass rotating mechanism, the products to be inspected can be positioned and placed on the glass rotating mechanism one by one to complete subsequent continuous testing, thereby realizing automatic continuous feeding and positioning, and having high working efficiency;

[0033] 2. The present invention sequentially arranges a top positive light detection component, a bottom positive light detection component, a tangential positive and reflected light detection component, and a radial positive and reflected light detection component on the periphery of a glass rotating mechanism, and sequentially passes the product to be inspected through each inspection station through the glass rotating mechanism, and takes pictures of the surface appearance of the product from each viewing angle through the CCD camera on each inspection component, and then compares and analyzes it through image recognition software, thereby achieving all-round inspection of each area of ​​the surface, and the inspection result is more accurate and comprehensive; the arranged feeding mechanism can continuously feed the placed products to be inspected through the glass rotating mechanism, thereby achieving synchronous inspection of multiple products to be inspected, effectively reducing unnecessary interval time, and greatly improving work efficiency;

[0034] 3. The present invention uses multiple CCD detection cameras to detect the appearance defects of different parts of the product to be inspected, so as to comprehensively evaluate the surface appearance defects, classify and count the appearance defects, facilitate the analysis of the distribution of defects and the yield rate, and provide accurate guidance for process improvement; by setting a sorting mechanism for air nozzle blowing, good products and defective products are automatically separated, which is convenient for the classification and collection of products;

[0035] 4. The present invention adopts a bidirectional tray conveying mechanism to realize the automatic feeding of empty sub-packaging trays and the automatic delivery of fully loaded sub-packaging trays. By respectively arranging a tray loading mechanism and a tray unloading mechanism at both ends of the conveying line, the position conversion of the sub-packaging trays on the two conveying lines can be realized, and the automatic loading and unloading and positioning of the sub-packaging trays can be realized, which saves a lot of manpower and improves work efficiency.

[0036] 5. The present invention realizes automatic arrangement and stacking of good parts by setting up a stacking mechanism, and automatically completes the grouping of the refrigeration valve stems after detection in the sub-packaging tray through a grabbing robot mechanism, which is convenient for subsequent packaging and packaging, and greatly improves production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 A schematic diagram of the three-dimensional structure of a refrigeration valve stem detected by the appearance defect detection device of the present invention;

[0038] Figure 2 This is one of the three-dimensional structural schematic diagrams of the refrigeration valve stem defect detection device of the present invention;

[0039] Figure 3 This is a second three-dimensional structural schematic diagram of the refrigeration valve stem defect detection device of the present invention;

[0040] Figure 4 It is a schematic diagram of the top view of the structure of the refrigeration valve stem defect detection device of the present invention;

[0041] Figure 5 It is a schematic diagram of the three-dimensional structure of the arrangement and feeding structure;

[0042] Figure 6 It is a structural schematic diagram of the assembly state of the friction impact block and the feed guide plate;

[0043] Figure 7 for Figure 6 The enlarged structural diagram of the middle A part;

[0044] Figure 8 is a schematic diagram of the three-dimensional structure of the visual detection mechanism;

[0045] Fig. 9 is a schematic diagram of the three-dimensional structure of the glass rotating mechanism;

[0046] Fig.10 is a schematic diagram of the three-dimensional structure of the material guiding component;

[0047] Fig.11 is a schematic diagram of the three-dimensional structure of the optical fiber detection assembly;

[0048] Fig.12 is a schematic diagram of the three-dimensional structure of the top positive light detection component;

[0049] Fig.13 is a schematic diagram of the three-dimensional structure of the bottom positive light detection component;

[0050] Fig.14 is a schematic diagram of the three-dimensional structure of the tangential positive and negative light detection component;

[0051] Fig.15 is a schematic diagram of the three-dimensional structure of the radial positive and negative light detection component;

[0052] Fig.16 It is one of the three-dimensional structural schematic diagrams of the sorting mechanism;

[0053] Fig.17 The second schematic diagram of the three-dimensional structure of the sorting mechanism;

[0054] Fig.18 It is one of the three-dimensional structural schematic diagrams of the stacking mechanism;

[0055] Fig.19 The second schematic diagram of the three-dimensional structure of the stacking mechanism;

[0056] Fig. 20 is a schematic diagram of the three-dimensional structure of the tray conveying mechanism;

[0057] Fig.21 is a three-dimensional structural schematic diagram of the material tray loading mechanism;

[0058] Fig. 22 for Figure 3 A schematic diagram of the enlarged structure of the middle B part;

[0059] Fig.23 It is a schematic diagram of the three-dimensional structure of the grasping robot mechanism.

[0060] In the figure: 1. Arrangement and loading mechanism; 101. Loading tray bracket; 102. Vibrator bracket; 103. Loading tray; 104. Vibrator; 1041. Vibration cylinder; 1042. Friction impact block; 105. Feed guide plate; 106. Material guide channel; 107. Arrangement channel; 1071. Slot bottom plate; 1072. Clamping plate; 1073. Clamping strip; 2. Visual inspection mechanism; 201. Glass rotating mechanism; 2011. Rotation drive motor; 2012. Rotation support table; 2013. Rotation support plate; 2014. Glass tray; 202. Material guide assembly; 2021. First horizontal and vertical adjustment bracket; 2022. Material guide plate connecting frame; 2023. Material guide plate; 203. Optical fiber detection assembly; 2031. First horizontal and vertical adjustment bracket; 2022. Material guide plate connecting frame; 2023. Material guide plate; 203. Optical fiber detection assembly; 2031. First horizontal and vertical adjustment bracket; 2023. Material guide plate connecting frame; 2034. 2032, sensor connection frame; 2033, photoelectric sensor; 2034, reflector; 204, top positive light detection assembly; 2041, third horizontal and vertical adjustment bracket; 2042, first CCD camera; 2043, first annular fill light; 205, bottom positive light detection assembly; 2051, fourth horizontal and vertical adjustment bracket; 2052, second CCD camera; 2053, second annular fill light; 206, tangential positive and reflective light detection assembly; 2061, fifth horizontal and vertical adjustment bracket; 2062, first camera hanging plate; 2063, third CCD camera; 2064, fourth CCD camera; 2065, first semi-annular fill light; 2066, second semi-annular fill light; 2067, second semi-annular fill light; 2068, third CCD camera; 2069, fourth CCD camera; 2070, first semi-annular fill light; 2071, fifth horizontal and vertical adjustment bracket; 2072, first camera hanging plate; 2073, third CCD camera; 2074, fourth CCD camera; 2075, first semi-annular fill light; 2076, second semi-annular fill light; 2077, second semi-annular fill light; 2078, second semi-annular fill light; 2079, second semi-annular fill light; 2080, second semi-annular fill light; 2081, third horizontal and vertical adjustment bracket; 2082, first camera hanging plate; 2083, third CCD camera; 2084, fourth CCD camera; 2085, first semi-annular fill light; 2086, second semi-annular fill light; 2087, second semi-annular fill light; 2088, second semi-annular fill light; 07, radial positive and negative light detection component; 2071, sixth horizontal and vertical adjustment bracket; 2072, second camera hanging plate; 2073, fifth CCD camera; 2074, sixth CCD camera; 2075, third semi-circular fill light; 2076, fourth semi-circular fill light; 3, sorting mechanism; 301, air nozzle bracket; 302, air nozzle; 303, discharge guide plate; 304, waste hopper; 305, waste box placement rack; 306, waste box; 307, unloading guide groove; 308, column; 309, hopper bracket; 3010, rubber hose; 3011, discharge cylinder; 3012, discharge push block; 4, stacking mechanism; 401, chain plate conveying component; 402, shelf plate; 403, stacking groove; 404, posture Adjustment hole; 405, push cylinder; 406, mounting seat; 407, gear reducer; 408, stacking drive motor; 409, sealing plate; 5, tray conveying mechanism; 501, first chain conveying line; 502, second chain conveying line; 503, tray loading mechanism; 5031, magnetic rodless cylinder; 5032, guide rail; 5033, cylinder bracket; 5034, cylinder mounting plate; 5035, first lifting cylinder; 5036, support plate; 504, tray unloading mechanism; 505, first limiting mechanism; 506, second limiting mechanism; 6, sub-packaging tray; 7, grabbing manipulator mechanism; 701, gantry; 702, linear module; 703, second lifting cylinder; 704, pneumatic finger; 10, loading platform;20. Testing table; 30. Conveying table; 100. Refrigeration valve stem. ; DETAILED DESCRIPTION

