Anchorage device detection packaging system and packaging detection method

Abstract

According to the anchorage device detecting and packaging system and the detecting method, a plurality of anchorage devices are synchronously clamped and picked up through telescopic devices at the bottoms of rotating frames and picking clamps, meanwhile, a rotating device drives the rotating frames to synchronously rotate in the circumferential direction, and then the anchorage devices are driven to synchronously rotate in the circumferential direction; through cooperation of rapid translation of the translation device and rapid lifting of the lifting device, the multiple anchorage devices are driven to efficiently and rapidly move between the picking station and the detection station at a time, the multiple anchorage devices are driven to synchronously rotate at the detection station, and efficient outer circle face detection of the anchorage devices is achieved.

Description

Technical Field

[0001] The present invention belongs to the technical field of anchor detection, and in particular relates to an anchor detection packaging system and a packaging detection method. Background Art

[0002] After the outer cylindrical surface of the anchor is processed, it is necessary to scan and inspect the outer cylindrical surface of the anchor to determine whether there are defects such as burrs and cracks on the outer cylindrical surface of the anchor. In the prior art, a single anchor is usually clamped and placed at a detection station by a manipulator, and then the exterior of the anchor is photographed and inspected by a detection device such as a detection camera set at the detection station. Since the manipulator can only clamp one anchor for external inspection at a time, the inspection efficiency of the outer cylindrical surface of the anchor is low.

[0003] Therefore, in order to solve the problem of low efficiency in detecting the outer cylindrical surface of anchors in the prior art, the present invention discloses an anchor detection packaging system and a packaging detection method. Summary of the invention

[0004] The invention discloses an anchor detection packaging system and a packaging detection method, which can quickly clamp the anchor to move and rotate, so as to efficiently detect the outer cylindrical surface of the anchor, and type-type and package the anchors that pass the detection, thereby improving the efficiency of anchor detection packaging.

[0005] The present invention is achieved through the following technical solutions: A system for detecting and packaging anchors comprises a centering conveyor belt and a material discharging conveyor belt, wherein a plurality of centering pieces are arranged linearly at intervals on the automatic centering conveyor belt, a rotating transport fixture is arranged between the automatic centering conveyor belt and the material discharging conveyor belt, the rotating transport fixture comprises a plurality of rotating clamping parts arranged corresponding to the centering positions of the centering pieces, and the plurality of rotating clamping parts are all arranged on a translation and lifting part; the centering piece is used to cooperate with the linear movement of the centering conveyor belt to position the center of the anchor to vertically coincide with the center of the rotating clamping part, and the translation and lifting part drives the rotating clamping part to move between the centering conveyor belt and the material discharging conveyor belt; a visual inspection device is arranged linearly on one side of the material discharging conveyor belt corresponding to the positions of the plurality of rotating clamping parts; a first typewriter, a packaging machine and a second typewriter are arranged in sequence along the conveying direction on the material discharging conveyor belt, and a manipulator is arranged at the discharge end of the material discharging conveyor belt.

[0006] In order to better realize the present invention, further, the rotating transport fixture includes a translational lifting device, an installation truss, a rotating frame, a rotating device, and an anchor picking part. The moving end of the translational lifting device is provided with an installation truss, and the bottom of the installation truss is provided with a rotating frame corresponding to the position of a plurality of centering pieces. A rotating device for driving a plurality of rotating frames to rotate synchronously is provided inside the installation truss, and an anchor picking part is provided at the bottom of the rotating frame.

[0007] In order to better realize the present invention, further, the anchor picking part includes a telescopic device and a picking fixture, the telescopic device is installed at the bottom of the rotating frame, and the telescopic end of the telescopic device is arranged downward and connected to the picking fixture.

[0008] In order to better realize the present invention, further, the rotating device includes a driving gear, a driving chain, a driving motor, and a driven gear. The driven gear is connected to the top of the rotating shaft or the turntable, the driving chain is transmitted and wound between the driving gear and the driven gear, and the driving gear is connected to the output shaft of the driving motor.

[0009] In order to better realize the present invention, further, the visual inspection device includes a mounting track, a mounting plate, and a CCD camera. The mounting plate is slidably arranged on the mounting track, and a CCD camera is arranged on the mounting plate at a clamping end corresponding to the rotating transport fixture.

