Magnetic core surface crack detection device

Abstract

The application belongs to the technical field of visual detection, and particularly relates to a device for detecting surface cracks of a magnetic core, which comprises a rack, a feeding machine, a multidirectional detection table, a size detection table and a grading and placing machine, the multidirectional detection table is provided with detection units and a plurality of mechanical arms; further comprising a plurality of bearing tables which are fixedly arranged between the detection units, and the bearing table comprises a mounting table and a table top; after a workpiece is placed on the bearing seat of the bearing table, the pressure sensor triggers the cylinder to drive the table top to move downward, at this time, the connecting rod of the push-pull seat is transmitted between the mounting table and the L-shaped plate, so that the L-shaped plate slides along the trapezoidal guide block to the center of the bearing seat, and the embedded rod of the lifting positioning plate slides along the V-shaped groove to drive the cross plate to first rise and then fall, the workpiece is synchronously pushed from all around by a plurality of groups of cross plates, automatic centering correction of the workpiece is realized, and the descending cross plate provides a larger grabbing space for the workpiece.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of visual detection, and particularly relates to a device for detecting surface cracks of a magnetic core. BACKGROUND

[0002] The magnetic core is a core magnetic element for realizing electromagnetic energy conversion, filtering and energy storage in an electronic circuit, is usually made of ferrite, silicon steel sheet and other magnetic materials, is widely applied to electronic equipment such as transformers, inductors and sensors, and the surface integrity directly determines the insulation performance, magnetic guide efficiency and service life of the electronic element; in order to efficiently and accurately check the surface cracks of the magnetic core, a visual detection equipment becomes a core detection tool; the equipment can automatically identify micro cracks that are difficult to be distinguished by naked eyes by collecting multi-angle surface images of the magnetic core through a high-resolution industrial camera and combining image preprocessing and machine vision algorithms.

[0003] In the magnetic core surface crack detection equipment, the mechanical arm transfers the workpiece through the bearing table, and the traditional equipment has obvious defects: first, there is no effective workpiece positioning mechanism, when the mechanical arm places the workpiece, the workpiece position on the bearing table is easily deviated due to environmental vibration, unstable end clamping and adsorption force, and uneven workpiece surface, so that the mechanical arm cannot accurately grab in the next stage, and the workpiece falls off; second, the motion path of multiple mechanical arms is not planned, when the mechanical arms transfer around the bearing table, the motion range overlaps and the paths cross, if the workpiece is deviated, the action or the parameter setting is not adjusted, and the motion interference is easily caused, which may cause the equipment to stop and reset, or the components to be damaged. SUMMARY

[0004] The purpose of the application is to provide a device for detecting surface cracks of a magnetic core, which can stably transfer the workpiece to be detected.

[0005] The application achieves the above purpose by the following technical solutions:

[0006] The device for detecting surface cracks of a magnetic core comprises a rack, a feeding machine, a multi-directional detection table, a size detection table and a grading and disc placing machine, the multi-directional detection table is provided with a detection unit and multiple mechanical arms;

[0007] Further comprising:

[0008] The bearing table is provided with multiple bearing tables and is fixedly arranged between the detection units, the bearing table comprises a mounting table and a table top, the table top is movably connected with the mounting table, and the table top comprises a V-shaped groove;

[0009] The push-pull seat comprises an L-shaped plate, the L-shaped plate is slidably arranged on the table top, and a connecting rod is hingedly arranged between the L-shaped plate and the mounting table;

[0010] The lifting positioning plate is slidingly arranged on the L-shaped plate.

[0011] As a further optimization of the present application, the bearing table further comprises a column, the mounting table is fixedly arranged at the top end of the column, air cylinders are fixedly arranged on both sides of the mounting table, and the output ends of the air cylinders are fixedly connected with the table top through the mounting table.

[0012] As a further optimization of the present application, the table top further comprises a bearing seat, the bearing seat is connected with the air cylinder, the bearing seat is provided with a containing cavity on four sides, the V-shaped groove is arranged on both sides of the containing cavity, and a pressure sensor is fixedly arranged on the bearing seat.

[0013] As a further optimization of the present application, the L-shaped plate is provided with a guide groove on the lower surface, a trapezoidal guide block is fixedly arranged in the containing cavity, the guide groove is matched with the trapezoidal guide block, a hinge seat one is fixedly arranged on the L-shaped plate, a hinge seat two is fixedly arranged at the positions of four sides of the mounting table, a connecting rod is hingedly arranged between the hinge seat two and the hinge seat one, a boss is fixedly arranged on the L-shaped plate, and a guide rod is fixedly arranged on the boss.

[0014] As a further optimization of the present application, the lifting positioning plate comprises a horizontal plate, embedding rods are fixedly arranged on both sides of the horizontal plate, and a sliding groove is arranged on the lower surface of the horizontal plate.

