Intelligent ball mounting, ball taking and ball lacking detection device and detection system thereof

Abstract

The invention discloses an intelligent ball mounting, taking and missing detection device, and relates to the technical field of ball mounting detection, the intelligent ball mounting, taking and missing detection device comprises a workbench, an industrial camera, a bearing mechanism and a cleaning mechanism, the top end of the workbench is fixedly connected with a machine base, a groove is formed in the top end of the workbench, a lamp panel is arranged in the groove, and the industrial camera is fixedly mounted at the bottom end of the inner wall of the machine base; the bearing mechanism is arranged on the workbench, and the cleaning mechanism is arranged in the machine base. The arrangement mode that the bearing mechanism and the cleaning mechanism are matched is utilized, feeding and detection of chips can be achieved through the bearing mechanism, meanwhile, a lamp panel and an industrial camera can be cleaned, the working efficiency of the ball mounting detection device is improved, the detection error caused by reduction of the light intensity is reduced, and the detection accuracy is improved. The service life of the lamp panel is greatly prolonged, meanwhile, the industrial camera is cleaned, image information can be captured more clearly, and the reliability and stability of the whole ball mounting detection process are further improved.

Description

Technical Field

[0001] The present invention relates to the technical field of ball planting detection, and in particular to an intelligent ball planting, ball taking and ball missing detection device and a detection system thereof. Background Art

[0002] Ball grid array packaging technology is the best choice for high-density, high-performance, multi-pin packaging such as CPUs, motherboard south and north bridge chips. The ball planting detection is carried out by irradiating the ball planting board with light emitted by the light board mechanism at the bottom of the detection device. When a ball is missing from the ball planting board, the ball planting board can be photographed by an industrial camera and detected by the system to achieve the detection of the ball planting. However, the LED light board on the light board mechanism of the existing ball planting and ball missing detection device and the lens of the industrial camera are easily adhered to some impurities, which will reduce the intensity of the light emitted by the LED light board and affect the shooting quality of the industrial camera, resulting in a decrease in the quality of ball planting detection, which is relatively inconvenient. Summary of the Invention

[0003] The purpose of the present invention is to provide an intelligent ball planting, ball retrieval and ball missing detection device and its detection system to solve the problems raised in the above background technology.

[0004] To achieve the above objectives, the present invention provides the following technical solutions: an intelligent device for detecting missing balls during ball placement and retrieval, comprising: A workbench, the top of which is fixedly connected to the base, the top of which is provided with a groove, and a light board is provided inside the groove; An industrial camera, wherein the industrial camera is fixedly mounted on the bottom end of the inner wall of the base; A carrying mechanism, which is arranged on a workbench and is used for carrying materials and cleaning the light board; The cleaning mechanism is arranged inside the base and is used for cleaning the industrial camera.

[0005] Preferably, the carrying mechanism includes: A carrying plate, the carrying plate being rotatably disposed on the top of the workbench; A bearing plate, wherein bearing grooves are equidistantly formed on the bearing plate, and the bearing plate is slidably connected with the inner cavity of the bearing groove; A lifting and cleaning component is provided inside the carrier plate and is used to clean the light panel and control the lifting and lowering of the carrier plate; A driving assembly, which is disposed inside the workbench and is used to drive the carrier plate to rotate; The counting component is arranged between the carrier plate and the base and is used for counting the detection amount.

[0006] Preferably, the lifting and cleaning assembly includes: A fixing plate, the fixing plate being fixedly connected to the interior of the machine base at equal intervals; A limiting plate, the limiting plate is fixedly connected to the bottom end of the fixed plate, and an annular groove for sliding with the limiting plate is equidistantly formed on the top end of the carrying plate; A cleaning plate, wherein the bottom end of the carrier plate is provided with cleaning grooves communicating with the carrier groove at equal intervals, and the cleaning plate is slidably connected with the inner cavity of the cleaning groove; A synchronization plate, the synchronization plate being fixedly connected between the cleaning plates; An extrusion rod, wherein the bottom end of the inner wall of the annular groove is symmetrically provided with an extrusion groove, the extrusion rod is slidably arranged inside the extrusion groove, the bottom end of the extrusion rod is fixedly connected to the synchronization plate, and the cross section of the extrusion rod is T-shaped; a first compression spring, wherein the first compression spring is sleeved on the outside of the extrusion rod; A connecting rod is fixedly connected to the top of the synchronization plate, the bearing plate is connected to the connecting rod, and a mounting hole is opened on the top of the connecting rod.