[0061] The preferred embodiments of the present invention are described in detail below in conjunction with the accompanying drawings so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby making a clearer and more definite definition of the protection scope of the present invention.

[0062] It should be noted that when a component is referred to as being "mounted on" another component, it may be directly on the other component or there may be a central component. When a component is considered to be "set on" another component, it may be directly set on the other component or there may be a central component at the same time. When a component is considered to be "fixed to" another component, it may be directly fixed on the other component or there may be a central component at the same time.

[0063] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "or / and" used herein includes any and all combinations of one or more related listed items.

[0064] See also Figures 2 to 4 The present invention provides a refrigeration valve stem size and appearance defect detection device based on CCD vision, comprising an arranging and feeding mechanism 1, fixedly arranged on the top of a feeding platform 10, for automatically arranging and feeding refrigeration valve stems 100 to be detected; a visual inspection mechanism 2, fixedly arranged on the top of a testing platform 20, for performing multi-directional appearance defect and size visual inspection on the refrigeration valve stems 100 fed one by one by the arranging and feeding mechanism 1; a sorting mechanism 3, fixedly arranged on the top of the testing platform 20, for automatically sorting good and bad refrigeration valve stems 100 after visual inspection. Classification and output; a stacking mechanism 4, fixedly arranged on one side of the top of the conveying platform 30 and the good product output side of the sorting mechanism 3, is used for automatically arranging and placing qualified refrigeration valve stems 100; a tray conveying mechanism 5, fixedly arranged on the top of the conveying platform 30 and on one side of the stacking mechanism 4, is used for automatically feeding and positioning the sub-packaging tray 6; and a grabbing robot mechanism 7, fixedly arranged on the top of the conveying platform 30, located above the stacking mechanism 4 and the tray conveying mechanism 5, is used for transferring the refrigeration valve stems 100 arranged on the stacking mechanism 4 to the sub-packaging tray 6 in groups.

[0065] Since the motion control of the present invention involves the motion logic control of power sources such as servomotors and cylinders and corresponding power actuators, and the system detection involves analog signal processing such as sensors and CCD cameras, a computer host, air pressure supply equipment, motor drivers and other conventional control systems and power systems are configured in the electrical cabinet at the bottom of the detection table 20 for the control of the entire device, and a cabinet (not shown in the figure) located outside the visual detection mechanism 2 is arranged on the top of the detection table 20, and a touch-sensitive display (not shown in the figure) is arranged on the side of the cabinet, the touch-sensitive display is connected to the computer host for communication, and the computer host is pre-installed with image recognition processing software for real-time display of detection data information and adjustment and setting of control parameters. The above are all prior arts, which will not be repeated here, and only the specific structure and working principle of the creative design part of the present invention will be described in detail below.

[0066] like Figure 5 As shown, the arrangement and loading mechanism 1 includes a loading tray bracket 101 and a vibrator bracket 102 fixedly arranged on the top surface of the loading platform 10, a loading tray 103 fixedly connected to the top of the loading tray bracket 101, and a vibrator 104 fixedly connected to the top of the vibrator bracket 102 and located above the loading tray 103. The end of the loading tray 103 is fixedly connected with an arrangement channel 107 connected with the material guide channel 106, and the end of the arrangement channel 107 extends to the feeding position of the visual inspection mechanism 2. Feed guide plates 105 are fixedly arranged on the left and right sides of the top surface of the loading tray 103, respectively, and a material guide channel 106 is arranged between the two feed guide plates 105. The front part of the material guide channel 106 is a triangular shape with a large top and a small bottom, and the rear part is a straight strip. In this way, multiple refrigeration valve stems 100 can be placed on the loading tray 103 at the same time, and only a single row of refrigeration valve stems 100 are allowed to pass through the material guide channel 106 and be sent out one by one. In actual use, an operator is required to manually place the refrigeration valve stem 100 with the tip facing upward, so that the refrigeration valve stem 100 can smoothly complete the subsequent loading, testing and unloading processes.

[0067] In this embodiment, the vibrator 104 includes a vibrating cylinder 1041 and a friction impact block 1042 fixedly connected to the bottom of the output rod end of the vibrating cylinder 1041. The friction impact block 1042 is movably embedded in one of the feed guide plates 105, and the side of the friction impact block 1042 is connected to the inlet end of the material guide channel 106. Specifically, a horizontal mounting plate is fixedly provided on the top of the vibrator bracket 102, and the end of the mounting plate is suspended directly above the feed guide plate 105 on the right and fixedly connected to a cylinder mounting seat; the vibrating cylinder 1041 is horizontally fixedly connected to the bottom surface of the cylinder mounting seat, and the extension and retraction direction of its output rod is consistent with the feeding direction of the material guide channel 106. The output shaft end of the vibrating cylinder 1041 is fixedly connected to a connecting block, and the bottom of the connecting block is fixedly connected to a connecting plate, and the friction impact block 1042 is fixedly connected to the bottom surface of the connecting plate. Figure 6 From the perspective shown, a strip-shaped gap is provided on the left side wall of the right feed guide plate 5, and the friction impact block 1042 is located in the gap, and a guide bar is provided on the upper side wall of the gap. A guide groove matching the guide bar is provided on the top side of the friction impact block 1042, and the guide bar is movably inserted in the guide groove. In this way, during the process of the vibration cylinder 1041 driving the friction impact block 1042 to reciprocate, the side of the friction impact block 1042 and the circumferential surface of the refrigeration valve stem 100 on the loading plate 103 generate friction and push the refrigeration valve stem 100 forward gradually; the vibration is generated by the collision between the friction impact block 1042 and the feed guide plate 5, so that the refrigeration valve stem entering the arrangement groove 107 can be smoothly moved downward gradually and sent to the visual inspection mechanism for inspection.

[0068] like Figure 7 As shown, the arrangement channel 107 includes a groove bottom plate 1071 fixedly connected to the side surface of the end of the loading plate 103, and a material clamping plate 1072 fixedly connected to both sides of the top of the groove bottom plate 1071. A material clamping channel connected to the material guide channel 106 is formed between the two material clamping plates 1072. The top surface of the groove bottom plate 1071 is a smooth arc surface inclined downward, so that under the action of vibration, the refrigeration valve stem 100 entering the arrangement channel 107 from the material guide channel 106 can be smoothly and continuously sent out. Among them, the opposite sides of the two material clamping plates 1072 are provided with material clamping strips 1073 arranged parallel to the top surface of the groove bottom plate 1071, and the two sides (annular groove position) of the refrigeration valve stem 100 located in the material clamping channel are movably clamped between the two material clamping strips 1073 to ensure that the refrigeration valve stem 100 remains upright during the feeding process without tipping over.

