An efficient and automated omnidirectional detection device and method for detecting surface cracks of dentures

Abstract

The present invention discloses a detection device and method for efficiently and automatically detecting surface cracks of dentures. The present invention relates to the technical field of surface crack detection of dentures, and includes a rotary conveying component arranged on a workbench for conveying dentures, and an automatic detection and blanking component arranged on the workbench for automatically detecting cracks on the surface of dentures, automatically rejecting unqualified products, and automatically collecting qualified products; the automatic detection and blanking component includes a vertical plate fixed on the workbench, a horizontally arranged CCD lens is fixedly provided at the left end of the bracket, a waste basket and a finished product basket are respectively placed on the top surfaces of the first connecting plate and the second connecting plate, and an auxiliary detection component for lifting the denture and driving the denture to rotate automatically is arranged on the third connecting plate. The beneficial effects of the present invention are: greatly reducing the working intensity of workers for denture detection and greatly improving the detection efficiency of surface cracks of dentures.

Description

Technical Field

[0001] The present invention relates to the technical field of surface crack detection of dentures, and particularly to a detection device and method for efficiently and automatically detecting surface cracks of dentures in all directions. Background Art

[0002] Dentures, also known as "false teeth", are made of ceramic materials, with high strength and durability. When there are problems with the teeth in a patient's oral cavity, the dentures are installed at the position of the problem teeth, enabling the patient to restore chewing function. Dentures are classified into complete dentures, implant dentures, etc. Among them, implant dentures can replace single problem teeth. When in use, a metal implant is first installed at the root of the tooth in the oral cavity, and then the denture is installed on the top of the implant to achieve the purpose of replacing a single problem tooth and thus restoring the patient's chewing function.

[0003] The structure of a certain specification of denture is as Figures 1 to 2 shown. The bottom surface of the denture is a plane, and a tapered hole is provided on the bottom surface of the denture for connecting with the metal implant. When a batch of dentures as Figures 1 to 2 shown are produced in the workshop, the process requires detecting the surfaces of each denture, that is, detecting whether there are cracks on the surface of the denture. Because the existence of cracks will undoubtedly affect the strength of the entire denture, it is necessary to detect the surface cracks of the denture before leaving the factory. After detection, the worker removes the unqualified products with cracks on the surface into the waste basket, and puts the qualified products without cracks on the surface into the finished product basket.

[0004] The method for a certain workshop to detect the surfaces of each denture is as follows:

[0005] S1. The worker takes out a denture to be detected from the detection basket;

[0006] S2. First, support the taken-out denture on the top surface of the turntable; then the worker aligns the CCD lens with the left side of the denture, as Figure 3 shown; then turn on the power motor connected to the turntable. The power motor drives the turntable to rotate at a constant speed, and the turntable drives the denture placed on it to rotate synchronously. The rotation direction of the denture is as Figure 3 shown by the arrow in the figure. During the rotation, the CCD lens detects the surface of the denture in real time. If the CCD lens detects that there are cracks on the surface of the denture, it is determined that the denture is an unqualified product. At this time, the CCD lens sends an electrical signal to the controller, and the controller issues an alarm signal to notify the worker to pick the unqualified product into the waste basket;

[0007] If after the denture rotates 360°, the CCD lens does not detect cracks on the surface of the denture, then the denture is determined to be a qualified product, and the CCD lens does not send an electrical signal to the controller. Then the worker puts the qualified product into the finished product basket, thus realizing the surface detection of a denture.

[0008] S3. The worker repeats the operations in steps S1 - S2 like this, and can realize the surface detection of each denture in the workshop.

[0009] However, although this method can detect the surfaces of each denture in the workshop, in actual operation, there are still the following technical defects:

[0010] I. In steps S1 - S2, the worker needs to first take out a denture to be detected from the detection basket, then place the denture on the top surface of the turntable, and then start the power motor to make the denture rotate, so as to detect the surface of the denture in real time through the CCD lens. And the whole detection is completed manually by the worker, which not only increases the working intensity of the worker for denture detection, but also takes a long time to complete the surface detection of a single denture, thus taking a long time to detect all the dentures in the workshop, and further reducing the detection efficiency of the surface cracks of the dentures.

[0011] II. In step S2, when the denture to be detected is a non - qualified product, the worker needs to manually pick the non - qualified product into the waste basket to complete the elimination of the non - qualified product. When the denture to be detected is a qualified product, the worker also needs to manually put the qualified product into the finished product basket to complete the collection of the qualified product. Among them, whether it is eliminating non - qualified products or collecting qualified products, it needs to be completed manually by the worker, which not only increases the working intensity of the worker for denture detection, but also takes a long time to complete the surface detection of a single denture, thus taking a long time to detect all the dentures in the workshop, and further reducing the detection efficiency of the surface cracks of the dentures.

[0012] Therefore, there is an urgent need for a detection device and method that can greatly reduce the working intensity of workers for denture detection and greatly improve the detection efficiency of surface cracks of dentures. Summary of the Invention

[0013] The purpose of the present invention is to overcome the shortcomings of the prior art and provide a highly efficient automated all - round detection device and method for detecting surface cracks of dentures that can greatly reduce the working intensity of workers for denture detection and greatly improve the detection efficiency of surface cracks of dentures.

[0014] The object of the present invention is achieved by the following technical solutions: An efficient automatic all-round detection device for detecting cracks on the surface of dentures, which includes a workbench, a rotary conveying component arranged on the workbench for conveying dentures, and an automatic detection and blanking component arranged on the workbench for automatically detecting cracks on the surface of dentures, automatically rejecting unqualified products, and automatically collecting qualified products. The automatic detection and blanking component is located on the right side of the rotary conveying component;

[0015] The automatic detection and blanking component includes a vertical plate fixed on the workbench. A support, a first connecting plate, a second connecting plate, and a third connecting plate are successively fixed on the left end surface of the vertical plate from top to bottom. A horizontally arranged CCD lens is fixed at the left end of the support. A waste basket and a finished product basket are respectively placed on the top surfaces of the first connecting plate and the second connecting plate. An auxiliary detection component for lifting the denture and driving the denture to rotate by itself is arranged on the third connecting plate;

[0016] A first horizontal cylinder and a second horizontal cylinder are fixed on the right end surface of the vertical plate. The piston rod of the first horizontal cylinder penetrates the vertical plate to the left, and a movable plate is fixed on the extending end. A receiving box located directly above the waste basket is hinged to the bottom surface of the movable plate through a hinge seat. A U-shaped groove is formed on the bottom surface of the left end of the receiving box. A pressing cylinder is fixed on the top surface of the movable plate. The piston rod of the pressing cylinder penetrates the movable plate downward, and a pressing head is fixed on the extending end. A tension spring is fixed between the receiving box and the movable plate. Under the elastic force of the tension spring, the receiving box abuts against the pressing head; The piston rod of the second horizontal cylinder penetrates the vertical plate to the left, and a clamping cylinder located between the waste basket and the finished product basket is fixed on the extending end. The clamping head of the clamping cylinder faces left;

