Polyhedron detection equipment and use method

Abstract

The invention relates to polyhedron detection equipment and a use method, and belongs to the technical field of precision part detection equipment. Comprising a rack which is provided with an input port and an output port and is provided with a control center; the feeding assembly is arranged at the input port, and the feeding assembly is in communication connection with the control center; the sorting device is arranged at the output port, and the sorting device is in communication connection with the control center; the transfer assembly is arranged in the rack, the transfer assembly is in communication connection with the control center, and a first detection area and a second detection area are arranged on the transfer assembly; and the detection assembly is specifically divided into a first detection assembly and a second detection assembly, the workpieces in the first detection area and the second detection area are detected, multiple groups of obtained data are transmitted to the control center, and the sorting device is controlled to sort and output the workpieces according to a comparison result. The technical problem that in the prior art, due to the fact that detection data is single, accurate sorting cannot be conducted in automation is solved.

Description

Technical Field

[0001] The present invention belongs to the technical field of precision component detection equipment, and particularly relates to a polyhedron detection equipment and a usage method thereof. Background Art

[0002] In the processing of precision parts, multiple processes are required. After the processing stage is completed, the state of the parts needs to be detected. Among them, a common detection process is to detect the surface defects of polyhedrons, such as detecting problems like residual glue, stains, damaged deformation, and pin skew. In the prior art, for the surface detection of polyhedrons, multiple single-sided detections or turntable detections are used to detect multiple surfaces.

[0003] The patent with the publication number CN107521973A discloses the following: a fixed frame; a detection module installed on the fixed frame and corresponding to the detection station; a grasping component arranged on the fixed frame, the grasping component includes a driving member, a movable connecting member, and a grasping portion arranged on the movable connecting member, the driving member is in transmission connection with the movable connecting member to drive the movable connecting member, and the movable connecting member includes a detection state that drives the grasping portion to rotate at the detection station.

[0004] In the process of detecting the surface defects of polyhedrons in the prior art, there are at least the following problems:

[0005] The prior art uses a manipulator to grasp and perform multi-angle detection of an image sensor on a multi-face structure. In the automation of polyhedron parts with complex spatial distributions, accurate sorting cannot be performed due to single detection data. Summary of the Invention

[0006] The present invention provides a polyhedron detection equipment and a usage method thereof, which are used to solve the technical problem in the prior art that accurate sorting cannot be performed accurately in automation due to single detection data.

[0007] To achieve the above object, the present invention is realized through the following technical solutions:

[0008] A polyhedron detection device. It includes: a frame, which is provided with an input port and an output port, and a control center is arranged on the frame; a feeding component, which is arranged at the input port, and the feeding component is communicatively connected with the control center; a sorting device, which is arranged at the output port, and the sorting device is communicatively connected with the control center; a transfer component, which is arranged inside the frame, and the transfer component is communicatively connected with the control center, and a first detection area and a second detection area are arranged on the transfer component; a detection component, specifically divided into a first detection component and a second detection component, which detects the workpieces in the first detection area and the second detection area, transmits multiple groups of data obtained to the control center, and the control center compares the multiple groups of data and controls the sorting device to select and output the workpieces according to the comparison result.

[0009] Further, the first detection component includes: a locking component, which is arranged in the first detection area, a detection window is opened at the bottom of the locking component, and the locking component is used to fix the workpiece; a visual sensor A, which is installed in the first detection area, and the visual sensor A detects the workpiece through the detection window, and the visual sensor A is communicatively connected with the control center; a visual sensor B, which is installed in the first detection area, and the visual sensor A detects the workpiece through the detection window, and the visual sensor B is communicatively connected with the control center.

[0010] Further, the second detection component includes: a three-axis driving part, which is installed in the second detection area; a support seat, which is arranged on the three-axis driving part, and the three-axis driving part controls the support seat to displace in multiple directions; a visual sensor C, which is installed on the support seat and detects the workpiece as the support seat moves, and the visual sensor C is communicatively connected with the control center; a visual sensor D, which is installed on the support seat and detects the workpiece as the support seat moves, and the visual sensor D is communicatively connected with the control center; a plurality of detection adjustment seats, which are distributed in the second detection area, and the detection adjustment seats are adjustable along a preset direction; a plurality of visual sensors E, which are correspondingly installed on the detection adjustment seats.