[0069] like Figure 8 As shown, the visual inspection mechanism 2 includes a glass rotating mechanism 201 connected to the discharge end of the arranging and loading mechanism 1, and a material guide component 202, an optical fiber detection component 203, a top positive light detection component 204, a bottom positive light detection component 205, a tangential positive and reflected light detection component 206 and a radial positive and reflected light detection component 207 are sequentially arranged on the top surface of the inspection platform 20 starting from the discharge port of the arranging and loading mechanism 1 along the rotation direction of the glass rotating mechanism 201 (counterclockwise in this embodiment).

[0070] Specifically, Fig. 9As shown, the glass rotating mechanism 201 comprises a rotating driving motor 2011 fixedly mounted at the center of the bottom surface of the detection platform 20, a rotating support platform 2012 fixedly arranged at the center of the top surface of the detection platform 20, a rotating support plate 2013 rotatably connected to the top of the rotating support platform 2012 and transmission-connected with the output shaft end of the rotating driving motor 2011, and a glass plate 2014 fixedly mounted on the top of the rotating support plate 2013, wherein the glass plate 2014 is a transparent glass plate of an annular structure. The rotating driving motor 2011 adopts a servo reduction motor, which can realize the convenient adjustment of the rotating speed to adjust the detection efficiency. The bottom end of the rotating support plate 2013 is rotationally connected in the top surface of the rotating support platform 2012 through a thrust bearing, and a transmission shaft is fixedly arranged at the center of its bottom surface, and the bottom end of the rotating shaft is plug-fitted with the top output shaft end of the rotating driving motor 2011 to realize transmission connection. To facilitate the adjustment of the vertical height of the glass plate 2014 and its assembly with the rotating support plate 2013, the top edge of the rotating support plate 2013 is connected with a plurality of evenly distributed connecting columns by screws, and the top of each connecting column is fixedly connected with an annular assembly plate by screws, and the glass plate 2014 is fixedly connected to the top surface of the assembly plate by screws.

[0071] The end of the bottom surface of the groove bottom plate 1071 is slidably overlapped on the top surface of the glass plate 2014, and its output direction is consistent with the rotation direction of the glass plate 2014, and the tail of the clamping plate 1072 exceeds the tail of the groove bottom plate 1071 by a small distance. After the refrigeration valve stem 100 reaches the end of the arrangement groove 107 under the action of vibration, during the rotation of the glass plate 2014, the surface of the glass plate 2014 pushes the refrigeration valve stem 100 out of the arrangement groove 107 through contact friction and remains on the surface of the glass plate 2014, and is sent forward with the synchronous rotation of the glass plate 2014.

[0072] like Fig.10As shown, the material guide assembly 202 includes a first horizontal and vertical adjustment bracket 2021 fixedly arranged on the top surface of the detection platform 20, a material guide plate connecting frame 2022 connected to one side of the top position adjustment end of the first horizontal and vertical adjustment bracket 2021, and a material guide plate 2023 fixedly connected to the bottom end of the material guide plate connecting frame 2022. Specifically, the first horizontal and vertical adjustment bracket 2021 includes a horizontal slide rail, a horizontal positioning block slidably installed on the top of the horizontal slide rail, a vertical slide rail fixedly connected to the top surface of the horizontal positioning block, and a vertical positioning block slidably installed on the side of the vertical slide rail, and the material guide plate connecting frame 2022 is fixedly connected to the side of the vertical positioning block. A rack is fixedly embedded in the top surface of the horizontal slide rail, a gear meshing with the rack is rotatably installed inside the horizontal positioning block, and a knob coaxially fixedly connected to the gear is rotatably installed outside the horizontal positioning block. By twisting the knob, the horizontal positioning block can be driven to move horizontally under the meshing action of the gear rack, thereby realizing the displacement adjustment of the vertical slide rail in the horizontal direction; the assembly method between the vertical positioning block and the vertical slide rail is the same as the assembly method between the horizontal positioning block and the horizontal slide rail, so by twisting the corresponding knob, the displacement adjustment of the vertical positioning block and the guide plate 2023 connected thereto in the vertical direction can be realized.

[0073] The guide plate connecting frame 2022 is provided with an arc-shaped waist groove, and the top of the guide plate 2023 is fixedly connected to the bottom of the guide plate connecting frame 2022 by a locking screw located in the waist groove. By adjusting the connection position of the locking screw in the waist groove, the position and angle of the guide plate 2023 fixedly suspended above the glass plate 2014 can be adjusted. The axial distance between the end of the guide plate 203 close to the arrangement and loading mechanism 1 and the glass plate 2014 is smaller than the axial distance between the discharge end of the arrangement and loading mechanism 1 and the glass plate 2014, that is, the guide plate 203 is arranged to be inclined outward with respect to the rotation direction of the glass plate 2014. In this way, after the refrigeration valve stem 100 is discharged from the arrangement groove 107 and retained on the glass plate 2014, it will continue to move forward by adhering to the side of the guide plate 2023 while rotating synchronously with the glass plate 2014 until it is separated from the guide plate 2023 and stays on a fixed circular line on the surface of the glass plate 2014, so as to ensure that the subsequent detection positions of each refrigeration valve stem 100 are the same.

[0074] The horizontal and vertical adjustment brackets used in the remaining functional components of the visual inspection mechanism 2 are basically the same in structure and use process as the first horizontal and vertical adjustment bracket 2021, and the only difference is the number of vertical positioning blocks set on the vertical slide rail.

[0075] like Fig.11As shown, the optical fiber detection assembly 203 includes a second horizontal and vertical adjustment bracket 2031 fixedly arranged on the top surface of the detection platform 20, a sensor connecting bracket 2032 connected to one side of the top position adjustment end of the second horizontal and vertical adjustment bracket 2031, and a photoelectric sensor 2033 and a reflector 2034 respectively fixedly connected to the two ends of the bottom surface of the sensor connecting bracket 2032 and located above the glass plate 2014. Specifically, the sensor connecting bracket 2032 is fixedly connected to the side of the vertical positioning block, the outer end of the bottom surface of the sensor connecting bracket 2023 is fixedly connected to the sensor mounting bracket, and the sensor mounting bracket is located above the outer edge of the top surface of the glass plate 2014, the photoelectric sensor 2033 is fixedly installed at the bottom of the sensor mounting bracket, and the reflector 2034 is fixedly connected to the inner end of the bottom surface of the sensor connecting bracket 2032 and above the center position of the glass plate 2014 through a locking screw, so that the signal detection direction of the sensor is set along the radial direction of the glass plate 2014. Preferably, a straight waist-shaped groove is provided on the sensor connecting frame 2032, and the locking screw on the top of the reflector 2034 is located in the waist-shaped groove. By adjusting the locking position of the locking screw in the waist-shaped groove, the distance between the reflector and the photoelectric sensor 2033 can be adjusted to adjust the working performance of the sensor.