[0017] The detection device further includes a strip-shaped carrier for loading multiple dentures. The strip-shaped carrier includes a carrier body and an L-shaped plate. The horizontal plate of the L-shaped plate is connected to the bottom surface of the carrier body. A horizontal spring is fixed between the vertical plate of the L-shaped plate and the carrier body. Under the elastic force of the horizontal spring, the vertical plate of the L-shaped plate abuts against the right end surface of the carrier body. A rod is fixed on the right end surface of the vertical plate of the L-shaped plate;

[0018] A plurality of accommodation holes for accommodating dentures are formed on the top surface of the carrier body along its length direction. A plurality of straight holes respectively communicating with each accommodation hole are formed in the L-shaped plate. A plurality of blanking holes respectively staggered from the accommodation holes are also formed in the L-shaped plate; A rectangular blind groove located on the left side of the L-shaped plate is formed on the bottom surface of the carrier body.

[0019] The auxiliary detection component includes a driving motor fixed on the top surface of the third connection and two guide rails. A gear is connected to the output shaft of the driving motor. A floating plate is slidably installed above the gear between the two guide rails. A servo motor is fixed on the top surface of the floating plate. A rotating shaft, a thin rod and a tapered head are sequentially connected to the output shaft of the servo motor. A rack is fixed on the bottom surface of the floating plate, and the rack meshes with the gear.

[0020] The tapered head is matched with the tapered hole of the denture.

[0021] The width of the U-shaped groove of the material receiving box is equal to the diameter of the thin rod.

[0022] The distance between every two adjacent receiving holes in the carrier plate body is equal, the distance between every two adjacent straight holes in the L plate is equal, and the diameter of the straight hole is smaller than the diameter of the receiving hole.

[0023] The rotary conveying component includes a stepping motor fixed on the workbench and a turntable fixed on the output shaft of the stepping motor. A plurality of conveying cylinders are fixed on the top surface of the turntable along its circumferential direction. The piston rods of the conveying cylinders all extend outside the turntable, and a cushion block is fixed on the extending end. A rectangular insertion block is fixed on the top surface of the cushion block.

[0024] The plurality of conveying cylinders are evenly distributed on the turntable.

[0025] The detection device further includes a controller, and the controller is electrically connected to the first horizontal cylinder, the second horizontal cylinder, the pressing cylinder, the conveying cylinder, the stepping motor, the driving motor, the servo motor and the CCD lens through signal lines.

[0026] An efficient automatic all-round detection method for detecting surface cracks of dentures includes the following steps:

[0027] S1. Pre-load a plurality of dentures to be detected in a plurality of strip-shaped carrier plates. The specific operation steps are as follows:

[0028] S11. A worker takes out a strip-shaped carrier plate and places the strip-shaped carrier plate flat on the tabletop of the table. Then, a denture to be detected is pre-placed in each receiving hole of the carrier plate body of the strip-shaped carrier plate. At this time, the bottom surface of the denture is supported on the top surface of the L plate of the strip-shaped carrier plate, and the tapered hole of the denture just communicates with the straight hole, thereby realizing pre-loading a plurality of dentures to be detected in a strip-shaped carrier plate;

[0029] S12. The worker repeats the operation of step S11 multiple times, and then a plurality of dentures to be detected can be pre-loaded in a plurality of strip-shaped carrier plates;

[0030] S2. Install the plurality of strip-shaped carrier plates on the respective rectangular insertion blocks of the rotary conveying component respectively. The specific operation steps are as follows:

[0031] S21. The worker inserts the rectangular blind groove of the first strip tray from top to bottom onto the first rectangular insert block of the rotary conveying assembly, and supports the bottom surface of the left end of the strip tray on the spacer block, thereby installing a strip tray on the first rectangular insert block of the rotary conveying assembly;

[0032] S22. The worker repeats the operation in step S21 multiple times, and thus can install multiple strip trays respectively on the respective rectangular insert blocks of the rotary conveying assembly, and further realizes the feeding of multiple dentures to be detected;

[0033] S3. Perform surface inspection on all the dentures in the first strip tray. The specific operation steps are as follows:

[0034] S31. Control the stepping motor of the rotary conveying assembly to start. The stepping motor drives the turntable to rotate on the horizontal plane. The turntable drives the respective conveying cylinders thereon to rotate on the horizontal plane. When the first strip tray faces the automatic detection and blanking assembly, the controller controls the stepping motor to turn off;

[0035] S32. Control the piston rod of the conveying cylinder to extend to the right. The piston rod drives the spacer block and the rectangular insert block to move synchronously to the right. The spacer block drives the strip tray thereon to move to the right. The strip tray drives the respective dentures therein to move synchronously to the right. When the first denture moves to directly above the conical head of the automatic detection and blanking assembly, the controller controls the conveying cylinder to turn off;

[0036] S33. Control the driving motor of the automatic detection and blanking assembly to rotate clockwise. The driving motor drives the gear to rotate clockwise. The gear drives the rack to move upward. The rack drives the floating plate to move upward along the guide rail. The floating plate drives the servo motor, the rotating shaft, the thin rod and the conical head to move synchronously upward. The conical head passes upward through the straight hole and inserts into the conical hole of the first denture. As the conical head continues to move upward, the conical head ejects the first denture from the strip tray. When the lifted denture moves to the right side of the CCD lens, the controller controls the driving motor to turn off. At this time, the first denture enters the surface inspection station;

[0037] S34. Control the servo motor of the automatic detection and blanking assembly to start. The servo motor drives the rotating shaft to rotate. The rotating shaft drives the thin rod and the conical head to rotate synchronously. The conical head drives the first denture to rotate synchronously. During the rotation process, the CCD lens detects the surface of the denture in real time. If the CCD lens detects that there are cracks on the surface of the denture, it is determined that the denture is a defective product. At this time, the CCD lens sends an electrical signal to the controller. The steps for the controller to automatically remove the defective product into the waste basket are as follows:

[0038] S341. The controller controls the piston rod of the first horizontal cylinder to extend leftward. The piston rod drives the movable plate to move leftward. The movable plate drives the hinge seat, the downward pressure cylinder, and the material receiving box to move leftward synchronously. When the piston rod of the first horizontal cylinder is fully extended, the U-shaped groove of the material receiving box just sleeves outside the thin rod, and the unqualified products are in the material receiving box.

[0039] S342. The controller controls the drive motor of the automatic detection and blanking assembly to rotate counterclockwise. The drive motor drives the gear to rotate counterclockwise. The gear drives the rack to move downward, and then drives the floating plate to move downward. The floating plate drives the thin rod and the tapered head to move downward synchronously. When the tapered head moves downward, the unqualified products fall into the material receiving box.