[0011] Further, the feeding component includes: a feeding part, which is arranged at the input port and is used to transport the workpieces to be detected; an industrial manipulator, which is installed in the first detection area, and the locking component is installed on the industrial manipulator, and the industrial manipulator is used to take out the workpiece from the feeding part and pass through the detection of the visual sensor A and the visual sensor B.

[0012] Further, the sorting device includes: a sorting guide rail fixedly arranged at the output port; a sorting sliding seat slidably arranged on the sorting guide rail, and the sorting sliding seat is communicatively connected with the control center; a sorting clamping claw mounted on the sorting sliding seat for clamping the workpiece that has completed the detection, and the sorting clamping claw is communicatively connected with the control center; a sorting conveyor belt having a plurality of output parts, and the control center drives the sorting clamping claw to sort the workpieces according to the detection results and output them from the corresponding output parts.

[0013] Further, the transfer assembly includes: a transfer frame arranged in the second detection area, and a plurality of the visual sensors E are distributed on both sides of the transfer frame; a plurality of transfer clamping members evenly spaced and distributed on the transfer frame, and the plurality of transfer clamping members are synchronously driven.

[0014] Further, it further includes: positioning seats distributed in the corresponding area of the transfer frame; a rotating tooling rotatably arranged on the positioning seats, and a fixing part is arranged on the rotating tooling for fixing the workpiece, and by rotating the rotating tooling, the detection angle of the workpiece is adjusted.

[0015] A method for using a polyhedron detection device includes the following steps:

[0016] Step S1: Uniformly transport the workpiece to be detected to the input port through the feeding part for loading.

[0017] Step S2: The industrial manipulator scans the code of the workpiece, grabs it from the input port and transports it to the first detection area for detection.

[0018] Step S3: After positioning the workpiece, take a photo and detect it through the visual sensor A.

[0019] Step S4: Perform 3D laser detection through the visual sensor B.

[0020] Step S5: The industrial manipulator transfers the workpiece that has completed Step S4 to the second detection area, and the three-axis driving part drives the visual sensors C and D to perform detection.

[0021] Step S6: The transfer clamping members synchronously move and place a plurality of workpieces along the transfer frame.

[0022] Step S7: The rotating tooling drives the workpiece to change the angle, and the visual sensor E detects the tooling on the fixing part from both sides.

[0023] Step S8: The sorting clamping claw receives the workpiece that has completed the detection from the transfer clamping member, and completes the sorting according to the detection results and outputs it from the sorting conveyor belt.

[0024] The present invention provides a polyhedron detection device and a usage method, and the beneficial effects are as follows:

[0025] Collect multiple groups of data through two detection areas, improve the problem of detection blind spots, and enhance the detection ability for polyhedrons;

[0026] Achieve continuous output of detection boxes through automatic loading and unloading, ensure the stability of data processing, and improve the efficiency of automatic detection and sorting. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0028] Figure 1 Structural schematic diagram of a polyhedron detection device provided by an embodiment of the present invention;

[0029] Figure 2 Internal structural schematic diagram of a polyhedron detection device provided by an embodiment of the present invention;

[0030] Figure 3 For Figure 2 Top view of the internal structure of a polyhedron detection device in

[0031] Figure 4 Installation structural schematic diagram of an industrial manipulator and a first detection component of a polyhedron detection device provided by an embodiment of the present invention;

[0032] Figure 5 Assembly structural schematic diagram of a three-axis driving member and a support seat of a polyhedron detection device provided by an embodiment of the present invention;

[0033] Figure 6 Assembly structure diagram of a transfer component and a second detection component of a polyhedron detection device provided by an embodiment of the present invention;

[0034] Figure 7 For Figure 6 Enlarged view at A1 in

[0035] Figure 8 For Figure 6 Enlarged view at B1 in

[0036] Figure 9 Structural schematic diagram of a sorting device of a polyhedron detection device provided by an embodiment of the present invention.