[0015] As a further optimization of the present application, the sliding groove is sleeved on the guide rod, and the horizontal plate is slidingly arranged on the boss through the guide rod.

[0016] As a further optimization of the present application, the embedding rods are slidingly arranged in the V-shaped groove, and the horizontal plate is slidingly arranged in the containing cavity through the embedding rods.

[0017] As a further optimization of the present application, the detection unit comprises a first detection mechanism, a second detection mechanism and a third detection mechanism, the first detection mechanism, the second detection mechanism and the third detection mechanism all comprise a detection camera and a flash;

[0018] The first detection mechanism comprises a through-type mounting frame, the through-type mounting frame is arranged through the multidirectional detection table, the detection camera and the flash are slidingly arranged on the through-type mounting frame, the flash is located above the detection camera, a glass table one is fixedly arranged on the flash, a glass table two is arranged on one side of the glass table one, a light angle detection camera is arranged below the glass table two, one of the mechanical arms is located on one side of the through-type mounting frame, and an electromagnetic element is fixedly arranged on the mechanical arm.

[0019] The second detection mechanism comprises a vertical mounting frame, the detection camera and the flash are slidably arranged on the vertical mounting frame, the detection camera is located above the flash, one mechanical arm is located on one side of the vertical mounting frame, and a clamping piece is fixedly arranged on the mechanical arm;

[0020] The third detection mechanism comprises a horizontal mounting frame, the detection camera and the flash are slidably arranged on the horizontal mounting frame, the detection camera is located on one side of the flash, and a mechanical arm provided with a clamping piece is arranged on one side of the horizontal mounting frame.

[0021] As a further optimization scheme of the present application, the multi-directional detection table is arranged on the rack, the feeding machine is arranged on one side of the rack, the size detection table is arranged on the rack, and the grade disc placing machine is arranged on one side of the size detection table.

[0022] The present application has the advantages that:

[0023] 1. Different from the prior art, in actual use, after the workpiece is placed on the bearing seat of the bearing table, the pressure sensor triggers the cylinder to drive the table to move downward, at this time, the connecting rod of the push-pull seat is transmitted between the mounting table and the L-shaped plate, so as to promote the L-shaped plate to slide along the trapezoidal guide block to the center of the bearing seat, and the embedded rod of the lifting positioning plate slides along the V-shaped groove to drive the horizontal plate to first rise and then fall, so that the workpiece is synchronously pushed from all around by multiple groups of horizontal plates, automatic centering correction of the workpiece is realized, the horizontal plate provides a larger grabbing space for the workpiece when it falls, the position deviation problem of the traditional positioning mechanism is avoided, the position of the workpiece is accurate when the mechanical arm is grabbed and the detection camera is shot, and the reliability of detection data is greatly improved.

[0024] 2. Different from the prior art, in actual use, the cylinder of the bearing table drives the table to realize switching between "high-position placing and low-position taking", and the horizontal plate of the lifting positioning plate is lifted and lowered, the horizontal plate is at a high position with the table and is not accommodated in the accommodating cavity when the workpiece is placed, sufficient space is provided for the mechanical arm to place the workpiece, and part interference is avoided; the horizontal plate is accommodated in the accommodating cavity after positioning before the workpiece is taken, and the table is lowered to a low position, so that the mechanical arm can quickly grab, and the motion track of the adjacent mechanical arm is effectively staggered. BRIEF DESCRIPTION OF DRAWINGS

[0025] Figure 1 is a schematic diagram of the overall structure of the present application;

[0026] Figure 2 is a schematic diagram of the internal structure of the present application; Figure 1

[0027] Figure 3 is a schematic diagram of the multi-directional detection table structure of the present application;

[0028] Figure 4 is a schematic diagram of the first detection mechanism structure of the present application;​

[0029] Figure 5 is the second detection mechanism structure schematic diagram of the present application;

[0030] Figure 6 is the third detection mechanism structure schematic diagram of the present application;

[0031] Figure 7 is the bearing table connecting structure schematic diagram of the present application;

[0032] Figure 8 is the present application Figure 7 explosion structure schematic diagram;

[0033] Figure 9 is the present application

[0034] Figure 10 is the present application horizontal plate structure schematic diagram.