[0040] S343. Control the piston rod of the first horizontal cylinder to retract rightward. The piston rod drives the movable plate to move rightward. The movable plate drives the hinge seat, the downward pressure cylinder, and the material receiving box to move rightward synchronously. The material receiving box drives the unqualified products falling into it to move synchronously. When the material receiving box moves directly above the waste basket, the controller controls the first horizontal cylinder to close. Then the controller controls the piston rod of the downward pressure cylinder to extend downward. The piston rod drives the pressure head to move downward. The pressure head presses downward against the material receiving box. The material receiving box rotates downward around the hinge seat, and the material receiving box pulls the tension spring downward. When the material receiving box is in an inclined state, the unqualified products in the material receiving box slide into the waste basket, thus realizing the rejection of unqualified products into the waste basket, and further realizing the surface detection of the first denture in the strip-shaped tray.

[0041] S35. Control the piston rod of the conveying cylinder to extend rightward to drive the strip-shaped tray to move rightward. The strip-shaped tray drives each denture in it to move rightward synchronously. When the second denture moves directly above the tapered head of the automatic detection and blanking assembly, the controller controls the conveying cylinder to close.

[0042] S36. Control the drive motor to rotate clockwise. The drive motor drives the gear to rotate clockwise. The tapered head ejects the second denture from the strip-shaped tray. When the lifted denture moves to the right side of the CCD lens, the controller controls the drive motor to close. At this time, the second denture enters the surface detection station.

[0043] S37. Control the servo motor to start so that the tapered head rotates. The tapered head drives the second denture to rotate synchronously. During the rotation process, the CCD lens detects the surface of the denture in real time. If the CCD lens detects cracks on the surface of the second denture, the controller executes the operations of steps S341~S343 to reject the unqualified products into the waste basket.

[0044] If the CCD lens detects a crack on the surface of the denture, it is determined that the denture is a qualified product. At this time, the CCD lens sends an electrical signal to the controller, controlling the drive motor to rotate counterclockwise. The drive motor drives the gear to rotate counterclockwise, and the gear drives the rack to move downward. The rack drives the floating plate and the conical head to move downward synchronously, and the conical head drives the qualified product to move downward synchronously. When the conical head moves downward through the strip-shaped carrier, the qualified product enters the strip-shaped carrier, thus realizing the surface detection of the second denture in the strip-shaped carrier;

[0045] S38. Repeat the operations in steps S35 - S37 in this way, and the surface detection of all the dentures in the first strip-shaped carrier can be completed. At this time, all the unqualified products have been removed into the waste basket, while all the qualified products still remain in the first strip-shaped carrier. At the same time, the rod on the first strip-shaped carrier just enters the chuck of the clamping cylinder. The steps for the controller to collect all the qualified products remaining in the first strip-shaped carrier into the finished product basket are as follows:

[0046] S381. The controller controls the clamping cylinder to start, and the clamping cylinder drives the chuck to close, and the chuck clamps and fixes the rod;

[0047] S381. Control the piston rod of the second horizontal cylinder to retract to the right. The piston rod drives the clamping cylinder to move to the right. The clamping cylinder drives the clamped rod to move to the right. The rod drives the L plate of the strip-shaped carrier to move to the right. The L plate drives the respective blanking holes inside it to move to the right synchronously, and the L plate pulls the horizontal spring to the right. When the piston rod of the second horizontal cylinder retracts to the set stroke, the respective blanking holes in the L plate are respectively communicated with the respective receiving holes in the strip-shaped carrier. At this time, the respective qualified products in the strip-shaped carrier fall into the finished product basket under their own gravity, thus realizing the collection of all the qualified products in the first strip-shaped carrier into the finished product basket;

[0048] S383. After all the qualified products in the first strip-shaped carrier are collected into the finished product basket, control the clamping cylinder to close, and the chuck releases the rod. At this time, under the elastic restoring force of the horizontal spring, the L plate resets;

[0049] S4. The worker repeats the operation in step S3 many times in this way, and the surface detection of all the dentures in each strip-shaped carrier can be carried out.

[0050] The present invention has the following advantages: greatly reducing the working intensity of workers for denture detection and greatly improving the detection efficiency of surface cracks of dentures. Brief Description of the Drawings

[0051] Figure 1 is a structural schematic diagram of the denture;

[0052] Figure 2 is Figure 1 the main sectional schematic diagram of

[0053] Figure 3 Schematic diagram of aligning the CCD lens with the left side of the denture;

[0054] Figure 4 Structural schematic diagram of the present invention;

[0055] Figure 5 is Figure 4 Main sectional schematic diagram of;

[0056] Figure 6 Structural schematic diagram of the automatic detection and blanking assembly;

[0057] Figure 7 is Figure 6 Rear view of;

[0058] Figure 8 is Figure 6 Main sectional schematic diagram of;

[0059] Figure 9 Structural schematic diagram of the strip tray;

[0060] Figure 10 is Figure 9 Main sectional schematic diagram of;

[0061] Figure 11 Structural schematic diagram of the rotary conveying assembly;

[0062] Figure 12 is Figure 11 Main sectional schematic diagram of;

[0063] Figure 13 Schematic diagram of pre - placing a denture to be detected in each accommodation hole of the strip tray;

[0064] Figure 14 Schematic diagram of respectively installing multiple strip trays onto each rectangular insert block of the rotary conveying assembly;

[0065] Figure 15 Schematic diagram of the first denture moving directly above the conical head of the automatic detection and blanking assembly;

[0066] Figure 16 Schematic diagram of the first denture entering the surface detection station;

[0067] Figure 17 Schematic diagram of non - conforming products in the receiving box;

[0068] Figure 18 Schematic diagram of non - conforming products falling into the receiving box;

[0069] Figure 19Schematic diagram when the material receiving box moves right above the waste bin;

[0070] Figure 20 Schematic diagram when the non-conforming products in the material receiving box slide into the waste bin;

[0071] Figure 21 Schematic diagram when the second denture moves right above the conical head of the automatic detection and blanking component;

[0072] Figure 22 Schematic diagram when the second denture enters the surface detection station;

[0073] Figure 23 Schematic diagram when the qualified products enter the strip-shaped carrier;

[0074] Figure 24 Schematic diagram when the rod on the first strip-shaped carrier enters the chuck of the clamping cylinder;

[0075] Figure 25 Schematic diagram when the chuck of the clamping cylinder clamps and fixes the rod;

[0076] Figure 26 Schematic diagram when the qualified products in the strip-shaped carrier fall into the finished product bin;

[0077] In the figure:

[0078] 1 - Denture, 2 - Conical hole, 3 - Turntable, 4 - CCD lens;

[0079] 5 - Workbench, 6 - Rotary conveying component, 7 - Automatic detection and blanking component, 8 - Vertical plate, 9 - Bracket, 10 - First connecting plate, 11 - Second connecting plate, 12 - Waste bin, 13 - Finished product bin;