[0010] In order to better realize the present invention, further, the automatic centering transmission belt includes a feeding conveyor belt, a V-shaped centering card, a distance detection device, and a swinging clamping member. The feeding conveyor belt is provided with a plurality of V-shaped centering cards linearly arranged along the center dividing plane, and the center dividing plane of the V-shaped centering card is coplanar with the center dividing plane of the feeding conveyor belt; distance detection devices are provided on both sides of the feeding conveyor belt corresponding to the centering positions of the V-shaped centering cards, and at least one group of swinging clamping members is provided on the feeding conveyor belt corresponding to the opening positions of the V-shaped centering cards.

[0011] In order to better realize the present invention, further, the swing clamping part includes a gantry bracket, a rocker arm, and a mounting rod. The gantry bracket is straddled on the top of the feeding conveyor belt, one end of the rocker arm is rotatably hinged to one end of the mounting rod, the other end of the rocker arm is arranged corresponding to the opening of the V-shaped centering card, and the other end of the mounting rod is connected to the middle position of the gantry bracket.

[0012] An anchor package detection method comprises the following steps: Step 1, place several anchors on the centering conveyor belt in sequence, and position the anchors through the centering conveyor belt, and detect the center positions of several anchors; if it is detected that the center position of the anchor coincides with the picking center of the rotating transport fixture, proceed to step 2; if it is detected that the center position of the anchor does not coincide with the picking center of the rotating transport fixture, pick up and re-place the anchor through the rotating transport fixture until the center position of the anchor coincides with the picking center of the rotating transport fixture; Step 2: Pick up the anchor by rotating the transport fixture and move it to the shooting area of ​​the visual inspection device, and drive the anchor to rotate circumferentially relative to the lens of the visual inspection device by rotating the transport fixture; Step 3: photograph the outer side of the anchor by a visual inspection device, and identify whether there are defects on the outer side of the anchor by the photographed image; Step 4: Rotate the transport fixture to place the defective anchors into the recycling area, and place the non-defective anchors on the unloading conveyor belt; Step 5, transporting the anchor by the unloading conveyor belt, typing the anchor by the first typewriter, packaging the anchor by the packaging machine, and typing the packaging box by the second typewriter; Step 6: Use the robot to pick up the finished products that have been packaged and marked and move them to the finished product area.

[0013] Compared with the prior art, the present invention has the following advantages and beneficial effects: The present invention linearly arranges and rotatably installs a plurality of rotating frames at the bottom of an installation truss, and synchronously clamps and picks up a plurality of anchors through a telescopic device and a picking fixture at the bottom of the rotating frame, and simultaneously drives the plurality of rotating frames to synchronously rotate circumferentially through a rotating device, thereby driving a plurality of anchors to synchronously rotate circumferentially, and cooperates with rapid translation of a translation device and rapid lifting of a lifting device to efficiently and quickly move a plurality of anchors between a picking station and a testing station at one time, and drive a plurality of anchors to synchronously rotate at the testing station, thereby realizing efficient outer cylindrical surface detection of the anchors. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a structural diagram of the anchor detection packaging system; Figure 2 It is a structural schematic diagram of the rotary transport fixture; Figure 3 is a schematic diagram of the structure of the rotating device; Figure 4 This is a schematic diagram of the installation of the tensioning sprocket; Figure 5 It is a structural schematic diagram of the centering conveyor belt; Figure 6 It is a structural schematic diagram of the swing clamping member.

[0015] Among them: 1-centering conveyor belt; 2-unloading conveyor belt; 3-rotating transport fixture; 4-visual inspection device; 5-first typewriter; 6-packaging machine; 7-second typewriter; 8-manipulator; 11-V-shaped centering card; 12-distance detection device; 13-swinging clamp; 131-gantry bracket; 132-swing rod; 133-mounting rod; 31-mounting truss; 32-rotating frame; 33-rotating device; 34-telescopic device; 35-picking fixture; 331-driving gear; 332-driving chain; 333-driving motor; 334-driven gear; 335-tensioning sprocket; 336-sliding seat. DETAILED DESCRIPTION