[0035] In the figure: 1, rack; 2, feeding machine; 3, grading disc placing machine; 4, multi-directional detection table; 41, mechanical arm; 411a, electromagnetic part; 411b, clamping part; 42, detection machine group; 42a, first detection mechanism; 421a, through mounting bracket; 42b, second detection mechanism; 421b, vertical mounting bracket; 42c, third detection mechanism; 421c, horizontal mounting bracket; 422, detection camera; 423, flash; 424, glass table one; 425, glass table two; 426, light angle detection camera; 5, size detection table; 6, bearing table; 61, stand column; 611, mounting table; 62, air cylinder; 63, table top; 631, bearing seat; 632, containing cavity; 633, pressure sensor; 634, V-shaped groove; 7, push-pull seat; 71, L-shaped plate; 711, boss; 712, guide rod; 713, hinged seat one; 72, connecting rod; 73, hinged seat two; 74, trapezoidal guide block; 741, guide groove; 8, lifting positioning plate; 81, horizontal plate; 82, embedded rod; 83, sliding groove. DETAILED DESCRIPTION

[0036] The following further describes the present application in conjunction with the drawings. It is necessary to point out here that the following detailed description is only used to further describe the present application and cannot be understood as limiting the scope of protection of the present application. Those skilled in the art can make some non-essential improvements and adjustments to the present application according to the above application content.

[0037] Example 1, as Figure 1 - Figure 3As shown, the magnetic core surface crack detection device comprises a rack 1, a feeding machine 2, a multi-directional detection table 4, a size detection table 5 and a grading disc placing machine 3 (the above structures are existing structures, so no more description is given), the multi-directional detection table 4 is arranged on the rack 1, the feeding machine 2 is arranged on one side of the rack 1, the size detection table 5 is arranged on the rack 1, and the grading disc placing machine 3 is arranged on one side of the size detection table 5. The multi-directional detection table 4 is provided with a detection unit 42 and a plurality of mechanical arms 41; the rack 1 serves as the supporting basis of the whole device, can provide a stable mounting platform for the feeding machine 2, the multi-directional detection table 4 and the size detection table 5, and avoid detection deviation caused by unstable installation of each component; the feeding machine 2 is arranged on one side of the rack 1, can realize automatic conveying of the magnetic core to be detected, reduce labor cost and efficiency loss of manual feeding, and ensure continuity and orderliness of the magnetic core conveying; the multi-directional detection table 4 is located on the rack 1, serves as the core detection area, integrates the detection unit 42 and the plurality of mechanical arms 41, can complete multi-directional crack detection of the magnetic core, reduce the transfer distance of the magnetic core between different detection areas, and improve the detection efficiency; the size detection table 5 is arranged on the rack 1, can directly perform size detection on the magnetic core after crack detection, realize integrated detection of “crack plus size”, and avoid interruption of the detection process; the grading disc placing machine 3 is arranged on one side of the size detection table 5, can quickly receive the magnetic core after detection is completed, and place the magnetic core according to the detection result, reduce the subsequent sorting process of the magnetic core, and each component is arranged around the rack 1, so that the whole device has compact structure and saves installation space.

[0038] As shown in Figure 4 Figure 6 The detection unit 42 comprises a first detection mechanism 42a, a second detection mechanism 42b and a third detection mechanism 42c, and each of the first detection mechanism 42a, the second detection mechanism 42b and the third detection mechanism 42c comprises a detection camera 422 and a flash 423; in this way, different surfaces of the magnetic core can be detected respectively, full crack coverage can be realized, and cracks can be avoided to be missed due to single detection angle; the flash 423 can eliminate shadows on the surface of the magnetic core, ensure that the image captured by the detection camera 422 is clear, and improve crack recognition accuracy;

[0039] As shown in Figure 4 ​As shown, the first detection mechanism 42a includes a through-type mounting bracket 421a arranged through the multi-directional detection table 4, and the detection camera 422 and the flash 423 are slidingly arranged on the through-type mounting bracket 421a and fixed by lock nuts. The flash 423 is located above the detection camera 422, and a glass platform one 424 is fixedly arranged on the flash 423. A glass platform two 425 is arranged on one side of the glass platform one 424, and a light angle detection camera 426 is arranged below the glass platform two 425. The glass platform two 425 and the light angle detection camera 426 are both slidingly arranged on the through-type mounting bracket 421a and fixed by lock nuts. One of the mechanical arms 41 is located on one side of the through-type mounting bracket 421a, and an electromagnetic member 411a is fixedly arranged on the mechanical arm 41. The glass platform one 424 is arranged on the flash 423, which can carry the magnetic core and does not affect the light compensation of the flash 423 and the shooting of the detection camera 422 due to the light transmission characteristics of the glass. The glass platform two 425 and the light angle detection camera 426 below can capture the complete target and comprehensively detect the magnetic core, and supplement the blind area of the bottom detection.

[0040] As shown in Figure 5 , the second detection mechanism 42b includes a vertical mounting bracket 421b, and the detection camera 422 and the flash 423 are slidingly arranged on the vertical mounting bracket 421b and fixed by lock nuts. The detection camera 422 is located above the flash 423. One of the mechanical arms 41 is located on one side of the vertical mounting bracket 421b, and a clamping member 411b is fixedly arranged on the mechanical arm 41. In this way, the second detection mechanism 42b is adapted to detect the crack at the top of the magnetic core.