[0076] After the refrigeration valve stem 100 separates from the guide plate 2023 and continues to rotate synchronously with the glass plate 2014 to the detection position of the optical fiber detection component 203, the photoelectric sensor 2033 detects whether there is a refrigeration valve stem 100 passing through the glass plate 2014. If there is, the total number of detection parts of the system is counted by 1, and the refrigeration valve stem 100 is numbered through the control system. The subsequent detection function components are started according to the set rotation speed of the glass plate 2014 and the detection frequency corresponding to the step cycle, and a series of appearance inspections of the refrigeration valve stem 100 with the corresponding number are completed. If the outer surface or contour size of a refrigeration valve stem 100 with a certain number is detected to have an appearance defect, the part count of the corresponding defect type is increased by 1.

[0077] like Fig.12As shown, the top positive light detection assembly 204 includes a third horizontal and vertical adjustment bracket 2041 fixedly arranged on the top surface of the detection platform 20, a first CCD camera 2042 and a first annular fill light 2043 respectively connected to one side of the top position adjustment end of the third horizontal and vertical adjustment bracket 2041, and the first annular fill light 2043 is located directly below the first CCD camera 2042 and above the glass plate 2014. Two vertical positioning blocks are arranged on the vertical slide rail of the third horizontal and vertical adjustment bracket 2041, and a camera mounting frame is fixedly connected to the side of the upper vertical positioning block, and the first CCD camera 2042 is fixedly connected to the end of the camera mounting frame, and the lens is vertically downward facing the top surface of the glass plate 2014. The side of the lower vertical positioning block is fixedly connected to the fill light mounting frame, and the first annular fill light 2043 is fixedly installed at the bottom of the end of the fill light mounting frame and is located directly below the lens of the first CCD camera 2042. By adjusting the horizontal fixed position of the first CCD camera 2042 and the first ring fill light 2043, as well as the vertical fixed position of the two, the image collection area of ​​the first CCD camera 2042 and the fill light area of ​​the first ring fill light 2043 can be adjusted to obtain the best image collection effect.

[0078] When the refrigeration valve stem 100 follows the glass plate 2014 and rotates synchronously from the detection position of the light detection component 203 to directly below the first CCD camera 2042, the first CCD camera 2042 uses the top positive light lighting method to capture the outer surface appearance pattern of the refrigeration valve stem 100 from a top view, and then compares the pattern with the standard sample preset in the system, so as to detect the material shortage and bruise defects on the top surface and the copper chips remaining in the inner hole. If the test result of the refrigeration valve stem 100 is unqualified, the part count of the corresponding defect type is increased by 1.

[0079] like Fig.13 As shown, the bottom positive light detection assembly 205 includes a fourth horizontal and vertical adjustment bracket 2051 fixedly arranged on the top surface of the detection platform 20, a second CCD camera 2052 and a second annular fill light 2053 respectively connected to one side of the bottom position adjustment end of the fourth horizontal and vertical adjustment bracket 2051, and the second annular fill light 2053 is located directly above the second CCD camera 2052 and below the glass plate 2014. The installation and position adjustment method of the second CCD camera 2052 and the second annular fill light 2053 on the fourth horizontal and vertical adjustment bracket 2051 is substantially the same as the installation and position adjustment method of the first CCD camera 2042 and the first annular fill light 2043 on the third horizontal and vertical adjustment bracket 2041, and the only difference is that the lens of the second CCD camera 2052 is vertically upward toward the bottom surface of the glass plate 604.

[0080] After the first CCD camera 2042 completes the top view of the outer surface appearance pattern of the refrigeration valve stem 100, the refrigeration valve stem 100 continues to follow the glass plate 2014 to rotate and move to the top of the second CCD camera 2052. The second CCD camera 2052 uses the bottom positive light lighting method to capture the outer surface appearance pattern of the refrigeration valve stem 100 from the upward view, and then compares the pattern with the standard sample preset in the system, so as to detect the material shortage and bruise defects on the bottom surface and the copper chips remaining in the inner hole. If the test result of the refrigeration valve stem 100 is unqualified, the part count of the corresponding defect type is increased by 1.

[0081] like Fig.14 As shown, the tangential forward and reverse light detection component 206 includes a fifth horizontal and vertical adjustment bracket 2061 fixedly arranged on the top surface of the detection platform 20, and a first camera hanging plate 2062 connected to one side of the top position adjustment end of the fifth horizontal and vertical adjustment bracket 2061, and the two ends of the bottom surface of the first camera hanging plate 2062 are respectively connected with a third CCD camera 2063 and a fourth CCD camera 2064 which are arranged opposite to each other, and the connection line between the third CCD camera 2063 and the fourth CCD camera 2064 is perpendicular to the radial direction of the glass plate 2014 at this position, and the bottom surface of the first camera hanging plate 2062 is connected with a first semi-annular fill light 2065 and a second semi-annular fill light 2066 which are located between and opposite to the third CCD camera 2063 and the fourth CCD camera 2064. The lens direction of the third CCD camera 2063 is consistent with the rotation direction of the glass plate 2014, while the lens direction of the fourth CCD camera 2064 is opposite to the rotation direction of the glass plate 2014. The third CCD camera 2063 and the fourth CCD camera 2064 are both located above the outer edge of the top surface of the glass plate 2014.

[0082] Specifically, a crossbeam plate is fixedly connected to the side of the vertical positioning block of the fifth horizontal and vertical adjustment bracket 2061, and an adapter plate is fixedly connected to the bottom surface of the end of the crossbeam plate by locking screws. The two ends of the bottom surface of the adapter plate are symmetrically fixedly connected to the horizontal mounting plates, and the two horizontal mounting plates and the adapter plate constitute the first camera hanging plate 2062. The outer end of the bottom surface of each horizontal mounting plate is connected to a camera mounting frame by locking screws, and the third CCD camera 2063 and the fourth CCD camera 2064 are fixedly installed on the two camera mounting frames respectively, and the lens direction of the third CCD camera 2063 is consistent with the rotation direction of the glass plate 2014, while the lens direction of the fourth CCD camera 2064 is opposite to the rotation direction of the glass plate 2014. The bottom surface of the horizontal mounting plate is fixedly connected to a fill light adjustment mounting frame located inside the camera mounting frame, and the first semi-annular fill light 2065 and the second semi-annular fill light 2066 are fixedly installed on the ends of the corresponding fill light adjustment mounting frames.

[0083] The fill light adjustment mounting frame is a three-link structure, and the two intersections are connected by damping rotation. By adjusting the airborne posture of the two bottom links, the spatial posture of the first semi-circular fill light 2065 and the second semi-circular fill light 2066 can be adjusted to adjust the fill light direction. A plurality of arc-shaped waist grooves are provided at the end of the crossbeam plate, and the locking screws connected between the crossbeam plate and the adapter plate are located in the waist grooves. By adjusting the locking position of each locking screw in the corresponding waist groove, the first camera hanging plate 2062 can be horizontally rotated to adjust its horizontal posture. A waist-shaped groove is provided in a straight line in the extension direction of the horizontal mounting plate. By adjusting the locking position of the locking screw at the top of the camera mounting bracket, the horizontal distance between the third CCD camera 2063 and the fourth CCD camera 2064 relative to the adapter plate can be adjusted separately, thereby adjusting the image-capturing areas of the third CCD camera 2063 and the fourth CCD camera 2064 (the refrigeration valve stem 100 rotates synchronously with the glass plate 2014 to the position directly below the adapter plate, which is the image-capturing position of the two cameras) to obtain the best image-capturing effect.