[0016] Embodiment 1: An anchor detection packaging system of this embodiment, such as Figure 1 As shown, it includes a centering conveyor belt 1 and a unloading conveyor belt 2. A plurality of centering pieces are linearly arranged at intervals on the automatic centering conveyor belt 1. A rotating transport fixture 3 is arranged between the automatic centering conveyor belt 1 and the unloading conveyor belt 2. The rotating transport fixture 3 includes a plurality of rotating clamping parts arranged at the centering positions corresponding to the centering pieces, and the plurality of rotating clamping parts are all arranged on the translation lifting part; the centering piece is used to cooperate with the linear movement of the centering conveyor belt 1 to position the center of the anchor to vertically coincide with the center of the rotating clamping part, and the translation lifting part drives the rotating clamping part to move between the centering conveyor belt 1 and the unloading conveyor belt 2; a visual inspection device 4 is linearly arranged on one side of the unloading conveyor belt 2 corresponding to the positions of the plurality of rotating clamping parts; a first typewriter 5, a packaging machine 6, and a second typewriter 7 are sequentially arranged on the unloading conveyor belt 2 along the conveying direction, and a manipulator 8 is arranged at the discharge end of the unloading conveyor belt 2.

[0017] The rotating transport fixture 3 is arranged between the automatic centering conveyor belt 1 and the unloading conveyor belt 2. The rotating transport fixture 3 can pick up the anchor on the automatic centering conveyor belt 1 and move it to the inspection station above the unloading conveyor belt 2. When the anchor is at the inspection station, the rotating transport fixture 3 can also drive the anchor to rotate circumferentially. The specific inspection process is as follows: A number of anchors are placed in sequence at a number of centering pieces on the automatic centering conveyor belt 1. When the centering pieces move, they squeeze the outer cylindrical surface of the anchor, forcing the anchor to move to the preset centering position. When the rotating transport fixture 3 picks up the anchor at the centering position, the center of the rotating transport fixture 3 is coaxial with the center of the anchor. Then the anchor is picked up and moved to the inspection station located above the unloading conveyor belt 2 by the rotating transport fixture 3, so that the outer cylindrical surface of the anchor corresponds to the inspection end of the visual inspection device 4. Then the anchor is driven to rotate circumferentially by the rotating transport fixture 3, and the outer cylindrical surface of the anchor is photographed by the visual inspection device 4. The photographed image is used to identify whether there are defects such as burrs, unevenness, cracks, etc. on the outer cylindrical surface of the anchor. If there are no defects on the outer cylindrical surface of the anchor, the rotating transport fixture 3 places the qualified anchor on the unloading conveyor belt 2, and the anchor is transported to the next station by the unloading conveyor belt 2. By providing the rotating transport fixture 3, the centering position of the anchor can be ensured during the picking and testing process, and the anchor can be driven to rotate during the testing process to capture the image of the outer cylindrical surface of the anchor.

[0018] If no defects are detected on the outer cylindrical surface of the anchor, the anchor is placed in the packaging box on the unloading conveyor belt 2 by rotating the transport clamp 3, and the packaging box is transmitted by the unloading conveyor belt 2 through the first typewriter 5, the packaging machine 6, and the second typewriter 7 in sequence. The anchor inside the unclosed packaging box is typed by the first typewriter 5, the packaging quantity is sealed by the packaging machine 6, and the outside of the packaging box is typed by the second typewriter 7, and then the packaged anchor is moved to the finished product area by the robot 8.

[0019] Embodiment 2: This embodiment is further optimized on the basis of embodiment 1. Figure 2-Figure 4 As shown, the rotating transport fixture 3 includes a translation lifting device, a mounting truss 31, a rotating frame 32, a rotating device 33, and an anchor picking portion. The mounting truss 31 is arranged on the movable end of the translation lifting device. A rotating frame 32 is rotatably arranged at the bottom of the mounting truss 31 corresponding to the position of a plurality of centering pieces. A rotating device 33 for driving a plurality of rotating frames 32 to rotate synchronously is arranged inside the mounting truss 31. An anchor picking portion is arranged at the bottom of the rotating frame 32.