[0037] In the figure: 101 - frame; 102 - input port; 103 - output port; 104 - control center; 20 - loading component; 201 - feeding part; 202 - industrial manipulator; 30 - sorting device; 301 - sorting guide rail; 302 - sorting sliding seat; 303 - sorting clamping claw; 304 - sorting conveyor belt; 40 - transfer component; 401 - transfer rack; 402 - transfer clamping part; 50 - first detection component; 501 - locking component; 502 - detection window; 503 - vision sensor A; 504 - vision sensor B; 60 - second detection component; 601 - three-axis driving part; 602 - support base; 603 - vision sensor C; 604 - vision sensor D; 605 - multiple detection and adjustment seats; 606 - multiple vision sensors E; 607 - positioning seat; 608 - rotating tooling. Detailed implementation manners

[0038] The embodiments of the present application will be described in detail below with reference to the accompanying drawings.

[0039] In the description of the present application, it should be understood that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present application.

[0040] The terms "first" and "second" are only used for descriptive purposes, and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present application, unless otherwise specified, the meaning of "multiple" is two or more.

[0041] In the description of the present application, it should be noted that unless otherwise clearly specified and limited, the terms "installed", "connected" and "connected" should be understood in a broad sense. For example, it can be welding, bolt connection, or riveting; it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific situations.

[0042] Embodiment:

[0043] As Figures 1 to 9As shown, this embodiment provides a polyhedron detection device. The invention comprises: a frame 101, which is provided with an input port 102 and an output port 103, and a control center 104 is arranged on the frame 101; a feeding component 20, which is arranged at the input port 102, and the feeding component 20 is connected to the control center 104 in communication; a sorting device 30, which is arranged at the output port 103, and the sorting device 30 is connected to the control center 104 in communication; a transfer component 40, which is arranged in the frame 101, and the transfer component 40 is connected to the control center 104 in communication, and a first detection area and a second detection area are arranged on the transfer component 40; a first detection component 50, which is arranged in the first detection area, takes a photo to detect the workpiece in the first detection area, obtains a first set of data, and transmits the first set of data to the control center 104; a second detection component 60, which is arranged in the second detection area, takes a photo to detect the workpiece in the second detection area, obtains a second set of data, and transmits the second set of data to the control center 104, and the control center 104 compares the first set of data with the second set of data, and controls the sorting device 30 to select and output the workpiece according to the comparison result.

[0044] By setting up the feeding and sorting device 30 of the automation component, the two groups of detection data are compared and the detection results are comprehensively determined, thereby improving the accuracy of sorting. The first group of detection data includes 2D image information for conventional surface detection box information comparison, and 3D cloud point information and laser detection are used to detect complex surfaces and collect and analyze surface grid information, and mainly collect surface information at the bottom; the second group of detection data includes 2D image information, 3D cloud point information and laser detection information driven by a multi-axis drive structure, which is the same as the first group of data and is mainly used for detection of the upper surface; the second group of detection data is set up by setting up an array 2D acquisition system to collect the surrounding side information multiple times and analyze the information jointly. The detection process and automation of the second detection component 60 are realized through the transfer component 40, and then the two groups of detection data are comprehensively analyzed through the control center 104 to strengthen the screening of defective surfaces and improve the sorting accuracy of the final sorting device 30.

[0045] Furthermore, this embodiment also provides some other implementation contents, such as Figures 1 to 4 As shown, the first detection component 50 includes: a locking component 501, which is arranged in the first detection area, and a detection window 502 is opened at the bottom of the locking component 501, and the locking component 501 is used to fix the workpiece; a visual sensor A503, which is installed in the first detection area, and the visual sensor A503 detects the workpiece from the detection window 502, and the visual sensor A503 is communicated with the control center 104; a visual sensor B504, which is installed in the first detection area, and the visual sensor A503 detects the workpiece from the detection window 502, and the visual sensor B504 is communicated with the control center 104.