[0080] 14 - First horizontal cylinder, 15 - Second horizontal cylinder, 16 - Movable plate, 17 - Hinge seat, 18 - Material receiving box, 19 - U-shaped groove, 20 - Pressing cylinder, 21 - Pressing head, 22 - Tensile spring, 23 - Clamping cylinder, 24 - Chuck;

[0081] 25 - Strip-shaped carrier, 26 - Carrier body, 27 - L-shaped plate, 28 - Horizontal spring, 29 - Rod, 30 - Accommodating hole, 31 - Straight hole, 32 - Blanking hole, 33 - Rectangular blind groove;

[0082] 34 - Driving motor, 35 - Gear, 36 - Floating plate, 37 - Servo motor, 38 - Thin rod, 40 - Rack;

[0083] 41 - Stepper motor, 42 - Turntable, 43 - Conveying cylinder, 44 - Pad block, 45 - Rectangular insert block;

[0084] 46 - Non-conforming product, 47 - Qualified product. Specific Embodiments

[0085] The present invention will be further described below in conjunction with the accompanying drawings. The protection scope of the present invention is not limited to the following:

[0086] As Figures 4 to 8 shown, a detection device for efficiently and automatically detecting surface cracks of dentures in all directions includes a workbench 5, a rotary conveying component 6 arranged on the workbench 5 for conveying the dentures 1, and an automatic detection and blanking component 7 arranged on the workbench 5 for automatically detecting cracks on the surface of the dentures 1, automatically removing unqualified products, and automatically collecting qualified products. The automatic detection and blanking component 7 is located on the right side of the rotary conveying component 6.

[0087] The automatic detection and blanking component 7 includes a vertical plate 8 fixed on the workbench 5. A support 9, a first connecting plate 10, a second connecting plate 11, and a third connecting plate are successively fixed on the left end surface of the vertical plate 8 from top to bottom. A horizontally arranged CCD lens 4 is fixed at the left end of the support 9. A waste basket 12 and a finished product basket 13 are respectively placed on the top surfaces of the first connecting plate 10 and the second connecting plate 11. An auxiliary detection component for jacking the denture 1 and driving the denture 1 to rotate itself is arranged on the third connecting plate; the auxiliary detection component includes a driving motor 34 fixed on the top surface of the third connection and two guide rails. A gear 35 is connected to the output shaft of the driving motor 34. A floating plate 36 located above the gear 35 is slidably installed between the two guide rails. A servo motor 37 is fixed on the top surface of the floating plate 36. A rotating shaft, a thin rod 38, and a tapered head are successively connected to the output shaft of the servo motor 37. The tapered head is matched with the tapered hole 2 of the denture 1. A rack 40 is fixed on the bottom surface of the floating plate 36, and the rack 40 meshes with the gear 35.

[0088] A first horizontal cylinder 14 and a second horizontal cylinder 15 are fixed on the right end surface of the vertical plate 8. The piston rod of the first horizontal cylinder 14 penetrates the vertical plate 8 to the left, and a movable plate 16 is fixed on the extending end. A receiving box 18 located directly above the waste basket 12 is hinged to the bottom surface of the movable plate 16 through a hinge seat 17. A U-shaped groove 19 is opened on the bottom surface of the left end of the receiving box 18. A pressing cylinder 20 is fixed on the top surface of the movable plate 16. The piston rod of the pressing cylinder 20 penetrates the movable plate 16 downward, and a pressing head 21 is fixed on the extending end. A tension spring 22 is fixed between the receiving box 18 and the movable plate 16. Under the elastic force of the tension spring 22, the receiving box 18 abuts against the pressing head 21; the piston rod of the second horizontal cylinder 15 penetrates the vertical plate 8 to the left, and a clamping cylinder 23 located between the waste basket 12 and the finished product basket 13 is fixed on the extending end. The clamping head 24 of the clamping cylinder 23 faces left; the width of the U-shaped groove 19 of the receiving box 18 is equal to the diameter of the thin rod 38.

[0089] AsFigures 9 to 10 As shown, the detection device further includes a strip-shaped carrier tray 25 for loading a plurality of dentures 1. The strip-shaped carrier tray 25 includes a carrier tray body 26 and an L-shaped plate 27. The horizontal plate of the L-shaped plate 27 is connected to the bottom surface of the carrier tray body 26, and a horizontal spring 28 is fixedly provided between the vertical plate of the L-shaped plate 27 and the carrier tray body 26. Under the elastic force of the horizontal spring 28, the vertical plate of the L-shaped plate 27 abuts against the right end surface of the carrier tray body 26, and a rod member 29 is fixedly provided on the right end surface of the vertical plate of the L-shaped plate 27; the distance between every two adjacent receiving holes 30 in the carrier tray body 26 is equal, the distance between every two adjacent straight holes 31 in the L-shaped plate 27 is equal, and the aperture of the straight hole 31 is smaller than the aperture of the receiving hole 30. A plurality of receiving holes 30 for receiving the dentures 1 are formed in the top surface of the carrier tray body 26 along its length direction, a plurality of straight holes 31 respectively communicating with the receiving holes 30 are formed in the L-shaped plate 27, and a plurality of blanking holes 32 respectively staggered from the receiving holes 30 are further formed in the L-shaped plate 27; a rectangular blind groove 33 located on the left side of the L-shaped plate 27 is formed in the bottom surface of the carrier tray body 26.

[0090] As Figures 11 to 12 As shown, the rotary conveying assembly 6 includes a stepping motor 41 fixedly provided on the workbench 5 and a turntable 42 fixedly provided on the output shaft of the stepping motor 41. A plurality of conveying cylinders 43 are fixedly provided on the top surface of the turntable 42 along its circumferential direction. The plurality of conveying cylinders 43 are evenly distributed on the turntable 42. The piston rods of the respective conveying cylinders 43 all extend outside the turntable 42, and a cushion block 44 is fixedly provided on the extending end. A rectangular insertion block 45 is fixedly provided on the top surface of the cushion block 44.

[0091] The detection device further includes a controller, which is electrically connected to the first horizontal cylinder 14, the second horizontal cylinder 15, the pressing cylinder 20, the conveying cylinder 43, the stepping motor 41, the driving motor 34, the servo motor 37 and the CCD lens 4 through signal lines. The controller can control the extension or retraction of the piston rods of the first horizontal cylinder 14, the second horizontal cylinder 15, and the pressing cylinder 20, and can also control the start or stop of the stepping motor 41, the driving motor 34, and the servo motor 37; the CCD lens 4 can detect whether there are cracks on the surface of the denture 1. The CCD lens 4 sends an electrical signal to the controller, and the controller then controls the automatic detection and blanking assembly 7 to act to reject unqualified products or collect qualified ones.