[0007] Preferably, one end of the first compression spring is fixedly connected to the extrusion rod, and the other end of the first compression spring is fixedly connected to the bottom end of the inner wall of the extrusion groove.

[0008] Preferably, a connecting groove is symmetrically provided at the bottom end of the supporting plate, the top end of the connecting rod is slidably inserted and connected with the inner cavity of the connecting groove, the top end of the supporting plate is provided with a countersunk hole communicating with the connecting groove, the inner cavity of the countersunk hole is slidably inserted and connected with a bolt, and the bolt passes through the countersunk hole and is threadedly inserted and connected with the inner cavity of the mounting hole.

[0009] Preferably, the drive assembly includes: A rotating rod, the rotating rod is fixedly connected to the carrier plate, a driving groove is formed on the outer wall of the workbench, and the end of the rotating rod is rotatably connected to the inner wall of the driving groove; A motor, wherein the motor is fixedly installed inside the driving slot; a first gear, the first gear being fixedly interlaced with the rotating rod; A second gear, the output end of the motor is transmission-connected to the second gear, and the first gear is meshed with the second gear; The eccentric wheel is fixedly connected with the rotating rod through insertion, and the eccentric wheel cooperates with the cleaning mechanism.

[0010] Preferably, the counting component comprises: Extrusion blocks, the extrusion blocks are fixedly connected to the outer wall of the carrying plate at equal intervals; A counting button, the counting button is fixedly mounted on the inner wall of the base, and the extrusion block is used to squeeze the counting button; A control panel is fixedly mounted on the outer wall of the base and is used to display the number of times the button is pressed.

[0011] Preferably, the cleaning mechanism comprises: A slide rod, wherein a slide groove is provided at the top end of the inner wall of the base, and the end of the slide rod is fixedly connected to the inner wall of the slide groove; A slide plate, wherein the slide plate is slidably interlaced with the slide rod; A connecting plate, the connecting plate being fixedly connected to the bottom end of the slide, the connecting plate being provided with a display slot for shooting, the eccentric wheel and the connecting plate being coordinated with each other; A sponge, wherein a mounting groove is provided on the top of the connecting plate, and the sponge is fixedly mounted inside the mounting groove and is used to clean the lens of an industrial camera; A second compression spring is sleeved on the outside of the sliding rod.

[0012] Preferably, one end of the second compression spring is fixedly connected to the slide plate, and the other end of the second compression spring is fixedly connected to the inner wall of the slide groove.

[0013] The present invention also provides an intelligent ball planting, ball retrieval and ball missing detection system, comprising: The carrying module is used to carry materials and transport them to the interior of the machine base; The lighting module uses a light panel to illuminate the materials transported from the carrier module from the bottom; An image acquisition module uses an industrial camera to capture images of the material illuminated by the lighting module; The judgment processing module analyzes the image sent by the image acquisition module and determines whether it is qualified; Self-cleaning module, used to clean the light board and industrial camera while the carrier module is transporting materials; The counting module is used to count the number of materials transported and detected by the carrier module.

[0014] Preferably, the judgment processing module includes: The image preprocessing submodule performs preliminary processing on the original images collected by the industrial camera; Feature extraction submodule, extracts key features related to ball planting from the preprocessed image; The defect judgment submodule judges the ball implantation based on the extracted features and the preset qualification standards; The data storage and management submodule is responsible for storing various data generated during the detection process; The communication and interface submodule is used to determine the communication and data interaction between the processing module and other devices or systems.