[0020] The translation lifting device can translate in the horizontal plane and lift in the vertical direction. The translation lifting device can drive the installation truss 31 to move quickly between the automatic centering conveyor belt 1 and the unloading conveyor belt 2. At the picking station, several anchors are picked up synchronously at one time by the anchor picking part. Then, the translation lifting device cooperates with the movement to drive several anchors to be quickly transported to the inspection station, and the rotating frame 32 is driven to rotate by the rotating device 33, so that several anchors rotate relative to the visual inspection device 4, and the outer cylindrical surface of the anchor is photographed by the visual inspection device 4, and finally the synchronous detection of several anchors is realized, which effectively improves the detection efficiency of the outer cylindrical surface of the anchor.

[0021] It should also be noted that compared with the traditional detection method of placing the anchor on a turntable by a manipulator, driving the anchor to rotate by the turntable, and photographing the outer cylindrical surface of the anchor by a detection camera on one side of the turntable, the traditional method has the following defects: That is, the distance between the center of the turntable and the lens of the detection camera is fixed. Once the manipulator places the anchor on the turntable in an eccentric state, the distance between the outer cylindrical surface of the anchor and the lens of the detection camera will actually change during the process of the turntable driving the anchor to rotate, thereby causing the final shooting picture to be distorted to a certain extent, affecting the accuracy of the final image recognition to determine whether there is a defect on the outer cylindrical surface of the anchor. The technical solution in this embodiment pre-positions the anchor through the automatic centering conveyor belt 1, ensuring that the center of the anchor picking part coincides with the center of the anchor after clamping the anchor, thereby ensuring that when the anchor picking part rotates with the rotating frame 32, the distance between the outer cylindrical surface of the anchor and the visual inspection device 4 will not change significantly, ultimately ensuring the accuracy of the detection result.

[0022] Furthermore, the translation and lifting device includes a translation device and a lifting device. The translation end of the translation device is provided with a lifting device, and the lifting end of the lifting device is provided with a mounting truss 31.

[0023] Furthermore, the anchor picking portion includes a telescopic device 34 and a picking fixture 35 . The telescopic device 34 is installed at the bottom of the rotating frame 32 . The telescopic end of the telescopic device 34 is downwardly arranged and connected to the picking fixture 35 .

[0024] The telescopic device 34 includes any one of a telescopic air cylinder, a telescopic oil cylinder, and a telescopic rod. The telescopic device 34 can be used to perform lifting and lowering with an error of less than or equal to 0.5 mm, so as to drive the picking fixture 35 to accurately clamp and position the anchor in the vertical direction, thereby ensuring the relative position accuracy between the outer cylindrical surface of the anchor and the visual inspection device 4.

[0025] Furthermore, the picking fixture 35 includes any one of a pneumatic gripper, an electric gripper, a magnetic chuck, and a pneumatic chuck.

[0026] The other parts of this embodiment are the same as those of Embodiment 1, and thus will not be described in detail.

[0027] Embodiment 3: This embodiment is further optimized on the basis of the above embodiment 1 or 2. Figure 3 and Figure 4 As shown, the rotating device 33 includes a driving gear 331, a driving chain 332, a driving motor 333, and a driven gear 334. The driven gear 334 is connected to the top of the rotating shaft or the turntable, the driving chain 332 is transmitted and wound between the driving gear 331 and the driven gear 334, and the driving gear 331 is transmission-connected to the output shaft of the driving motor 333.

[0028] Furthermore, the rotating device 33 also includes a tensioning sprocket 335, which is in contact and meshing with the driving chain 332. The driving chain 332 is tensioned by the tensioning sprocket 335 to ensure that the driving chain 332 is in a taut state, thereby preventing the driving chain 332 from slipping or loosening.

[0029] Furthermore, a sliding seat 336 is provided at the bottom of the tensioning sprocket 335, and the sliding seat 336 is connected to the mounting truss 31 in a sliding cooperation manner, and the sliding seat 336 is provided with at least one set of locking members for locking the sliding seat 336. Specifically, a waist-shaped groove is provided on the sliding seat 336, and a connecting hole is provided on the bottom plate of the mounting truss 31, and a connecting bolt is inserted into the connecting hole, and the top of the connecting bolt passes through the waist-shaped groove upward and is sleeved with a nut. When the nut is loosened, the connecting bolt can slide along the waist-shaped groove, thereby adjusting the installation position of the sliding seat 336 at the bottom of the mounting truss 31, that is, adjusting the tensioning distance between the tensioning sprocket 335 and the driving chain 332. When the nut is tightened, the connecting bolt is pressed by the nut to fix the sliding seat 336.