[0092] An efficient and automated all-round detection method for detecting cracks on the surface of dentures includes the following steps:

[0093] S1. Pre-load a plurality of dentures to be detected in a plurality of strip-shaped carrier trays 25. The specific operation steps are as follows:

[0094] S11. A worker takes out one as Figures 9 to 10The strip tray 25 shown is placed flat on the tabletop of the table, and then a denture 1 to be detected, such as Figures 1 to 2 shown, is pre-placed in each receiving hole 30 of the tray body 26 of the strip tray 25. As Figure 13 shown, at this time, the bottom surface of the denture 1 is supported on the top surface of the L plate 27 of the strip tray 25, and the tapered hole 2 of the denture 1 just communicates with the straight hole 31, thus realizing the pre-loading of multiple dentures 1 to be detected in one strip tray 25;

[0095] S12. The worker repeats the operation of step S11 many times, and multiple dentures 1 to be detected can be pre-loaded in multiple strip trays 25;

[0096] S2. Install the multiple strip trays 25 respectively on the respective rectangular inserts 45 of the rotary conveying assembly 6. The specific operation steps are as follows:

[0097] S21. The worker fits the rectangular blind groove 33 of the first strip tray 25 onto the first rectangular insert 45 of the rotary conveying assembly 6 from top to bottom, and supports the bottom surface of the left end of the strip tray 25 on the cushion block 44, thus realizing the installation of one strip tray 25 on the first rectangular insert 45 of the rotary conveying assembly 6;

[0098] S22. The worker repeats the operation of step S21 many times, and the multiple strip trays 25 can be respectively installed on the respective rectangular inserts 45 of the rotary conveying assembly 6. As Figure 14 shown, thus realizing the feeding of multiple dentures 1 to be detected;

[0099] S3. Perform surface detection on all the multiple dentures 1 in the first strip tray 25. The specific operation steps are as follows:

[0100] S31. Control the stepping motor 41 of the rotary conveying assembly 6 to start. The stepping motor 41 drives the turntable 42 to rotate on the horizontal plane. The turntable 42 drives the respective conveying cylinders 43 thereon to rotate on the horizontal plane. When the first strip tray 25 faces the automatic detection and blanking assembly 7, as Figure 14 shown, the controller controls the stepping motor 41 to turn off;

[0101] S32. Control the piston rod of the conveying cylinder 43 to extend to the right. The piston rod drives the cushion block 44 and the rectangular insert 45 to move synchronously to the right. The cushion block 44 drives the strip tray 25 thereon to move to the right. The strip tray 25 drives the respective dentures 1 therein to move synchronously to the right. When the first denture 1 moves to directly above the tapered head of the automatic detection and blanking assembly 7, as Figure 15 shown, the controller controls the conveying cylinder 43 to turn off;

[0102] S33. Control the drive motor 34 of the automatic detection and blanking assembly 7 to rotate clockwise. The drive motor 34 drives the gear 35 to rotate clockwise, the gear 35 drives the rack 40 to move upward, the rack 40 drives the floating plate 36 to move upward along the guide rail, the floating plate 36 drives the servo motor 37, the rotating shaft, the thin rod 38 and the tapered head to move upward synchronously. The tapered head passes through the straight hole 31 upward and inserts into the tapered hole 2 of the first denture 1. As the tapered head continues to move upward, the tapered head ejects the first denture 1 from the strip tray 25. When the lifted denture 1 moves to the right side of the CCD lens 4, the controller controls the drive motor 34 to turn off. At this time, the first denture 1 enters the surface detection station, as Figure 16 shown;

[0103] S34. Control the servo motor 37 of the automatic detection and blanking assembly 7 to start. The servo motor 37 drives the rotating shaft to rotate, the rotating shaft drives the thin rod 38 and the tapered head to rotate synchronously, and the tapered head drives the first denture 1 to rotate synchronously. The rotation direction is as shown by the arrow in Figure 16 . During the rotation, the CCD lens 4 detects the surface of the denture 1 in real time. If the CCD lens 4 detects cracks on the surface of the denture 1, it is determined that the denture 1 is a defective product. At this time, the CCD lens 4 sends an electrical signal to the controller. The steps for the controller to automatically remove the defective product into the waste basket 12 are as follows:

[0104] S341. The controller controls the piston rod of the first horizontal cylinder 14 to extend to the left. The piston rod drives the movable plate 16 to move to the left. The movable plate 16 drives the hinge seat 17, the pressing cylinder 20 and the receiving box 18 to move to the left synchronously. When the piston rod of the first horizontal cylinder 14 is fully extended, the U-shaped groove 19 of the receiving box 18 just sleeves outside the thin rod 38, and the defective product 46 is in the receiving box 18, as Figure 17 shown;

[0105] S342. The controller controls the drive motor 34 of the automatic detection and blanking assembly 7 to rotate counterclockwise. The drive motor 34 drives the gear 35 to rotate counterclockwise, the gear 35 drives the rack 40 to move downward, and then drives the floating plate 36 to move downward. The floating plate 36 drives the thin rod 38 and the tapered head to move downward synchronously. When the tapered head moves downward, the defective product 46 falls into the receiving box 18, as Figure 18 shown;

[0106] S343. Control the piston rod of the first horizontal cylinder 14 to retract to the right. The piston rod drives the movable plate 16 to move to the right. The movable plate 16 drives the hinge seat 17, the pressing cylinder 20 and the receiving box 18 to move to the right synchronously. The receiving box 18 drives the defective product 46 that has fallen into it to move synchronously. When the receiving box 18 moves directly above the waste basket 12, as Figure 19As shown, the controller controls the first horizontal cylinder 14 to close; then the controller controls the piston rod of the pressing cylinder 20 to extend downward. The piston rod drives the pressing head 21 to move downward. The pressing head 21 presses downward against the material receiving box 18. The material receiving box 18 rotates downward around the hinge seat 17, and the material receiving box 18 pulls the tension spring 22 downward. When the material receiving box 18 is in an inclined state, the defective products 46 in the material receiving box 18 slide into the waste basket 12, and the sliding direction is as shown by the arrow in Figure 20. Thus, the defective products 46 are removed into the waste basket 12, and further, the surface inspection of the first denture 1 in the strip tray 25 is realized;

[0107] Among them, it can be seen from the operations in steps S341 to S343 that this detection device can automatically remove the defective products 46 into the waste basket 12 only through the linkage cooperation of the first horizontal cylinder 14, the pressing cylinder 20 of the automatic detection and blanking assembly 7, and the auxiliary detection assembly. It can be seen from this that compared with the detection method as Figure 3 shown, there is no need for workers to manually remove the defective products 46 into the waste basket 12. This not only greatly reduces the working intensity of workers for denture inspection, but also realizes the surface inspection of a single denture 1 in a short time. Furthermore, all the dentures 1 in the workshop can be inspected in a very short time, thus greatly improving the detection efficiency of surface cracks of dentures.