[0015] The technical effects and advantages of the present invention are as follows: (1) The present invention utilizes a supporting mechanism and a cleaning mechanism in a coordinated arrangement. The supporting mechanism can realize the feeding and detection of chips, and can clean the light board and the industrial camera at the same time, thereby improving the working efficiency of the ball planting detection device, reducing the detection error caused by the reduction of light intensity, and greatly extending the service life of the light board. At the same time, the industrial camera is cleaned, making the working environment cleaner and able to capture image information more clearly, further improving the reliability and stability of the entire ball planting detection process, and facilitating use; (2) The present invention utilizes a coordinated arrangement of a carrier tray, a carrier board, a lifting and cleaning component, a driving component, and a counting component to form an efficient, stable, and intelligent ball planting detection system. The driving component enables the carrier tray to accurately complete the chip feeding and detection tasks, and the automatic cleaning function of the lifting and cleaning component can also ensure the cleanliness of the lamp board, providing a reliable technical guarantee for the ball planting detection link in the chip manufacturing process. The counting component helps the staff to accurately grasp the detection quantity of the chip, avoid the occurrence of missed or excessive detection, and greatly improve the efficiency and accuracy of the entire ball planting detection work. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0017] Figure 2 It is a schematic diagram of the overall side internal structure of the present invention.

[0018] Figure 3 It is a schematic diagram of the internal structure of the side of the carrier plate of the present invention.

[0019] Figure 4 For the present invention Figure 3 Enlarged structural diagram at point A in the middle.

[0020] Figure 5 For the present invention Figure 3 Enlarged structural diagram at point B in the middle.

[0021] Figure 6 It is a schematic diagram of the limiting plate structure of the present invention.

[0022] Figure 7 For the present invention Figure 1 Enlarged structural diagram at point C in the middle.

[0023] Figure 8 It is a schematic diagram of the side structure of the drive assembly of the present invention.

[0024] Figure 9 This is a schematic diagram of the internal structure of the cleaning mechanism of the present invention.

[0025] Figure 10 This is a block diagram of the intelligent ball planting, ball retrieval and ball missing detection system of the present invention.

[0026] Figure 11 This is a block diagram of the judgment processing module of the present invention.

[0027] Figure: 1, workbench; 2, machine base; 3, light board; 4, industrial camera; 5, carrying mechanism; 51, carrying plate; 52, carrying plate; 53, lifting and cleaning assembly; 531, fixing plate; 532, limiting plate; 533, cleaning plate; 534, synchronization plate; 535, extrusion rod; 536, first compression spring; 537, connecting rod; 54, driving assembly; 541, rotating rod; 542, motor; 543, first gear; 544, second gear; 5 45. Eccentric wheel; 55. Counting assembly; 551. Extrusion block; 552. Counting button; 553. Control panel; 6. Cleaning mechanism; 61. Slide rod; 62. Slide plate; 63. Connecting plate; 64. Sponge; 65. Second compression spring; 7. Bolt; 8. Judgment and processing module; 81. Image preprocessing submodule; 82. Feature extraction submodule; 83. Defect judgment submodule; 84. Data storage and management submodule; 85. Communication and interface submodule. DETAILED DESCRIPTION

[0028] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0029] The present invention provides Figure 1-9 The intelligent ball planting, ball taking and missing ball detection device shown in the figure includes a workbench 1, an industrial camera 4, a carrying mechanism 5 and a cleaning mechanism 6. The top of the workbench 1 is fixedly connected to the machine base 2. A groove is opened at the top of the workbench 1, and a light board 3 is arranged inside the groove; the industrial camera 4 is fixedly installed on the bottom end of the inner wall of the machine base 2; the carrying mechanism 5 is arranged on the workbench 1, for carrying materials and cleaning the light board 3; the cleaning mechanism 6 is arranged inside the machine base 2, for cleaning the industrial camera 4. The carrying mechanism 5 can be used to realize the feeding and detection of chips, and the light board 3 and the industrial camera 4 can be cleaned at the same time, thereby improving the working efficiency of the ball planting detection device, reducing the detection error caused by the reduction of light intensity, and greatly extending the service life of the light board 3. At the same time, cleaning the industrial camera 4 makes the working environment cleaner and can capture image information more clearly, further improving the reliability and stability of the entire ball planting detection process, and facilitating use.

[0030] Specifically, the carrying mechanism 5 includes a carrying disc 51, a carrying plate 52, a lifting and cleaning component 53, a driving component 54 and a counting component 55. The carrying disc 51 is rotatably arranged at the top of the workbench 1; the carrying plate 52 is provided with carrying grooves at equal intervals, and the carrying plate 52 is slidably and interlaced with the inner cavity of the carrying groove; the lifting and cleaning component 53 is arranged inside the carrying disc 51, for cleaning the lamp board 3 and controlling the lifting and lowering of the carrying plate 52; the driving component 54 is arranged inside the workbench 1, for driving the carrying disc 51 to rotate; the counting component 55 is arranged between the carrying disc 51 and the machine base 2, for counting the detection amount, and the driving component 54 enables the carrying disc 51 to accurately complete the chip feeding and detection tasks, and the automatic cleaning function of the lifting and cleaning component 53 can also ensure the cleanliness of the lamp board 3, which provides reliable technical support for the ball planting detection link in the chip manufacturing process. The counting component 55 helps the staff to accurately grasp the detection amount of the chip, avoid the occurrence of missed detection or excessive detection, and greatly improves the efficiency and accuracy of the entire ball planting detection work.