[0046] The workpiece is grasped and fixed by a locking mechanism, the projection structure of the lower half of the workpiece is detected, and through the vision sensor A503 and the vision sensor B504. The vision sensor A503 is specifically a planar image acquisition sensor, and is provided with an anti-distortion layout and assembly compensation. The vision sensor B504 is a line laser detection sensor provided with a three-axis mounting base for 3D data acquisition, and performs structure cloud point acquisition for surface analysis. Multimodal data fusion combines the texture information of the 2D image with the geometric information of the 3D point cloud to obtain the first set of detection data, improving the defect recognition ability.

[0047] Furthermore, this embodiment also provides some other implementation contents, such as Figures 4 to 8 As shown, the second detection component 60 includes: a three-axis drive member 601 installed in the second detection area; a support base 602 provided on the three-axis drive member 601, and the three-axis drive member 601 controls the support base 602 to displace in multiple directions; a vision sensor C603 installed on the support base 602 to detect the workpiece as the support base 602 moves, and the vision sensor C603 is communicatively connected to the control center 104; a vision sensor D604 installed on the support base 602 to detect the workpiece as the support base 602 moves, and the vision sensor D604 is communicatively connected to the control center 104; a plurality of detection adjustment seats 605 distributed in the second detection area, and the detection adjustment seats are adjustable along a preset direction; and a plurality of vision sensors E606 correspondingly installed on the detection adjustment seats.

[0048] In this embodiment, a three-axis drive member 601 is built to drive the switching between the vision sensor C603 and the vision sensor D604. The vision sensor C603 is a planar image acquisition sensor of the same model as the vision sensor A503, and the vision sensor D604 is a line laser detection sensor of the same model as the vision sensor B504, which is used to sample data in the upper surface projection area of the workpiece to obtain surface data information of the upper and lower two projection areas that form the first set of detection data. The detection adjustment seat includes a sliding guide rail and a micro-motion base. The sliding guide rail is used to adjust the distance between the vision sensor E and the workpiece for magnifying details after fine adjustment, and the micro-motion base is used to adjust the vertical height of the vision sensor E to adapt to workpieces of different heights for measurement. And the vision sensor E is a high-speed industrial camera. The two vision sensors E are relatively arranged on both sides of the transfer component 40 to detect and collect data on the surfaces in two projection directions at the same time, and multiple detections are performed through two groups of detection sensors to avoid data anomalies.

[0049] Furthermore, this embodiment also provides some other implementation contents, such as Figures 1 to 4As shown in the figure, the feeding component 20 includes: a feeding part 201, arranged at the input port 102, for transporting the workpiece to be detected; an industrial manipulator 202, installed in the first detection area, and a locking component 501 is installed on the industrial manipulator 202. The industrial manipulator 202 is used to take out the workpiece from the feeding part 201 and pass through the detection of the vision sensor A 503 and the vision sensor B 504.

[0050] In this embodiment, a Tray tray circular feeding mechanism is set up, which has an empty box buffer line, a feeding bin and a picking position, and combines a touch screen for communication processing to achieve the stability and continuity of feeding. The industrial manipulator 202 is a four-axis industrial robot, used to control the locking mechanism for workpiece transfer, and a barcode scanner is set to input the corresponding code of the workpiece.

[0051] Furthermore, this embodiment also provides some other implementation contents, such as Figure 9 As shown in the figure, the sorting device 30 includes: a sorting guide rail 301, fixedly arranged at the output port 103; a sorting sliding seat 302, slidably arranged on the sorting guide rail 301, and the sorting sliding seat 302 is communicatively connected with the control center 104; a sorting clamping claw 303, installed on the sorting sliding seat 302, for clamping the workpiece that has completed the detection, and the sorting clamping claw 303 is communicatively connected with the control center 104; a sorting conveyor belt 304, having a plurality of output parts, and the control center 104 drives the sorting clamping claw 303 to sort the workpiece according to the detection result and output it from the corresponding output part.

[0052] The sorting clamping claw 303 is clamped and fixed through a pneumatic structure, and the sorting output belt is a transmission track belt, and at least two output tracks are set, at least including an OK line and an NG line. It is used to sort the specific workpieces processed by the control center 104 in sequence.

[0053] Furthermore, this embodiment also provides some other implementation contents, such as Figure 6 As shown in the figure, the transfer component 40 includes: a transfer frame 401, arranged in the second detection area, and a plurality of vision sensors E 606 are distributed on both sides of the transfer frame 401; a plurality of transfer clamping parts 402, evenly spaced and distributed on the transfer frame 401, and the plurality of transfer clamping parts 402 are synchronously driven.