[0030] The other parts of this embodiment are the same as those of the above-mentioned embodiment 1 or 2, and thus will not be described in detail.

[0031] Embodiment 4: This embodiment is further optimized based on any one of the above embodiments 1-3. Figure 1 As shown, the visual inspection device 4 includes a mounting track, a mounting plate, and a CCD camera. The mounting plate is slidably arranged on the mounting track, and a CCD camera is arranged on the mounting plate corresponding to the clamping end of the rotating transport fixture 3.

[0032] The mounting plate can slide along the mounting tracks arranged up and down to adjust the position of the CCD camera on the mounting plate relative to the outer cylindrical surface of the anchor. After the mounting plate slides into place, the tightening screws can be screwed into the threaded holes on the mounting tracks to tighten the side of the mounting plate to fix the mounting plate. A mounting hole is provided at the center of the mounting plate corresponding to the outer cylindrical surface of the anchor, and the lens of the CCD camera is installed in the mounting hole.

[0033] The other parts of this embodiment are the same as any one of the above embodiments 1-3, so they are not repeated here.

[0034] Embodiment 5: This embodiment is further optimized based on any one of the above embodiments 1-4. Figure 5 and Figure 6As shown, the automatic centering transmission belt 1 includes a feeding conveyor belt, a V-shaped centering card 11, a distance detecting device 12, and a swinging pressing member 13. The feeding conveyor belt is provided with a plurality of V-shaped centering cards 11 arranged linearly along a center dividing plane, and the center dividing plane of the V-shaped centering card 11 is arranged coplanar with the center dividing plane of the feeding conveyor belt; distance detecting devices 12 are provided on both sides of the feeding conveyor belt corresponding to the centering positions of the V-shaped centering cards 11, and at least one group of swinging pressing members 13 is provided on the feeding conveyor belt corresponding to the opening positions of the V-shaped centering cards 11.

[0035] The V-shaped centering card 11 is connected to the connection holes on the panel of the feeding conveyor belt through connecting screws, so that the feeding conveyor belt can drive the V-shaped centering card 11 to move linearly, and the center plane of the V-shaped centering card 11 is coplanar with the center plane of the conveyor belt, so that the center of the anchor is located on the center plane of the V-shaped centering card 11 and the feeding conveyor belt after the outer cylindrical surface of the anchor is squeezed and centered by the V-shaped centering card 11, so as to accurately position the anchor later. During the transmission of the anchor, when the anchor passes through the swing clamp 13, the anchor is squeezed toward the opening of the V-shaped centering card 11 by the swing clamp 13, so that the outer cylindrical surface of the anchor is tightly attached to the opening side of the V-shaped centering card 11, and a certain external force is generated to force the anchor to move to the center plane of the V-shaped centering card 11, that is, the centering position, under the action of the opening side of the V-shaped centering card 11. In order to avoid the center deviation of the anchor during the transportation of the loading conveyor, whenever the anchor passes through a group of distance detection devices 12 symmetrically arranged on both sides of the loading conveyor, the distance detection devices 12 on both sides will detect the distance between the outer cylindrical surface of the anchor and the two sides of the loading conveyor in real time, and the distance on both sides will be used to determine whether the center of the anchor is located on the middle dividing plane of the V-shaped centering card 11.

[0036] Furthermore, the swing clamping member 13 includes a gantry bracket 131, a rocker arm 132, and a mounting rod 133. The gantry bracket 131 is arranged across the top of the loading conveyor belt. One end of the rocker arm 132 is rotatably hinged to one end of the mounting rod 133. The other end of the rocker arm 132 is arranged corresponding to the opening of the V-shaped centering card 11. The other end of the mounting rod 133 is connected to the middle position of the gantry bracket 131.