[0031] Furthermore, the lifting and cleaning assembly 53 includes a fixed plate 531, a limiting plate 532, a cleaning plate 533, a synchronous plate 534, an extrusion rod 535, a first compression spring 536 and a connecting rod 537. The fixed plate 531 is fixedly connected to the inside of the machine base 2 at equal intervals; the limiting plate 532 is fixedly connected to the bottom end of the fixed plate 531, and the top end of the carrier plate 51 is equidistantly provided with an annular groove that slides with the limiting plate 532. The shape of the limiting plate 532 is as follows: Figure 6As shown, the inclined surfaces at both ends thereof facilitate guiding the extrusion rod 535 to rise and fall; the bottom end of the carrying plate 51 is equidistantly provided with cleaning grooves communicating with the carrying grooves, and the cleaning plate 533 is slidably and interlaced with the inner cavity of the cleaning groove; the synchronous plate 534 is fixedly connected between the cleaning plates 533; the bottom end of the inner wall of the annular groove is symmetrically provided with extrusion grooves, and the extrusion rod 535 is slidably arranged inside the extrusion groove, and the bottom end of the extrusion rod 535 is fixedly connected to the synchronous plate 534, and the cross-section of the extrusion rod 535 is T-shaped; the first compression spring 536 is sleeved on the outside of the extrusion rod 535, one end of the first compression spring 536 is fixedly connected to the extrusion rod 535, and the other end of the first compression spring 536 is fixedly connected to the bottom end of the inner wall of the extrusion groove. Under the elastic force of the first compression spring 536 , which enables the extrusion rod 535 to extend into the inside of the annular groove, and when encountering the limit plate 532, it can drop down under the extrusion of the inclined surface of the limit plate 532. At this time, the chip to be detected is closer to the lamp board 3, which is convenient for the photo detection of the industrial camera 4. At the same time, after the extrusion rod 535 drops down, it can drive the cleaning plate 533 to drop down, so that when the supporting plate 51 rotates, it passes through the lamp board 3, thereby cleaning the impurities and dust on the outer wall of the lamp board 3, ensuring the stability of the light source and making the detection effect more stable; the connecting rod 537 is fixedly connected to the top of the synchronization plate 534, and the supporting plate 52 is connected to the connecting rod 537. A mounting hole is provided at the top of the connecting rod 537, and the connecting rod 537 can drive the supporting plate 52 to move back and forth in the vertical direction.

[0032] Furthermore, the bottom end of the carrier plate 52 is symmetrically provided with connecting grooves, the top end of the connecting rod 537 is slidably inserted and connected with the inner cavity of the connecting groove, the top end of the carrier plate 52 is provided with a countersunk hole communicating with the connecting groove, the inner cavity of the countersunk hole is slidably inserted and connected with a bolt 7, the bolt 7 passes through the countersunk hole and is threadedly inserted and connected with the inner cavity of the mounting hole, and is connected to the connecting rod 537 through the bolt 7. The carrier plate 52 with different bearing grooves can be replaced, so that chips of different specifications can be detected, which improves the versatility and flexibility of the detection device and can meet diverse production needs.

[0033] Furthermore, the driving assembly 54 includes a rotating rod 541, a motor 542, a first gear 543, a second gear 544 and an eccentric wheel 545. The rotating rod 541 is fixedly connected to the carrier plate 51 through insertion. A driving groove is provided on the outer wall of the workbench 1. The end of the rotating rod 541 is rotatably connected to the inner wall of the driving groove through insertion. The motor 542 is fixedly installed inside the driving groove. The motor 542 is electrically connected to the external power supply through an external switch. The first gear 543 is fixedly connected to the rotating rod 541 through insertion. The motor The output end of 542 is connected to the second gear 544 in a transmission manner, and the first gear 543 is meshed with the second gear 544; the eccentric wheel 545 is fixedly inserted into the rotating rod 541, and the eccentric wheel 545 cooperates with the cleaning mechanism 6. The motor 542 is electrically connected to the external power supply through an external switch, and the second gear 544 is driven to rotate by the motor 542, which can make the first gear 543 drive the supporting plate 51 on the rotating rod 541 to rotate, and can also drive the eccentric wheel 545 to rotate.