[0108] S35. Control the piston rod of the conveying cylinder 43 to extend to the right to drive the strip tray 25 to move to the right. The strip tray 25 drives each denture 1 therein to move to the right synchronously. When the second denture 1 moves directly above the conical head of the automatic detection and blanking assembly 7, as Figure 21 shown, the controller controls the conveying cylinder 43 to close;

[0109] S36. Control the driving motor 34 to rotate clockwise. The driving motor 34 drives the gear 35 to rotate clockwise. The conical head ejects the second denture 1 from the strip tray 25. When the ejected denture 1 moves to the right side of the CCD lens 4, the controller controls the driving motor 34 to close. At this time, the second denture 1 enters the surface inspection station, as Figure 22 shown;

[0110] S37. Control the servo motor 37 to start to make the conical head rotate. The conical head drives the second denture 1 to rotate synchronously. During the rotation process, the CCD lens 4 continuously inspects the surface of the denture 1. If the CCD lens 4 detects that there are cracks on the surface of the second denture 1, the controller executes the operations in steps S341 to S343 to remove the defective products into the waste basket 12;

[0111] If the CCD lens 4 detects a crack on the surface of the denture 1, it is determined that the denture 1 is a qualified product 47. At this time, the CCD lens 4 sends an electrical signal to the controller to control the driving motor 34 to rotate counterclockwise. The driving motor 34 drives the gear 35 to rotate counterclockwise, and the gear 35 drives the rack 40 to move downward. The rack 40 drives the floating plate 36 and the conical head to move downward synchronously, and the conical head drives the qualified product 47 to move downward synchronously. When the conical head moves downward through the strip-shaped carrier 25, the qualified product 47 enters the strip-shaped carrier 25, as Figure 23 shown, thus realizing the surface detection of the second denture 1 in the strip-shaped carrier 25;

[0112] S38. Repeat the operations in steps S35 - S37 in this way, and the surface detection of all the dentures 1 in the first strip-shaped carrier 25 can be completed. At this time, all the unqualified products 46 have been removed into the waste basket 12, while all the qualified products 47 still remain in the first strip-shaped carrier 25. At the same time, the rod 29 on the first strip-shaped carrier 25 just enters the chuck 24 of the clamping cylinder 23, as Figure 24 shown. The steps for the controller to collect all the qualified products 47 remaining in the first strip-shaped carrier 25 into the finished product basket 13 are as follows:

[0113] S381. The controller controls the clamping cylinder 23 to start, and the clamping cylinder 23 drives the chuck 24 to close. The chuck 24 clamps and fixes the rod 29, as Figure 25 shown;

[0114] S382. Control the piston rod of the second horizontal cylinder 15 to retract to the right. The piston rod drives the clamping cylinder 23 to move to the right. The clamping cylinder 23 drives the clamped rod 29 to move to the right. The rod 29 drives the L plate 27 of the strip-shaped carrier 25 to move to the right. The L plate 27 drives the respective blanking holes 32 therein to move to the right synchronously, and the L plate 27 pulls the horizontal spring 28 to the right. When the piston rod of the second horizontal cylinder 15 retracts to the set stroke, the respective blanking holes 32 in the L plate 27 are respectively communicated with the respective receiving holes 30 in the strip-shaped carrier 25. At this time, the respective qualified products 47 in the strip-shaped carrier 25 fall into the finished product basket 13 under their own gravity, and the falling direction is as Figure 26 shown by the arrow in the figure, thus realizing the collection of all the qualified products 47 in the first strip-shaped carrier 25 into the finished product basket 13;

[0115] S383. After all the qualified products 47 in the first strip-shaped carrier 25 are collected into the finished product basket 13, control the clamping cylinder 23 to close, and the chuck 24 releases the rod 29. At this time, under the elastic restoring force of the horizontal spring 28, the L plate 27 resets;

[0116] Among them, it can be seen from the steps S381 to S383 that through the linkage cooperation of the second horizontal cylinder 15, the clamping cylinder 23 and the strip tray 25, this detection device can link each blanking hole 32 in the L-shaped plate 27 with each receiving hole 30 in the strip tray 25 respectively. Furthermore, all the qualified products 47 in the strip tray 25 can all fall into the finished product basket 13, thus completing the collection of all the qualified products 47 in the strip tray 25. It can be seen from this that compared with the detection method as Figure 3 shown, there is no need for workers to manually collect the qualified products 47 into the finished product basket 13. This not only greatly reduces the working intensity of workers for denture detection, but also realizes the surface detection of a single denture 1 in a short time. Furthermore, it only takes a very short time to complete the detection of all dentures 1 in the workshop, further improving the detection efficiency of surface cracks of dentures.

[0117] S4. Workers repeat the operation of step S3 multiple times, and thus can conduct surface detection on all dentures 1 in each strip tray 25.

[0118] Among them, it can be seen from the steps S1 to S4 that through the linkage cooperation of the rotary conveying component 6, the auxiliary detection component of the automatic detection and blanking component 7 and the strip tray 25, this detection device can continuously and automatically conduct surface detection on each denture 1 in each strip tray 25 in sequence. Compared with the detection method as Figure 3 shown, there is no need for manual surface detection of dentures 1 one by one, but instead realizes continuous and automatic surface detection of dentures 1. This not only greatly reduces the working intensity of workers for denture detection, but also realizes the surface detection of a single denture 1 in a short time. Furthermore, it only takes a very short time to complete the detection of all dentures 1 in the workshop, thus greatly improving the detection efficiency of surface cracks of dentures.