[0037] The gantry bracket 131 is mounted on the top of the feeding conveyor belt by fastening bolts, and a swing rod 132 is rotatably hingedly installed at the center of the gantry bracket 131. Under normal conditions, the swing rod 132 is in a plumb state under the action of its own gravity, so that one end of the swing rod 132 corresponds to the opening of the V-shaped centering clamp 11. When the V-shaped centering clamp 11 drives the anchor to pass through the swing rod 132, the outer cylindrical surface of the anchor contacts one side of the swing rod 132, and the anchor is pushed toward the inside of the V-shaped centering clamp 11 through the swing rod 132, ensuring that the outer cylindrical surface of the anchor is in close contact with the opening side of the V-shaped centering clamp 11, thereby ensuring the centering effect of the anchor. When the anchor passes the bottom of the portal bracket 131, the pendulum 132 swings under the squeezing action of the anchor to make the anchor pass the bottom of the portal bracket 131 until the anchor completely passes the bottom of the portal bracket 131. At this time, the pendulum 132 loses the squeezing of the anchor and returns to the plumb bob position under the action of its own gravity to collide with the outer cylindrical surface of the next anchor.

[0038] The other parts of this embodiment are the same as any one of the above embodiments 1-4, so they are not repeated here.

[0039] Embodiment 6: An anchor packaging detection method is implemented based on an anchor detection packaging system, comprising the following steps: Step 1, place several anchors on the centering conveyor belt 1 in sequence, and position the anchors through the centering conveyor belt 1, and detect the center positions of several anchors; if it is detected that the center position of the anchor coincides with the picking center of the rotating transport fixture 3, proceed to step 2; if it is detected that the center position of the anchor does not coincide with the picking center of the rotating transport fixture 3, pick up and re-place the anchor position through the rotating transport fixture 3 until the center position of the anchor coincides with the picking center of the rotating transport fixture 3; Step 2: Pick up the anchor by rotating the transport fixture 3 and move it to the shooting area of ​​the visual inspection device 4, and drive the anchor to rotate circumferentially relative to the lens of the visual inspection device 4 by rotating the transport fixture 3; Step 3: Use the visual inspection device 4 to take a 360° photo of the outer side of the anchor, and identify whether there are defects on the outer side of the anchor through the photographed image; Step 4, rotating the transport fixture 3 to place the defective anchors into the recycling area, and placing the non-defective anchors on the unloading conveyor belt 2; Step 5, transporting the anchor by the unloading conveyor belt 2, typing the anchor by the first typewriter 5, packaging the anchor by the packaging machine 6, and typing the packaging box by the second typewriter 7; Step 6: The robot 8 picks up the finished product after packaging and marking and moves it to the finished product area.

[0040] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Any simple modification or equivalent change made to the above embodiment based on the technical essence of the present invention shall fall within the protection scope of the present invention.

Claims

1. An anchor detection packaging system, characterized in that: The invention comprises a centering conveyor belt (1) and a material discharging conveyor belt (2), wherein a plurality of centering pieces are linearly arranged at intervals on the automatic centering conveyor belt (1), a rotating transport fixture (3) is arranged between the automatic centering conveyor belt (1) and the material discharging conveyor belt (2), and the rotating transport fixture (3) comprises a plurality of rotating clamping parts arranged at the centering positions corresponding to the centering pieces, and the plurality of rotating clamping parts are arranged on a translation lifting part; the centering piece is used to cooperate with the linear movement of the centering conveyor belt (1) to position the center of the anchor to vertically coincide with the center of the rotating clamping part, and the translation lifting part drives the rotating clamping part to move between the centering conveyor belt (1) and the material discharging conveyor belt (2); a visual inspection device (4) is linearly arranged on one side of the material discharging conveyor belt (2) corresponding to the positions of the plurality of rotating clamping parts; a first typewriter (5), a packaging machine (6), and a second typewriter (7) are arranged in sequence along the conveying direction on the material discharging conveyor belt (2), and a manipulator (8) is arranged at the discharge end of the material discharging conveyor belt (2).