[0084] After the second CCD camera 2052 completes the image acquisition and identification analysis of the outer surface appearance pattern of the bottom view of the refrigeration valve stem 100, when the refrigeration valve stem 100 continues to follow the glass plate 2014 to rotate and move to the bottom of the adapter plate, the third CCD camera 2063 cooperates with the first semi-circular fill light 2065 on the same side, adopts the side positive light lighting method, and shoots and obtains the outer surface appearance pattern of the refrigeration valve stem 100 from the front view, and then compares the pattern with the standard sample preset in the system, so as to detect the material shortage, bruise defect and dirtiness on the front surface. Similarly, the fourth CCD camera 2064 cooperates with the second semi-circular fill light 2066 on the same side, adopts the side positive light lighting method, and shoots and obtains the outer surface appearance pattern of the refrigeration valve stem 100 from the rear view, and then compares the pattern with the standard sample preset in the system, so as to detect the material shortage, bruise defect and dirtiness on the rear surface. If the test result of the refrigeration valve stem 100 is unqualified, the part count of the corresponding defect type is increased by 1.

[0085] Next, the third CCD camera 2063 cooperates with the second semi-circular fill light 2066 on the opposite side, adopts the side backlighting lighting method, and takes a picture to obtain the outer surface appearance pattern of the refrigeration valve stem 100 in the front view angle, and then compares the pattern with the standard sample preset in the system, so as to detect the contour size of the front surface. The fourth CCD camera 2064 cooperates with the first semi-circular fill light 2065 on the opposite side, adopts the side backlighting lighting method, and takes a picture to obtain the outer surface appearance pattern of the refrigeration valve stem 100 in the rear view angle, and then compares the pattern with the standard sample preset in the system, so as to detect the contour size of the rear surface. If the test result of the refrigeration valve stem 100 is unqualified, the part count of the corresponding defect type is increased by 1.

[0086] like Fig.15 As shown, the radial positive and negative light detection component 207 includes a sixth horizontal and vertical adjustment bracket 2071 fixedly arranged on the top surface of the detection platform 20, a second camera hanging plate 2072 connected to one side of the top position adjustment end of the sixth horizontal and vertical adjustment bracket 2071, and the bottom surfaces of the second camera hanging plate 2072 are respectively connected with the fifth CCD camera 2073 and the sixth CCD camera 2074 arranged opposite to each other, and the connecting line of the fifth CCD camera 2073 and the sixth CCD camera 2074 is parallel to the radial direction of the glass plate 2014 at this position, and the bottom surface of the second camera hanging plate 2072 is connected with the third semi-annular fill light 2075 and the fourth semi-annular fill light 2076 located between and opposite to the fifth CCD camera 2073 and the sixth CCD camera 2074. The structural composition and working mode of the radial positive and negative light detection component 207 are basically the same as those of the tangential positive and negative light detection component 206, and will not be repeated here. The difference is that the fifth CCD camera 2073 is located above the outer side of the outer edge of the top surface of the glass plate 2014, and its lens direction is along the radius of the glass plate 2014 toward the center of the glass plate 2014, while the sixth CCD camera 2074 is located above the inner side of the inner edge of the glass plate 2014, and its lens direction is opposite to the lens direction of the fifth CCD camera 2073.

[0087] After the third CCD camera 2063 and the fourth CCD camera 2064 complete the image capture and identification analysis of the outer surface appearance patterns of the front and back perspectives of the refrigeration valve stem 100, the refrigeration valve stem 100 continues to follow the glass plate 2014 to rotate and move to the bottom of the adapter plate of the second camera hanging plate 2072. The fifth CCD camera 2073 cooperates with the third semi-circular fill light 2075 on the same side to use the side positive light lighting method to capture the outer surface appearance pattern of the refrigeration valve stem 100 from the left perspective, and then compares the graphics with the standard samples preset in the system, so as to detect the missing material, bruise defects and dirt on the left surface. Similarly, the sixth CCD camera 2074 cooperates with the fourth semi-circular fill light 2076 on the same side, adopts the side positive light lighting method, and takes pictures to obtain the outer surface appearance pattern of the refrigeration valve stem 100 from the right side, and then compares the pattern with the standard sample preset in the system, so as to detect the lack of material, bruise defects and dirt on the right side surface. If the test result of the refrigeration valve stem 100 is unqualified, the part count of the corresponding defect type is increased by 1.

[0088] Next, the fifth CCD camera 2073 cooperates with the fourth semi-circular fill light 2076 on the opposite side, adopts the side backlighting lighting method, and photographs the outer surface appearance pattern of the refrigeration valve stem 100 from the left side, and then compares the pattern with the standard sample preset in the system, so as to detect the contour size of the left side surface. The sixth CCD camera 2074 cooperates with the third semi-circular fill light 2075 on the opposite side, adopts the side backlighting lighting method, and photographs the outer surface appearance pattern of the refrigeration valve stem 100 from the right side, and then compares the pattern with the standard sample preset in the system, so as to detect the contour size of the rear side surface. If the test result of the refrigeration valve stem 100 is unqualified, the part count of the corresponding defect type is increased by 1.

[0089] If the detection results of the top positive light detection component 204, the bottom positive light detection component 205, the tangential positive and negative light detection component 206 and the radial positive and negative light detection component 207 are all qualified, the qualified parts count is increased by 1.

[0090] The appearance of each right angle of the refrigeration valve stem 100 is photographed respectively through the top positive light detection component 204, the bottom positive light detection component 205, the tangential positive and reflected light detection component 206 and the radial positive and reflected light detection component 207, and the graphic comparison is made with the standard samples preset in the system, so that the surface defects of the refrigeration valve stem 100 can be analyzed quickly, comprehensively and accurately. By counting the number of surface defect types of each refrigeration valve stem 100, it is convenient to analyze the distribution of defects and the yield rate, and provide accurate guidance for process improvement; the detection results of each refrigeration valve stem 100 can be displayed in real time on the touch screen and stored in the system, and the detection results can be saved and printed.

[0091] like Fig.16 and Fig.17 As shown, the sorting mechanism 3 includes an air nozzle bracket 301 fixedly arranged on the top surface of the detection table 20, an air nozzle 302 fixedly arranged at the top front end of the air nozzle bracket 301 and located above the inner edge of the glass plate 2014, a discharge guide plate 303 fixedly arranged at the top rear end of the air nozzle bracket 301 and located above the glass plate 2014, a waste hopper 304 fixedly arranged on the top surface of the detection table 20 and located on the outside of the glass plate 2014, and a waste box 306 arranged below the waste hopper 304. A feed port arranged opposite to the air nozzle 302 is opened on the top side wall of the waste hopper 304, and a feed guide groove 307 is fixedly arranged between the end of the discharge guide plate 303 and the feed end of the stacking mechanism 4.

[0092] Specifically, the air nozzle bracket 301 is composed of two vertical plates and a horizontal plate fixedly connected to the top of the two vertical plates. The top surfaces of the horizontal plates are respectively connected with the first adjustment horizontal plate and the second adjustment horizontal plate by locking screws. The end of the first adjustment horizontal plate is connected with the air nozzle mounting plate by locking screws. The air nozzle mounting plate is suspended above the top surface of the glass plate 2014 near the inner edge. The air nozzle 302 is fixedly installed at the bottom of the air nozzle mounting plate, and the air outlet of the air nozzle 302 faces the outer side of the glass plate 2014 and faces the feed port of the waste hopper 304; the discharge guide plate 303 is fixedly connected to the bottom end of the second adjustment horizontal plate and is suspended above the top surface of the glass plate 2014 near the outer edge. The discharge guide plate 303 is at the rear side of the nozzle 302. A support platform is provided at the rear side of the testing platform 20, and a column 308 is fixedly connected to the top surface of the support platform. A material discharge guide groove 307 is fixedly connected to the top of the column 308, and the feed slot of the material discharge guide groove 307 is connected to the outer side of the material discharge guide plate 303. A hopper bracket 309 located inside the air nozzle bracket 301 is fixedly connected to the top surface of the testing platform 20, and a waste hopper 304 is vertically fixedly arranged in the hopper bracket 309.