Claims

1. An efficient and automated all-round detection device for detecting surface cracks of dentures, characterized in that: It includes a workbench (5), a rotary conveying assembly (6) arranged on the workbench (5) for conveying dentures (1), and an automatic detection and blanking assembly (7) arranged on the workbench (5) for automatically detecting cracks on the surface of the dentures (1), automatically rejecting unqualified products, and automatically collecting qualified products. The automatic detection and blanking assembly (7) is located on the right side of the rotary conveying assembly (6); The automatic detection and blanking assembly (7) includes a vertical plate (8) fixed on the workbench (5). A support (9), a first connecting plate (10), a second connecting plate (11), and a third connecting plate are successively fixed on the left end face of the vertical plate (8) from top to bottom. A horizontally arranged CCD lens (4) is fixed at the left end of the support (9). A waste basket (12) and a finished product basket (13) are respectively placed on the top surfaces of the first connecting plate (10) and the second connecting plate (11). An auxiliary detection assembly for lifting the denture (1) and driving the denture (1) to rotate by itself is arranged on the third connecting plate; A first horizontal cylinder (14) and a second horizontal cylinder (15) are fixed on the right end face of the vertical plate (8). The piston rod of the first horizontal cylinder (14) penetrates the vertical plate (8) to the left, and a movable plate (16) is fixed on the extending end. A receiving box (18) located directly above the waste basket (12) is hinged on the bottom surface of the movable plate (16) through a hinge seat (17). A U-shaped groove (19) is formed on the bottom surface of the left end of the receiving box (18). A downward pressing cylinder (20) is fixed on the top surface of the movable plate (16). The piston rod of the downward pressing cylinder (20) penetrates the movable plate (16) downward, and a pressing head (21) is fixed on the extending end. A tension spring (22) is fixed between the receiving box (18) and the movable plate (16). Under the elastic force of the tension spring (22), the receiving box (18) abuts against the pressing head (21). The piston rod of the second horizontal cylinder (15) penetrates the vertical plate (8) to the left, and a clamping cylinder (23) located between the waste basket (12) and the finished product basket (13) is fixed on the extending end. The clamping head (24) of the clamping cylinder (23) faces left; The detection device further includes a strip-shaped carrier (25) for loading a plurality of dentures (1). The strip-shaped carrier (25) includes a carrier body (26) and an L-shaped plate (27). The horizontal plate of the L-shaped plate (27) is connected to the bottom surface of the carrier body (26). A horizontal spring (28) is fixed between the vertical plate of the L-shaped plate (27) and the carrier body (26). Under the elastic force of the horizontal spring (28), the vertical plate of the L-shaped plate (27) abuts against the right end face of the carrier body (26). A rod member (29) is fixed on the right end face of the vertical plate of the L-shaped plate (27); A plurality of receiving holes (30) for receiving dentures (1) are formed in the top surface of the tray body (26) along its length direction. A plurality of straight holes (31) respectively communicating with the receiving holes (30) are formed in the L-shaped plate (27). A plurality of blanking holes (32) respectively offset from the receiving holes (30) are also formed in the L-shaped plate (27). A rectangular blind groove (33) located on the left side of the L-shaped plate (27) is formed in the bottom surface of the tray body (26).

2. The detection device for efficiently and automatically detecting surface cracks of dentures in all directions according to claim 1, wherein: The auxiliary detection assembly includes a driving motor (34) fixed on the top surface of the third connection and two guide rails. A gear (35) is connected to the output shaft of the driving motor (34). A floating plate (36) located above the gear (35) is slidably installed between the two guide rails. A servo motor (37) is fixed on the top surface of the floating plate (36). A rotating shaft, a thin rod (38) and a tapered head are sequentially connected to the output shaft of the servo motor (37). A rack (40) is fixed on the bottom surface of the floating plate (36), and the rack (40) meshes with the gear (35).

3. The detection device for efficiently and automatically detecting surface cracks of dentures in all directions according to claim 2, wherein: The tapered head cooperates with the tapered hole (2) of the denture (1).

4. An inspection device for efficiently and automatically detecting surface cracks of dentures in all directions according to claim 3, characterized in that: The width of the U-shaped groove (19) of the receiving box (18) is equal to the diameter of the thin rod (38).

5. An inspection device for efficiently and automatically detecting surface cracks of a denture in all directions according to claim 4, characterized in that: The distance between every two adjacent receiving holes (30) in the tray body (26) is equal. The distance between every two adjacent straight holes (31) in the L-shaped plate (27) is equal. The aperture of the straight hole (31) is smaller than the aperture of the receiving hole (30).

6. The detection device for efficiently and automatically detecting surface cracks of dentures in all directions according to claim 5, wherein: The rotary conveying assembly (6) includes a stepping motor (41) fixed on the workbench (5), and a turntable (42) fixed on the output shaft of the stepping motor (41). A plurality of conveying cylinders (43) are fixed on the top surface of the turntable (42) along its circumferential direction. The piston rods of the conveying cylinders (43) all extend outside the turntable (42), and a cushion block (44) is fixed on the extending end. A rectangular insert block (45) is fixed on the top surface of the cushion block (44).

7. An inspection device for efficiently and automatically detecting surface cracks of a denture in all directions according to claim 6, characterized in that: The plurality of conveying cylinders (43) are evenly distributed on the turntable (42).

8. An inspection device for efficiently and automatically detecting surface cracks of dentures in all directions according to claim 7, characterized in that: The detection device further includes a controller, and the controller is electrically connected to the first horizontal cylinder (14), the second horizontal cylinder (15), the pressing cylinder (20), the conveying cylinder (43), the stepping motor (41), the driving motor (34), the servo motor (37) and the CCD lens (4) through signal lines.