[0034] Furthermore, the counting assembly 55 includes an extrusion block 551, a counting button 552 and a control panel 553. The extrusion block 551 is fixedly connected to the outer wall of the carrier plate 51 at equal distances; the counting button 552 is fixedly mounted on the inner wall of the base 2, and the extrusion block 551 is used to squeeze the counting button 552; the control panel 553 is fixedly mounted on the outer wall of the base 2, and is used to display the number of times the button is pressed. The cross section of the extrusion block 551 is as shown in FIG. Figure 7 As shown, the counting button 552 can be pressed while the carrier plate 51 is rotating. Each time the counting button 552 is pressed, it will send a signal to the control panel 533. After receiving the signal, the control system will process the signal and accumulate the number of times, and then transmit the real-time counting result to the display screen on the control panel 553 for display.

[0035] Specifically, the cleaning mechanism 6 includes a slide bar 61, a slide plate 62, a connecting plate 63, a sponge 64 and a second compression spring 65. A slide groove is provided at the top of the inner wall of the base 2, and the end of the slide bar 61 is fixedly connected to the inner wall of the slide groove; the slide plate 62 is slidably connected to the slide bar 61; the connecting plate 63 is fixedly connected to the bottom end of the slide bar 62, and a display slot for shooting is provided on the connecting plate 63, and the eccentric wheel 545 cooperates with the connecting plate 63; a mounting slot is provided at the top of the connecting plate 63, and the sponge 64 is fixedly installed inside the mounting slot for cleaning the lens of the industrial camera 4; the second compression spring 65 is sleeved on the slide bar 61 Externally, one end of the second compression spring 65 is fixedly connected to the slide plate 62, and the other end of the second compression spring 65 is fixedly connected to the inner wall of the slide groove. The second compression spring 65 is always in a compressed state, so that the slide plate 62 can provide a stable elastic force to the connecting plate 63, so that the connecting plate 63 can be close to the eccentric wheel 545, so that the eccentric wheel 545 can drive the connecting plate 63 to move back and forth in the horizontal direction when rotating, so that the industrial camera 4 can be cleaned during each rotation, and the display slot of the connecting plate 63 is convenient for each feeding without affecting the normal shooting of the industrial camera 4, which is easy to use.