[0054] Furthermore, this embodiment also provides some other implementation contents, such as Figure 7 As shown in the figure, the device further includes: a positioning seat 607, distributed in the area corresponding to the transfer frame 401; a rotating tooling 608, rotatably arranged on the positioning seat 607, and a fixing part is arranged on the rotating tooling 608, and the fixing part is used to fix the workpiece, and rotate the rotating tooling 608 to adjust the detection angle of the workpiece.

[0055] The present invention also provides a method for using a polyhedron detection device, including the following steps:

[0056] Step S1, transporting the workpieces to be tested to the input port 102 for loading through the feeding part 201;

[0057] Step S2: the industrial robot 202 scans the code of the workpiece, grabs it from the input port 102 and transports it to the first inspection area for inspection;

[0058] Step S3: After positioning the workpiece, take a photo and detect it via the visual sensor A503;

[0059] Step S4, performing 3D laser detection via the visual sensor B504;

[0060] Step S5, the industrial robot 202 transfers the workpiece after completing step S4 to the second inspection area, and the three-axis driving member 601 drives the visual sensor C603 and the visual sensor D604 to perform inspection;

[0061] Step S6, the transport clamp 402 synchronously moves the multiple workpieces along the transport rack 401;

[0062] Step S7, the rotating tool 608 drives the workpiece to change its angle, and the visual sensor E detects the tool on the fixing part from both sides;

[0063] Step S8, the sorting clamping claw 303 receives the inspected workpiece from the transfer clamping member 402, completes the sorting based on the inspection result, and outputs it from the sorting conveyor belt 304.

[0064] In summary, in the process of using a polyhedron detection device and a method of use, a transfer component 40 having a first detection area and a second detection area is set, a locking component 501 is used to fix the workpiece in the first detection area, and a multi-modal data fusion acquisition of 2D image texture information and 3D point cloud geometric information is performed in combination with a visual sensor A503 and a visual sensor B504, so as to realize multi-dimensional detection of the projection surface of the lower half of the workpiece; in the second detection area, a three-axis driving member 601 drives the visual sensors C603 and D to perform multi-dimensional detection of the projection surface of the upper surface of the workpiece, and an adjustable detection adjustment seat and visual sensors E (high-speed industrial cameras) on both sides are used to perform multiple acquisitions and joint analysis of peripheral information, and at the same time, the workpiece detection angle is adjusted with the help of a rotating tooling 608, so as to realize multi-angle and multi-directional data acquisition of complex surfaces, and effectively reduce the acquisition blind area; with the assistance of an automatic loading component 20, a transfer component 40 and a sorting device 30, combined with a comprehensive comparison and analysis of the two sets of detection data by the control center 104, efficient and continuous detection of the complex surfaces of polyhedron parts and high-precision sorting output are realized.

[0065] As described above, it is only the specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope recorded in the present invention can easily think of changes or substitutions, which should all be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims described above.

Claims

1. A polyhedron detection device, characterized in that: include: A frame (101) is provided with an input port (102) and an output port (103); a control center (104) is arranged on the frame (101); A loading component (20) is arranged at the input port (102), and the loading component (20) is communicatively connected to the control center (104); A sorting device (30) is arranged at the output port (103), and the sorting device (30) is communicatively connected to the control center (104); A transfer assembly (40) is arranged in the frame (101), the transfer assembly (40) is communicatively connected with the control center (104), and a first detection area and a second detection area are arranged on the transfer assembly (40); The detection component is specifically divided into a first detection component (50) and a second detection component (60), which detects the workpieces in the first detection area and the second detection area, and transmits multiple sets of data to the control center (104). The control center (104) compares the multiple sets of data and controls the sorting device (30) to sort and output the workpieces according to the comparison results.