[0093] After the refrigeration valve stem 100 has completed the appearance inspection, the system determines that the part with the corresponding number is a good product or a bad product, and the refrigeration valve stem 100 continues to rotate and move forward synchronously with the glass plate 2014 . If the detection result of the refrigeration valve stem 100 with the number is a defective product, when it advances to the position between the nozzle 302 and the waste hopper 304, the system automatically controls the nozzle 302 to work, and the nozzle 302 sprays a high-pressure airflow to blow the refrigeration valve stem 100 away from the surface of the glass plate 2014 and into the waste hopper 304, and then the waste hopper 304 discharges it into the waste box 306 at the bottom thereof for later manual review and inspection; if the detection result of the refrigeration valve stem 100 with the number is a good product, when it passes through the position between the nozzle 302 and the waste hopper 304, the nozzle 302 will not work, and the refrigeration valve stem 100 continues to move forward and contacts the outer side surface of the discharge guide plate 303, and then adheres to the outer side surface of the discharge guide plate 303 and continues to move forward into the feed slot of the discharge guide groove 307. Subsequent good products enter the discharge guide groove 307 in turn and push the previous good products to continue to move forward and be sent to the stacking mechanism 4 one by one.

[0094] A waste box rack 305 located below the waste hopper 304 is fixedly arranged on the bottom surface of the test bench 20, and a through hole is opened on the side wall of the electrical cabinet below the test bench 20. The bottom horizontal plate of the waste box rack 305 extends to the outside of the through hole, and the waste box 306 is placed on the top surface of the bottom horizontal plate of the waste box rack 305, so that the waste box 306 can be removed from the through hole at any time to take out the refrigeration valve stem 100 stored therein. Preferably, the waste hopper 304 and the waste box 306 are both made of flexible rubber material, and the bottom outlet of the waste hopper 304 is connected to a rubber hose 3010 to prevent the refrigeration valve stem 100 that falls into the waste hopper 304 from being damaged due to impact. At the same time, the inner end of the top surface of the bottom horizontal plate of the waste box placement rack 305 is fixedly connected to a discharge cylinder 3011, and the output rod end of the discharge cylinder 3011 is fixedly connected to a discharge push block 3012. The discharge cylinder 3011 drives the discharge push block 3012 to reciprocate horizontally, so that the discharge push block 3012 pushes the rubber hose 3010 to vibrate, so as to ensure that the refrigeration valve stem 100 can fall smoothly into the waste box 306.

[0095] like Fig.18 and Fig.19 As shown, the stacking mechanism 4 includes a chain conveying assembly 401 fixedly connected to the side of the conveying platform 30, and a frame plate 402 fixedly arranged above one end of the chain conveying assembly 401, a stacking groove 403 is fixedly connected to the chain plate of the chain conveying assembly 401, and a posture adjustment hole 404 connected to the discharge end of the sorting mechanism 3 and through the bottom is opened on the side of the frame plate 402, and a pushing cylinder 405 is fixedly arranged on one side of the top of the frame plate 402, and the output rod end of the pushing cylinder 405 is fixedly connected to a sealing plate 409 that is movably sealed below the posture adjustment hole 404.

[0096] Specifically, a mounting seat 406 is fixedly connected to the side of the conveying platform 30, and the supporting part of the chain conveying assembly 401 is fixedly connected to the side of the mounting seat 406. One end of the supporting part is fixedly connected to the gear reducer 407 and the stacking drive motor 408. The output shaft end of the stacking drive motor 408 is connected to the power input end of the gear reducer 407, and the power output end of the gear reducer 407 is connected to the power input end of the chain conveying assembly 401. The chain of the chain conveying assembly 401 is driven to step by the stacking drive motor 408, and the stacking grooves 403 connected thereto can move from the lower left end to the upper left end and be located one by one directly below the posture adjustment hole 404. An extended horizontal plate is provided on the left side of the top surface of the frame plate 402, and the push cylinder 405 is fixedly installed on the top surface of the extended horizontal plate. The free end of the sealing plate 409 is movably inserted into the frame plate 402. The posture adjustment hole 404 is a bending channel that smoothly transitions from horizontal to vertical. After the refrigeration valve stem 100 is fed into the posture adjustment hole 404 one by one from the unloading guide groove 307, it continues to move forward in the posture adjustment hole 404 and tilts forward to the horizontal posture of the axis, and falls on the top surface of the sealing plate 409, pushing the output rod of the cylinder 405 to contract, driving the sealing plate 409 to move to the left. At this time, the bottom outlet of the posture adjustment hole 404 is opened, and the refrigeration valve stem 100 falls downward into the stacking groove 403, and then pushes the output rod of the cylinder 405 to extend, driving the sealing plate 409 to move to the right. At this time, the bottom outlet of the posture adjustment hole 404 is closed; at the same time, the chain plate chain of the chain plate conveying assembly 401 steps one link, so that the next empty stacking groove 403 is located below the bottom outlet of the posture adjustment hole 404. In this way, the refrigeration valve stems 100 can be arranged side by side through the stacking grooves 403 , and a fixed number of refrigeration valve stems 100 can be transferred in groups to the sub-packaging tray 6 through the grabbing robot structure 7 .

[0097] like Fig. 20 As shown, the tray conveying mechanism 5 includes a first chain conveyor line 501 and a second chain conveyor line 502 which are arranged side by side and in opposite conveying directions. A tray loading mechanism 503 is fixedly arranged at one end of the first chain conveyor line 501 and the second chain conveyor line 502 close to the stacking mechanism 4, which is used to transfer the empty sub-packaging tray 6 from the first chain conveyor line 501 to the second chain conveyor line 502. A tray unloading mechanism 504 is fixedly arranged at one end of the first chain conveyor line 501 and the second chain conveyor line 502 away from the stacking mechanism 4, which is used to transfer the sub-packaging tray 6 containing the refrigeration valve stem 100 from the second chain conveyor line 502 to the first chain conveyor line 501.

[0098] Specifically, the first chain conveyor line 501 and the second chain conveyor line 502 are both double chain structures driven by servo motors, and the support frames of the sprocket wheels at both ends of the two chains are respectively fixedly arranged on both sides of the top surface of the conveyor platform 30, and the two ends of the sub-packaging tray 6 are respectively placed on the top of the sprocket wheels of the two chains. Fig.21 As shown, the material tray loading mechanism 503 includes a magnetic rodless cylinder 5031 horizontally fixedly arranged above the ends of the first chain conveyor line 501 and the second chain conveyor line 502, and a guide rail 5032 parallel to the two sides of the magnetic rodless cylinder 5031, a cylinder bracket 5033 is fixedly connected to the power output end of the magnetic rodless cylinder 5031, one side surface of the cylinder bracket 5033 is slidably connected to the guide rail 5032, and the top of the other side surface is fixedly connected to a cylinder mounting plate 5034, a first lifting cylinder 5035 is fixedly installed on the bottom surface of the cylinder mounting plate 5034, and the bottom output shaft end of the first lifting cylinder 5035 is fixedly connected to a support plate 5036 that can be immersed in the first chain conveyor line 501 / the second chain conveyor line 502.