[0036] The present invention also provides Figure 10-11 An intelligent ball planting, ball retrieval and ball missing detection system is shown, comprising: The carrying module is used to carry materials and transport them to the interior of the machine base 2. The carrying module consists of a carrying disc 51, a liftable carrying plate 52, and a drive assembly 54. The drive assembly 54 drives the carrying disc 51 to rotate 180 degrees each time, so that the two carrying plates 52 can be continuously replaced. This facilitates the simultaneous unloading of tested chips while testing the materials, and places new chips to be tested inside the carrying plate 52 to facilitate testing the next time they are replaced. The lighting module uses the light board 3 to illuminate the materials transported from the carrier module from the bottom. The lighting module is composed of the light board 3; An image acquisition module, which uses an industrial camera 4 to acquire images of the material illuminated by the lighting module; Judgment processing module 8: analyzes the image sent by the image acquisition module and determines whether it is qualified; A self-cleaning module, used to clean the light board 3 and the industrial camera 4 while the carrier module is transporting materials. The self-cleaning module consists of a liftable cleaning plate 533 and a cleaning mechanism 6; A counting module is used to count the number of materials transported and inspected by the carrier module. The counting module is composed of a counting component 55; The judgment processing module 8 includes: The image preprocessing submodule 81 performs preliminary processing on the original image captured by the industrial camera 4 to improve the clarity and quality of the image and provide a better basis for subsequent feature extraction and analysis; The feature extraction submodule 82 extracts key features related to the ball implant from the preprocessed image, such as the location, size, and shape of the ball implant. Edge detection algorithms can be used to determine the outline of the ball implant and then calculate its size and shape. Template matching or machine learning-based methods can be used to accurately identify the location of the ball implant. These features will serve as an important basis for determining whether the ball implant is qualified. Defect judgment submodule 83 judges the implanted balls based on the extracted features and preset acceptance criteria, determining whether the size of the implanted balls is within the specified tolerance range, whether the implanted ball positions meet the design requirements, and whether there are missing balls or extra balls. It can use techniques such as threshold comparison and classification algorithms to classify the test results into qualified and unqualified categories. The data storage and management submodule 84 is responsible for storing various data generated during the inspection process, including original images, extracted feature data, inspection results, etc. This data can be used for subsequent quality traceability, statistical analysis, and process optimization. At the same time, this module can also effectively manage the stored data, such as data classification, indexing, and backup, to facilitate rapid retrieval and use of data; The communication and interface submodule 85 implements communication and data exchange between the judgment processing module 8 and other devices or systems, and transmits the detection results to the control system of the production line so that unqualified products can be processed accordingly, such as being eliminated or marked. It can also communicate with the host computer and upload the detection data to the management system for centralized management and analysis. This module can also support multiple communication protocols, such as Ethernet and serial communication. Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to replace some of the technical features therein with equivalents. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. An intelligent device for detecting missing balls during ball placement and retrieval, characterized in that: include: A workbench (1), the top of the workbench (1) is fixedly connected to a base (2), and a groove is provided on the top of the workbench (1), and a light board (3) is provided inside the groove; An industrial camera (4), wherein the industrial camera (4) is fixedly mounted on the bottom end of the inner wall of the machine base (2); A carrying mechanism (5), the carrying mechanism (5) being arranged on the workbench (1) and used for carrying materials and cleaning the light panel (3); A cleaning mechanism (6) is provided inside the machine base (2) and is used for cleaning the industrial camera (4).

2. The intelligent ball planting, ball taking and missing ball detection device according to claim 1 is characterized in that: The carrying mechanism (5) comprises: A carrier plate (51), the carrier plate (51) being rotatably disposed on the top of the workbench (1); A bearing plate (52), wherein bearing grooves are formed on the bearing plate (52) at equal intervals, and the bearing plate (52) is slidably connected with the inner cavity of the bearing groove; A lifting and cleaning component (53), the lifting and cleaning component (53) is arranged inside the carrier plate (51) and is used to clean the lamp board (3) and control the lifting of the carrier plate (52); A driving assembly (54), the driving assembly (54) being arranged inside the workbench (1) and being used to drive the carrier plate (51) to rotate; A counting component (55) is provided between the carrier plate (51) and the machine base (2) and is used for counting the detection amount.

3. The intelligent ball planting, ball taking and missing ball detection device according to claim 2, characterized in that: The lifting and cleaning component (53) comprises: A fixed plate (531), the fixed plate (531) being fixedly connected to the interior of the machine base (2) at equal intervals; A limiting plate (532), the limiting plate (532) being fixedly connected to the bottom end of the fixing plate (531), and an annular groove for sliding with the limiting plate (532) being equidistantly formed on the top end of the carrying plate (51); A cleaning plate (533), wherein the bottom end of the carrier plate (51) is provided with cleaning grooves communicating with the carrier grooves at equal intervals, and the cleaning plate (533) is slidably connected with the inner cavity of the cleaning grooves; A synchronization plate (534), wherein the synchronization plate (534) is fixedly connected between the cleaning plates (533); An extrusion rod (535), wherein the bottom end of the inner wall of the annular groove is symmetrically provided with an extrusion groove, the extrusion rod (535) is slidably arranged inside the extrusion groove, the bottom end of the extrusion rod (535) is fixedly connected to the synchronization plate (534), and the cross section of the extrusion rod (535) is T-shaped; a first compression spring (536), the first compression spring (536) being sleeved on the outside of the extrusion rod (535); A connecting rod (537) is fixedly connected to the top of the synchronization plate (534), the bearing plate (52) is connected to the connecting rod (537), and a mounting hole is provided at the top of the connecting rod (537).

4. The intelligent ball planting, ball taking and missing ball detection device according to claim 3 is characterized in that: One end of the first compression spring (536) is fixedly connected to the extrusion rod (535), and the other end of the first compression spring (536) is fixedly connected to the bottom end of the inner wall of the extrusion groove.