2. A polyhedron detection device according to claim 1, characterized in that: The first detection component (50) comprises: A locking component (501) is arranged in the first detection area, a detection window (502) is provided at the bottom of the locking component (501), and the locking component (501) is used to fix a workpiece; A visual sensor A (503) is installed in the first detection area, the visual sensor A (503) detects the workpiece from the detection window (502), and the visual sensor A (503) is communicatively connected to the control center (104); The visual sensor B (504) is installed in the first detection area, the visual sensor A (503) detects the workpiece from the detection window (502), and the visual sensor B (504) is communicatively connected to the control center (104).

3. A polyhedron detection device according to claim 2, characterized in that: The second detection component (60) comprises: A three-axis driving member (601) is installed in the second detection area; A support seat (602) is arranged on the three-axis driving member (601), and the three-axis driving member (601) controls the support seat (602) to move in multiple directions; A visual sensor C (603) is mounted on the support base (602) and detects the workpiece as the support base (602) moves. The visual sensor C (603) is communicatively connected to the control center (104); a visual sensor D (604), mounted on the support base (602), for detecting the workpiece as the support base (602) moves, the visual sensor D (604) being communicatively connected to the control center (104); A plurality of detection adjustment seats (605) are distributed in the second detection area, and the detection adjustment seats are adjustable along a preset direction; A plurality of visual sensors E (606) are correspondingly mounted on the detection and adjustment seat.

4. A polyhedron detection device according to claim 3, characterized in that: The feeding assembly (20) comprises: A feeding member (201), arranged at the input port (102), and used for transporting a workpiece to be inspected; An industrial robot (202) is installed in the first detection area, and the locking assembly (501) is installed on the industrial robot (202). The industrial robot (202) is used to take a workpiece out of the feeding piece (201) and pass the detection of the visual sensor A (503) and the visual sensor B (504).

5. A polyhedron detection device according to claim 4, characterized in that: The sorting device (30) comprises: A sorting guide rail (301) fixedly arranged at the output port (103); A sorting slide (302) is slidably arranged on the sorting guide rail (301), and the sorting slide (302) is communicatively connected with the control center (104); A sorting clamping claw (303) is installed on the sorting slide (302) and is used to clamp the workpiece that has been inspected. The sorting clamping claw (303) is communicatively connected to the control center (104); The sorting conveyor belt (304) has a plurality of output parts, and the control center (104) drives the sorting clamping claw (303) to sort the workpieces according to the detection results and output them from the corresponding output parts.

6. A polyhedron detection device according to claim 5, characterized in that: The transport component (40) comprises: A transfer rack (401) is arranged in the second detection area, and a plurality of visual sensors E are distributed on both sides of the transfer rack (401); A plurality of transport clamps (402) are evenly spaced and distributed on the transport frame (401), and the plurality of transport clamps (402) are synchronously driven.

7. A polyhedron detection device according to claim 6, characterized in that: Also includes: Positioning seats (607) are distributed in areas corresponding to the transfer rack (401); The rotating tool (608) is rotatably arranged on the positioning seat (607); a fixing portion is arranged on the rotating tool (608); the fixing portion is used to fix the workpiece; the rotating tool (608) is rotated to adjust the detection angle of the workpiece.

8. A method for using a polyhedron detection device, characterized in that: The polyhedron detection device according to claim 7 is characterized in that it comprises the following steps: Step S1, transporting the workpieces to be tested to the input port (102) for loading by the feeding member (201); Step S2: the industrial robot (202) scans the code of the workpiece, grabs it from the input port (102), and transports it to the first inspection area for inspection; Step S3, after positioning the workpiece, take a photo and detect it via the visual sensor A (503); Step S4, performing 3D laser detection via the visual sensor B (504); Step S5, the industrial robot (202) transfers the workpiece that has completed step S4 to a second inspection area, and the three-axis driving member (601) drives the visual sensor C (603) and the visual sensor D (604) to perform inspection; Step S6, the transport clamp (402) synchronously moves the multiple workpieces along the transport rack (401); Step S7, the rotating tool (608) drives the workpiece to change its angle, and the visual sensor E detects the tool on the fixed part from both sides; Step S8: The sorting clamping claw (303) receives the inspected workpiece from the transport clamping member (402), completes the sorting based on the inspection result, and outputs the workpiece from the sorting conveyor belt (304).

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