2. An anchor detection packaging system according to claim 1, characterized in that: The rotary transport fixture (3) comprises a translation lifting device, a mounting truss (31), a rotating frame (32), a rotating device (33), and an anchor picking portion. The moving end of the translation lifting device is provided with a mounting truss (31), a rotating frame (32) is rotatably provided at the bottom of the mounting truss (31) corresponding to the position of a plurality of centering pieces, a rotating device (33) is provided inside the mounting truss (31) for driving the plurality of rotating frames (32) to rotate synchronously, and an anchor picking portion is provided at the bottom of the rotating frame (32).

3. An anchor detection packaging system according to claim 2, characterized in that: The anchor picking portion comprises a telescopic device (34) and a picking fixture (35); the telescopic device (34) is mounted on the bottom of the rotating frame (32); the telescopic end of the telescopic device (34) is arranged downward and connected to the picking fixture (35).

4. An anchor detection packaging system according to claim 3, characterized in that: The rotating device (33) comprises a driving gear (331), a driving chain (332), a driving motor (333), and a driven gear (334); the driven gear (334) is connected to the top of the rotating shaft or the rotating disk; the driving chain (332) is transmission-wound between the driving gear (331) and the driven gear (334); and the driving gear (331) is transmission-connected to an output shaft of the driving motor (333).

5. An anchor detection packaging system according to any one of claims 1 to 4, characterized in that: The visual inspection device (4) comprises a mounting track, a mounting plate, and a CCD camera. The mounting plate is slidably arranged on the mounting track, and a CCD camera is arranged on the mounting plate at a clamping end corresponding to the rotating transport fixture (3).

6. An anchor detection packaging system according to any one of claims 1 to 4, characterized in that: The automatic centering transmission belt (1) comprises a feeding conveyor belt, a V-shaped centering card (11), a distance detection device (12), and a swinging pressing member (13); the feeding conveyor belt is provided with a plurality of V-shaped centering cards (11) arranged linearly along a center dividing plane; the center dividing plane of the V-shaped centering card (11) is arranged coplanar with the center dividing plane of the feeding conveyor belt; the distance detection devices (12) are arranged on both sides of the feeding conveyor belt corresponding to the centering positions of the V-shaped centering cards (11); and at least one set of swinging pressing members (13) is arranged on the feeding conveyor belt corresponding to the opening positions of the V-shaped centering cards (11).

7. An anchor detection packaging system according to claim 6, characterized in that: The swing clamping member (13) comprises a gantry bracket (131), a swing rod (132), and a mounting rod (133); the gantry bracket (131) is arranged across the top of the feeding conveyor belt; one end of the swing rod (132) is rotatably hinged to one end of the mounting rod (133); the other end of the swing rod (132) is arranged corresponding to the opening of the V-shaped centering clamp (11); and the other end of the mounting rod (133) is connected to the middle position of the gantry bracket (131).

8. An anchor packaging detection method, implemented based on an anchor detection packaging system according to any one of claims 1 to 7, characterized in that: The following steps are involved: Step 1, placing a plurality of anchors on a centering conveyor belt (1) in sequence, positioning the anchors by means of the centering conveyor belt (1), and detecting the center positions of the plurality of anchors; if it is detected that the center position of the anchor coincides with the picking center of the rotating transport fixture (3), proceeding to step 2; if it is detected that the center position of the anchor does not coincide with the picking center of the rotating transport fixture (3), picking up and repositioning the anchor by means of the rotating transport fixture (3) until the center position of the anchor coincides with the picking center of the rotating transport fixture (3); Step 2: Pick up the anchor by rotating the transport fixture (3) and move it to the shooting area of ​​the visual inspection device (4), and drive the anchor to rotate circumferentially relative to the lens of the visual inspection device (4) by rotating the transport fixture (3); Step 3: Using the visual inspection device (4) to take a 360° photograph of the outer surface of the anchor, and identifying whether there are defects on the outer surface of the anchor through the photographed image; Step 4, rotating the transport fixture (3) to place the anchors with defects into the recycling area, and placing the anchors without defects on the unloading conveyor belt (2); Step 5, transporting the anchor by the unloading conveyor belt (2), typing the anchor by the first typing machine (5), packaging the anchor by the packaging machine (6), and typing the packaging box by the second typing machine (7); Step 6: The robot (8) picks up the finished product after packaging and marking and takes it to the finished product area.

Images