5. The intelligent ball planting, ball taking and missing ball detection device according to claim 3 is characterized in that: The bottom end of the supporting plate (52) is symmetrically provided with a connecting groove, the top end of the connecting rod (537) is slidably inserted and connected with the inner cavity of the connecting groove, the top end of the supporting plate (52) is provided with a countersunk hole communicating with the connecting groove, the inner cavity of the countersunk hole is slidably inserted and connected with a bolt (7), and the bolt (7) passes through the countersunk hole and is threadedly inserted and connected with the inner cavity of the mounting hole.

6. The intelligent device for detecting missing balls during ball planting and retrieval according to claim 2, characterized in that: The drive assembly (54) comprises: A rotating rod (541), the rotating rod (541) is fixedly connected to the carrier plate (51), a driving groove is provided on the outer wall of the workbench (1), and the end of the rotating rod (541) is connected to the inner wall of the driving groove in a rotating and interlaced manner; a motor (542), the motor (542) being fixedly mounted inside the drive slot; A first gear (543), the first gear (543) is fixedly connected to the rotating rod (541); A second gear (544), the output end of the motor (542) is in transmission connection with the second gear (544), and the first gear (543) is meshingly connected with the second gear (544); An eccentric wheel (545) is fixedly connected to the rotating rod (541) through insertion, and the eccentric wheel (545) cooperates with the cleaning mechanism (6).

7. The intelligent device for detecting missing balls during ball planting and retrieval according to claim 2, characterized in that: The counting component (55) comprises: An extrusion block (551), the extrusion block (551) being fixedly connected to the outer wall of the carrier plate (51) at equal intervals; A counting button (552), the counting button (552) is fixedly mounted on the inner wall of the machine base (2), and the squeezing block (551) is used to squeeze the counting button (552); A control panel (553) is fixedly mounted on the outer wall of the machine base (2) and is used to display the number of times a button is pressed.

8. The intelligent device for detecting missing balls during ball planting and retrieval according to claim 6, characterized in that: The cleaning mechanism (6) comprises: A slide rod (61), wherein a slide groove is provided at the top end of the inner wall of the machine base (2), and the end of the slide rod (61) is fixedly connected to the inner wall of the slide groove; A slide plate (62), wherein the slide plate (62) is slidably interlaced with the slide rod (61); A connecting plate (63), the connecting plate (63) being fixedly connected to the bottom end of the slide plate (62), the connecting plate (63) being provided with a display slot for shooting, the eccentric wheel (545) and the connecting plate (63) being in cooperation with each other; A sponge (64), wherein a mounting groove is provided at the top of the connecting plate (63), and the sponge (64) is fixedly mounted inside the mounting groove and is used for cleaning the lens of the industrial camera (4); A second compression spring (65) is sleeved on the outside of the slide rod (61), one end of the second compression spring (65) is fixedly connected to the slide plate (62), and the other end of the second compression spring (65) is fixedly connected to the inner wall of the slide groove.

9. An intelligent ball placement and retrieval missing detection system, suitable for an intelligent ball placement and retrieval missing detection device according to any one of claims 1 to 8, characterized in that: include: A carrying module, used for carrying materials and conveying them to the interior of the machine base (2); The lighting module uses a light panel (3) to illuminate the material transported from the carrier module from the bottom; An image acquisition module, which uses an industrial camera (4) to acquire an image of the material illuminated by the lighting module; A judgment processing module (8) analyzes the image transmitted by the image acquisition module and determines whether it is qualified; A self-cleaning module for cleaning the light board (3) and the industrial camera (4) while the carrier module is conveying materials; The counting module is used to count the number of materials transported and detected by the carrier module.

10. The intelligent ball planting, ball retrieval and ball missing detection system according to claim 9, characterized in that: The judgment processing module (8) includes: An image preprocessing submodule (81) performs preliminary processing on the original image captured by the industrial camera (4); A feature extraction submodule (82) extracts key features related to ball planting from the preprocessed image; The defect judgment submodule (83) judges the implanted ball according to the extracted features and the preset qualified standards; The data storage and management submodule (84) is responsible for storing various data generated during the detection process; The communication and interface submodule (85) is used for determining the communication and data interaction between the processing module and other devices or systems.

Images