9. An efficient and automated all-round detection method for detecting surface cracks of dentures, using the efficient and automated all-round detection device for detecting surface cracks of dentures described in claim 8, characterized in that: It includes the following steps: S1. A plurality of dentures to be detected are pre-loaded in a plurality of strip trays (25). The specific operation steps are as follows: S11. A worker takes out a strip tray (25) and places the strip tray (25) flat on the tabletop. Then, a denture (1) to be detected is pre-placed in each of the receiving holes (30) of the tray body (26) of the strip tray (25). At this time, the bottom surface of the denture (1) is supported on the top surface of the L-shaped plate (27) of the strip tray (25), and the tapered hole (2) of the denture (1) just communicates with the straight hole (31), thereby realizing pre-loading a plurality of dentures (1) to be detected in a strip tray (25). S12. Workers repeat the operation in step S11 multiple times, and multiple dentures (1) to be detected can be pre-loaded in multiple strip trays (25); S2. Install multiple strip trays (25) onto respective rectangular inserts (45) of the rotary conveying assembly (6). The specific operation steps are as follows: S21. Workers fit the rectangular blind groove (33) of the first strip tray (25) onto the first rectangular insert (45) of the rotary conveying assembly (6) from top to bottom, and support the bottom surface of the left end of the strip tray (25) on the spacer block (44), thereby installing a strip tray (25) on the first rectangular insert (45) of the rotary conveying assembly (6); S22. Workers repeat the operation in step S21 multiple times, and multiple strip trays (25) can be respectively installed onto respective rectangular inserts (45) of the rotary conveying assembly (6), thus realizing the feeding of multiple dentures (1) to be detected; S3. Perform surface detection on all the dentures (1) in the first strip tray (25). The specific operation steps are as follows: S31. Control the stepping motor (41) of the rotary conveying assembly (6) to start. The stepping motor (41) drives the turntable (42) to rotate on the horizontal plane, and the turntable (42) drives the respective conveying cylinders (43) thereon to rotate on the horizontal plane. When the first strip tray (25) faces the automatic detection and blanking assembly (7), the controller controls the stepping motor (41) to shut down; S32. Control the piston rod of the conveying cylinder (43) to extend to the right. The piston rod drives the spacer block (44) and the rectangular insert (45) to move synchronously to the right. The spacer block (44) drives the strip tray (25) thereon to move to the right, and the strip tray (25) drives the respective dentures (1) therein to move synchronously to the right. When the first denture (1) moves directly above the conical head of the automatic detection and blanking assembly (7), the controller controls the conveying cylinder (43) to shut down; S33. Control the drive motor (34) of the automatic detection and blanking assembly (7) to rotate clockwise. The drive motor (34) drives the gear (35) to rotate clockwise, and the gear (35) drives the rack (40) to move upward. The rack (40) drives the floating plate (36) to move upward along the guide rail. The floating plate (36) drives the servo motor (37), the rotating shaft, the thin rod (38), and the conical head to move upward synchronously. The conical head passes upward through the straight hole (31) and inserts into the conical hole (2) of the first denture (1). As the conical head continues to move upward, the conical head ejects the first denture (1) from the strip tray (25). When the lifted denture (1) moves to the right side of the CCD lens (4), the controller controls the drive motor (34) to shut down. At this time, the first denture (1) enters the surface detection station; S34. Start the servo motor (37) of the automatic detection and blanking component (7). The servo motor (37) drives the rotating shaft to rotate. The rotating shaft drives the thin rod (38) and the conical head to rotate synchronously. The conical head drives the first denture (1) to rotate synchronously. During the rotation, the CCD lens (4) detects the surface of the denture (1) in real time. If the CCD lens (4) detects cracks on the surface of the denture (1), it is determined that the denture (1) is a defective product. At this time, the CCD lens (4) sends an electrical signal to the controller. The steps for the controller to automatically remove the defective product into the waste basket (12) are as follows: S341. The controller controls the piston rod of the first horizontal cylinder (14) to extend to the left. The piston rod drives the movable plate (16) to move to the left. The movable plate (16) drives the hinge seat (17), the downward pressure cylinder (20) and the receiving box (18) to move to the left synchronously. When the piston rod of the first horizontal cylinder (14) is fully extended, the U-shaped groove (19) of the receiving box (18) just sleeved outside the thin rod (38), and the defective product (46) is inside the receiving box (18); S342. The controller controls the drive motor (34) of the automatic detection and blanking component (7) to rotate counterclockwise. The drive motor (34) drives the gear (35) to rotate counterclockwise. The gear (35) drives the rack (40) to move downward, and then drives the floating plate (36) to move downward. The floating plate (36) drives the thin rod (38) and the conical head to move downward synchronously. When the conical head moves downward, the defective product (46) falls into the receiving box (18); S343. Control the piston rod of the first horizontal cylinder (14) to retract to the right. The piston rod drives the movable plate (16) to move to the right. The movable plate (16) drives the hinge seat (17), the downward pressure cylinder (20) and the receiving box (18) to move to the right synchronously. The receiving box (18) drives the defective product (46) falling into it to move synchronously. When the receiving box (18) moves directly above the waste basket (12), the controller controls the first horizontal cylinder (14) to close; then the controller controls the piston rod of the downward pressure cylinder (20) to extend downward. The piston rod drives the pressure head (21) to move downward. The pressure head (21) presses downward against the receiving box (18). The receiving box (18) rotates downward around the hinge seat (17), and the receiving box (18) pulls the tension spring (22) downward. When the receiving box (18) is in an inclined state, the defective product (46) in the receiving box (18) slides into the waste basket (12), thus realizing the removal of the defective product (46) into the waste basket (12), and further realizing the surface detection of the first denture (1) in the strip tray (25); S35. Control the piston rod of the conveying cylinder (43) to extend to the right to drive the strip tray (25) to move to the right. The strip tray (25) drives each denture (1) inside it to move to the right synchronously. When the second denture (1) moves directly above the conical head of the automatic detection and blanking component (7), the controller controls the conveying cylinder (43) to close; S36. Control the drive motor (34) to rotate clockwise. The drive motor (34) drives the gear (35) to rotate clockwise, and the conical head ejects the second denture (1) from the strip carrier (25). When the lifted denture (1) moves to the right side of the CCD lens (4), the controller controls the drive motor (34) to turn off. At this time, the second denture (1) enters the surface inspection station; S37. Control the servo motor (37) to start, so that the conical head rotates. The conical head drives the second denture (1) to rotate synchronously. During the rotation process, the CCD lens (4) detects the surface of the denture (1) in real time. If the CCD lens (4) detects that there are cracks on the surface of the second denture (1), the controller performs the operations of steps S341 - S343 to reject the unqualified products into the waste basket (12); If the CCD lens (4) detects that there are no cracks on the surface of the denture (1), it is determined that the denture (1) is a qualified product (47). At this time, the CCD lens (4) sends an electrical signal to the controller to control the drive motor (34) to rotate counterclockwise. The drive motor (34) drives the gear (35) to rotate counterclockwise, and the gear (35) drives the rack (40) to move downward. The rack (40) drives the floating plate (36) and the conical head to move downward synchronously, and the conical head drives the qualified product (47) to move downward synchronously. When the conical head moves downward through the strip carrier (25), the qualified product (47) enters the strip carrier (25), thus realizing the surface inspection of the second denture (1) in the strip carrier (25); S38. Repeat the operations of steps S35 - S37 in this way to complete the surface inspection of all the dentures (1) in the first strip carrier (25). At this time, all the unqualified products (46) have been rejected into the waste basket (12), and all the qualified products (47) still remain in the first strip carrier (25). At the same time, the rod (29) on the first strip carrier (25) just enters the chuck (24) of the clamping cylinder (23). The steps for the controller to collect all the qualified products (47) remaining in the first strip carrier (25) into the finished product basket (13) are as follows: S381. The controller controls the clamping cylinder (23) to start, and the clamping cylinder (23) drives the chuck (24) to close, and the chuck (24) clamps and fixes the rod (29); S382. Control the piston rod of the second horizontal cylinder (15) to retract to the right. The piston rod drives the clamping cylinder (23) to move to the right. The clamping cylinder (23) drives the clamped rod (29) to move to the right. The rod (29) drives the L plate (27) of the strip-shaped carrier (25) to move to the right. The L plate (27) drives each blanking hole (32) inside it to move to the right synchronously. And the L plate (27) pulls the horizontal spring (28) to the right. When the piston rod of the second horizontal cylinder (15) retracts to the set stroke, each blanking hole (32) in the L plate (27) communicates with each receiving hole (30) in the strip-shaped carrier (25) respectively. At this time, each qualified product (47) in the strip-shaped carrier (25) falls into the finished product basket (13) under its own gravity, thus realizing the collection of all qualified products (47) in the first strip-shaped carrier (25) into the finished product basket (13); S383. After all qualified products (47) in the first strip-shaped carrier (25) are collected into the finished product basket (13), control the clamping cylinder (23) to close, and the chuck (24) releases the rod (29). At this time, under the elastic restoring force of the horizontal spring (28), the L plate (27) resets; S4. Workers repeat the operation in step S3 multiple times to perform surface inspection on all dentures (1) in each strip-shaped carrier (25).

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