[0099] In the initial state, the first lifting cylinder 5035 is located at the tail end of the first chain conveyor line 501 (close to one end of the tray loading mechanism 503), its output rod is in an extended state, and the support plate 5036 is located at the bottom position of the space between the two chains. After the first chain conveyor line 501 conveys the sub-packaging tray 6 to the tail end position of the first chain conveyor line 501, the first chain conveyor line 501 pauses conveying, and the sub-packaging tray 6 is located directly above the support plate 5036; the telescopic rod of the first lifting cylinder 5035 contracts and drives the support plate 5036 to rise, and the support plate 5036 lifts the sub-packaging tray 6 upward and is connected with the support plate 5036. The two chains of the first chain conveyor line 501 are separated; then, the magnetic rodless cylinder 5031 drives the first lifting cylinder 5035 and the support plate 5036 to transfer to the head of the second chain conveyor line 502 (one end close to the tray loading mechanism 503), and the output rod of the first lifting cylinder 5035 extends to drive the support plate 5036 to descend, so that the sub-packaging tray 6 on the support plate 5036 falls and is placed on the top of the two chains of the second chain conveyor line 502. The second chain conveyor line 502 conveys the sub-packaging tray 6 forward step by step to the side of the stacking mechanism 4 and the material discharge position of the grabbing manipulator mechanism 7. Then the tray loading mechanism 503 repeats the above process to complete the automatic feeding of the next sub-packaging tray 6.

[0100] Preferably, in order to ensure that the sub-packaging tray 6 is in the discharge position of the grabbing manipulator mechanism 7, and that the other sub-packaging trays 6 cannot enter this position before the sub-packaging of the sub-packaging tray 6 is completed, the second chain conveyor line 502 is provided with a first limiting mechanism 505 and a second limiting mechanism 506 located on the side of the stacking mechanism 4 at one end thereof close to the tray loading mechanism 503. The first limiting mechanism 505 and the second limiting mechanism 506 are both connecting rod mechanisms driven by cylinders, and the connecting rod mechanisms are driven by the vertical lifting of the cylinder output rod to execute the upward flipping and uprighting or downward flipping and flattening of the end rod. Before the sub-packaging tray 6 enters the discharge position of the grasping robot mechanism 7, the first limiting mechanism 505 at the front end is in a horizontal state, while the second limiting mechanism 506 at the rear end is in an upright state. The sub-packaging tray 6 passes the first limiting mechanism 505 and reaches the second limiting mechanism 506, but is blocked by the second limiting mechanism 506 and cannot move forward; then, the first limiting mechanism 505 at the front end is switched to an upright state, and the subsequently fed sub-packaging tray 6 is blocked by the first limiting mechanism 505 at the front end and cannot continue to move forward, so that there is only one sub-packaging tray 6 at the discharge position of the grasping robot mechanism 7. After the grabbing robot mechanism 7 grabs the refrigeration valve stems 100 arranged on the stacking mechanism 4 in groups and fills the sub-packaging tray 6 (the number of grabbing times reaches a preset value), the second limiting mechanism 506 at the rear end switches to a flat state, and the sub-packaging tray 6 filled with refrigeration valve stems 100 continues to be driven forward by the second chain conveyor line 502; then, the second limiting mechanism 506 at the rear end switches to an upright state again, and the first limiting mechanism 505 at the front end switches to a flat state again, so that the next sub-packaging tray 6 is replaced and enters the discharging position of the grabbing robot mechanism 7.

[0101] The structural composition and use process of the tray unloading mechanism 504 are basically the same as those of the tray loading mechanism 503, and will not be repeated here. When the sub-packaging tray 6 filled with refrigeration valve stems 100 is continuously driven forward by the second chain conveyor line 502 to the tail of the second chain conveyor line 502 (one end of the tray unloading mechanism 504), the tray unloading mechanism 504 transfers the sub-packaging tray 6 to the top of the two chains of the first chain conveyor line 501 in the same manner as described above. The sub-packaging tray 6 filled with refrigeration valve stems 100 is manually removed from this position, and an empty sub-packaging tray 6 is placed to replace it.

[0102] Similarly, the third and fourth limiting mechanisms are arranged on the side of the stacking mechanism 4 in the second chain conveyor line 502 near the end of the tray unloading mechanism 504. Through the state switching and state coordination between the third and fourth limiting mechanisms, the sub-packaging tray 6 filled with the refrigeration valve stem 100 is blocked and cannot move forward before it is taken away, and the empty sub-packaging tray 6 replaced after it is taken away can continue to move forward (the second chain conveyor line 502 is started after manual confirmation).

[0103] like Fig.23 As shown, the grasping robot mechanism 7 includes a gantry 701, a linear module 702 horizontally fixedly arranged on one side of the top of the gantry 701, a second lifting cylinder 703 fixedly arranged on the side of the power output end of the linear module 702, and a pneumatic finger 704 connected to the output rod end at the bottom of the second lifting cylinder 703, and the pneumatic finger 704 is a parallel claw type.

[0104] Specifically, the gantry 701 is fixedly arranged on the top surface of the conveying platform 30, the linear module 702 adopts a ball screw slide rail structure driven by a servo motor, the second lifting cylinder 703 is fixedly connected to the side of the movable positioning plate of the linear module 702, and its output rod is vertically downward and fixedly connected to the guide frame plate, one side of the guide frame plate is slidably connected to the side of the movable positioning plate through a vertically arranged guide rail slider mechanism (not shown in the figure), and the pneumatic finger 704 is fixedly connected to the bottom surface of the guide frame plate.

[0105] The refrigeration valve stems 100 are stacked one by one in the stacking groove 403 and are fed to the right one by one through the chain conveyor assembly 401. When the refrigeration valve stem 100 on the far right reaches the end of the pneumatic finger 704 grasping position, the refrigeration valve stems 100 located in the pneumatic finger 704 grasping position reach the preset grouping quantity. At this time, the output rod of the second lifting cylinder 703 extends to drive the pneumatic finger 704 to vertically descend to the lowest position, so that the bottom ends of the pneumatic finger 704 are respectively located on both sides of the refrigeration valve stem 100, and then the pneumatic finger 704 works to grasp a group of refrigeration valve stems 100 inside it at the same time; after grasping, the second lifting cylinder 703 The output rod of the lifting cylinder 703 contracts, driving the pneumatic finger 704 to move upward to the highest position, and the linear module 702 drives the pneumatic finger 704 to move horizontally to just above one row of placement slots of the sub-packaging tray 6, and then the second lifting cylinder 703 drives the pneumatic finger 704 to descend again, and the pneumatic finger 704 releases the refrigeration valve stem 100, and the refrigeration valve stem 100 falls into a row of placement slots of the sub-packaging tray 6, and the second lifting cylinder 703 drives the pneumatic finger 704 to rise again, and the linear module 702 drives the pneumatic finger 704 to move horizontally to the grabbing position, and this cycle is repeated until each row of placement slots in the sub-packaging tray 6 is filled.

[0106] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

Claims

1. A refrigeration valve stem size and appearance defect detection device based on CCD vision, characterized by: include An arranging and loading mechanism (1) is fixedly arranged on the top of a loading platform (10) and is used for automatically arranging and loading refrigeration valve stems (100) to be tested; A visual inspection mechanism (2) is fixedly arranged on the top of the inspection platform (20) and is used to perform multi-directional visual inspection of the appearance defects and dimensions of the refrigeration valve stems (100) fed one by one by the arrangement feeding mechanism (1); A sorting mechanism (3) is fixedly arranged on the top of the inspection platform (20) and is used for automatically sorting and outputting good and bad refrigeration valve stems (100) after visual inspection; A stacking mechanism (4) is fixedly arranged on one side of the top of the conveying platform (30) and on the good product output side of the sorting mechanism (3), and is used for automatically arranging and placing qualified refrigeration valve stems (100); A material tray conveying mechanism (5) is fixedly arranged on the top of the conveying platform (30) and on one side of the stacking mechanism (4), and is used for automatically feeding and positioning the sub-packaging material tray (6); and a grabbing robot mechanism (7), which is fixedly arranged on the top of the conveying platform (30) and located above the stacking mechanism (4) and the tray conveying mechanism (5), and is used to transfer the refrigeration valve stems (100) arranged on the stacking mechanism (4) into the sub-packaging tray (6) in groups.

2. According to claim 1, a CCD vision-based refrigeration valve stem size and appearance defect detection device is characterized by: The arranging and loading mechanism (1) comprises a fixedly arranged loading tray bracket (101) and a vibrator bracket (102), a loading tray (103) fixedly connected to the top of the loading tray bracket (101), and a vibrator (104) fixedly connected to the top of the vibrator bracket (102) and located above the loading tray (103); feed guide plates (105) are fixedly arranged on both sides of the top surface of the loading tray (103); a material guide channel (106) is arranged between the two feed guide plates (105); an arranging groove (107) connected to the material guide channel (106) is fixedly connected to the end of the loading tray (103); and the end of the arranging groove (107) extends to the feeding position of the visual inspection mechanism (2).

3. The CCD vision-based refrigeration valve stem size and appearance defect detection device according to claim 2 is characterized in that: The arrangement channel (107) includes a groove bottom plate (1071) fixedly connected to the side surface of the end of the loading plate (103), and clamping plates (1072) fixedly connected to both sides of the top of the groove bottom plate (1071). A clamping channel connected to the material guide channel (106) is formed between the two clamping plates (1072). Clamping strips (1074) arranged parallel to the top surface of the groove bottom plate (1071) are arranged on the opposite sides of the two clamping plates (1072). The two sides of the refrigeration valve stem (100) located in the clamping channel are movably clamped between the two clamping strips (1074).

4. A CCD vision-based refrigeration valve stem size and appearance defect detection device according to any one of claims 1 to 3, characterized in that: The visual inspection mechanism (2) comprises a glass rotating mechanism (201) connected to the discharge end of the arranging and loading mechanism (1); and a material guide component (202) located outside the glass rotating mechanism (201), an optical fiber inspection component (203), a top positive light inspection component (204), a bottom positive light inspection component (205), a tangential positive and reflected light inspection component (206), and a radial positive and reflected light inspection component (207) are sequentially arranged on the top surface of the inspection platform (20) starting from the discharge port of the arranging and loading mechanism (1) along the rotation direction of the glass rotating mechanism (201).

5. The CCD vision-based refrigeration valve stem size and appearance defect detection device according to claim 4 is characterized in that: The glass rotating mechanism (201) comprises a rotating drive motor (2011) fixedly mounted at the center of the bottom surface of the detection platform (20), a rotating support platform (2012) fixedly arranged at the center of the top surface of the detection platform (20), a rotating support plate (2013) rotatably connected to the top of the rotating support platform (2012) and drivingly connected to the output shaft end of the rotating drive motor (2011), and a glass plate (2014) fixedly mounted on the top of the rotating support plate (2013), wherein the glass plate (2014) is a transparent glass plate with an annular structure.

6. The CCD vision-based refrigeration valve stem size and appearance defect detection device according to claim 5 is characterized by: The sorting mechanism (3) comprises an air nozzle support (301) fixedly arranged on the top surface of the detection platform (20), an air nozzle (302) fixedly arranged at the front end of the top of the air nozzle support (301) and located above the inner edge of the glass plate (2014), a discharge guide plate (303) fixedly arranged at the rear end of the top of the air nozzle support (301) and located above the glass plate (2014), a waste hopper (304) fixedly arranged on the top surface of the detection platform (20) and located outside the glass plate (2014), and a waste box (306) arranged below the waste hopper (304), a feed port arranged opposite to the air nozzle (302) is provided on the top side wall of the waste hopper (304), and a feed guide groove (307) is fixedly arranged between the end of the discharge guide plate (303) and the feed end of the stacking mechanism (4).

7. The CCD vision-based refrigeration valve stem size and appearance defect detection device according to claim 1 is characterized by: The stacking mechanism (4) comprises a chain plate conveying assembly (401) fixedly connected to the side of the conveying platform (30), and a frame plate (402) fixedly arranged above one end of the chain plate conveying assembly (401); a stacking groove (403) is fixedly connected to the chain plate of the chain plate conveying assembly (401); a posture adjustment hole (404) connected to the discharge end of the sorting mechanism (3) and penetrating the bottom is opened on the side of the frame plate (402); a pushing cylinder (405) is fixedly arranged on one side of the top of the frame plate (402); and a sealing plate (409) movably sealed below the posture adjustment hole (404) is fixedly connected to the output rod end of the pushing cylinder (405).

8. The CCD vision-based refrigeration valve stem size and appearance defect detection device according to claim 1 or 7, characterized in that: The tray conveying mechanism (5) comprises a first chain conveying line (501) and a second chain conveying line (502) which are arranged side by side and have opposite conveying directions. A tray loading mechanism (503) is fixedly arranged at one end of the first chain conveying line (501) and the second chain conveying line (502) close to the stacking mechanism (4), and is used to transfer an empty sub-packaging tray (6) from the first chain conveying line (501) to the second chain conveying line (502). A tray unloading mechanism (504) is fixedly arranged at one end of the first chain conveying line (501) and the second chain conveying line (502) away from the stacking mechanism (4), and is used to transfer a sub-packaging tray (6) containing a refrigeration valve stem (100) from the second chain conveying line (502) to the first chain conveying line (501).

9. The CCD vision-based refrigeration valve stem size and appearance defect detection device according to claim 8, characterized in that: The tray loading mechanism (503) and the tray unloading mechanism (504) both comprise a magnetic rodless cylinder (5031) horizontally fixedly arranged above the ends of the first chain conveyor line (501) and the second chain conveyor line (502), and guide rails (5032) arranged in parallel on both sides of the magnetic rodless cylinder (5031); a cylinder bracket (5033) is fixedly connected to the power output end of the magnetic rodless cylinder (5031); one side surface of the cylinder bracket (5033) is slidably connected to the guide rail (5032), and the top of the other side surface is fixedly connected to a cylinder mounting plate (5034); a first lifting cylinder (5035) is fixedly installed on the bottom surface of the cylinder mounting plate (5034); and a support plate (5036) that can be immersed in the first chain conveyor line (501) / the second chain conveyor line (502) is fixedly connected to the bottom output shaft end of the first lifting cylinder (5035).

10. The CCD vision-based refrigeration valve stem size and appearance defect detection device according to claim 1, characterized in that: The grasping manipulator mechanism (7) comprises a gantry (701), a linear module (702) horizontally fixedly arranged on one side of the top of the gantry (701), a second lifting cylinder (703) fixedly arranged on the side of the power output end of the linear module (702), and a pneumatic finger (704) connected to the output rod end at the bottom of the second lifting cylinder (703), wherein the pneumatic finger (704) is a parallel jaw type.

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