[0041] As shown in Figure 6 , the third detection mechanism 42c includes a horizontal mounting bracket 421c, and the detection camera 422 and the flash 423 are slidingly arranged on the horizontal mounting bracket 421c and fixed by lock nuts. The detection camera 422 is located on one side of the flash 423. The horizontal mounting bracket 421c is provided with a mechanical arm 41 on which a clamping member 411b is arranged. In this way, the third detection mechanism 42c is convenient for detecting the crack on the side wall of the magnetic core.

[0042] As shown in Figure 7 - Figure 9As shown, the bearing table 6 is fixed between the detection units 42, which includes a column 61, the top of which is fixedly provided with a mounting table 611, both sides of which are fixedly provided with a cylinder 62, the output end of which is fixedly connected with a bearing seat 631 after penetrating the mounting table 611, and the four sides of the bearing seat 631 are provided with accommodating cavities 632, both sides of which are provided with V-shaped grooves 634, and the bearing seat 631 is fixedly provided with a pressure sensor 633. The bearing table 6 is fixed between the detection units 42 and can be used as a transition platform for transferring the magnetic core between different detection mechanisms, improving the process continuity; the column 61 provides stable support for the mounting table 611, ensuring the overall structural stability of the bearing table 6 and avoiding platform shaking when the magnetic core is placed; the cylinders 62 on both sides of the mounting table 611 can drive the bearing seat 631 to rise and fall, realizing "high-position placing and low-position taking", avoiding the motion trajectories of different mechanical arms 41 crossing when transferring the magnetic core, and reducing the risk of collision; the pressure sensor 633 on the bearing seat 631 can sense in real time whether the magnetic core is placed in place, timely feedback signal to the control system, and trigger the subsequent lifting and positioning action.

[0043] As shown in Figure 8 - Figure 9 As shown, the L-shaped plate 71 is slidably arranged on the table top 63, the lower surface of the L-shaped plate 71 is provided with a guide groove 741, and a trapezoidal guide block 74 is fixedly arranged in the accommodating cavity 632. The guide groove 741 cooperates with the trapezoidal guide block 74, the L-shaped plate 71 is fixedly provided with a hinge seat one 713, the mounting table 611 is fixedly provided with a hinge seat two 73 at the four positions, and the hinge seat two 73 and the hinge seat one 713 are hingedly provided with a connecting rod 72. The L-shaped plate 71 is fixedly provided with a boss 711, and the boss 711 is fixedly provided with a guide rod 712. The guide groove 741 on the lower surface of the L-shaped plate 71 cooperates with the trapezoidal guide block 74 in the accommodating cavity 632, which can limit the sliding direction of the L-shaped plate 71 and avoid deviation when sliding, ensuring the accuracy of the motion trajectory; the hinge seat one 713 of the L-shaped plate 71 and the hinge seat two 73 of the mounting table 611 are hingedly connected through the connecting rod 72, which can convert the lifting movement of the bearing seat 631 driven by the cylinder 62 into horizontal sliding of the L-shaped plate 71, without the need for an additional power source, improving the process coordination; the boss 711 on the L-shaped plate 71 provides a stable mounting basis for the guide rod 712.

[0044] As shown in Figure 10As shown, the L-shaped plate 71 is slidably provided with a lifting positioning plate 8, which comprises a horizontal plate 81, both sides of the horizontal plate 81 are fixedly provided with embedded rods 82, and the lower surface of the horizontal plate 81 is provided with a sliding groove 83, which is sleeved on the guide rod 712. The horizontal plate 81 is slidably arranged on the boss 711 through the guide rod 712, the embedded rods 82 are slidably arranged in the V-shaped groove 634, and the horizontal plate 81 is slidably arranged in the accommodating cavity 632 through the embedded rods 82. The L-shaped plate 71 slidably provided with the lifting positioning plate 8 can realize accurate positioning of the magnetic core, ensure that the magnetic core is in the preset position during detection, and improve the accuracy of the camera 422 shooting. The embedded rods 82 on both sides of the horizontal plate 81 cooperate with the V-shaped groove 634 of the accommodating cavity 632, which can provide sliding guide for the horizontal plate 81, and can realize lifting when the horizontal plate 81 slides by using the structural characteristics of the V-shaped groove 634, without additional lifting power source, realizing the linkage action of "sliding plus lifting". The sliding groove 83 on the lower surface of the horizontal plate 81 is sleeved on the guide rod 712, which further limits the movement track of the horizontal plate 81, avoids deviation during sliding or lifting, and ensures accurate positioning.

[0045] Firstly, the feeding machine 2 installed on one side of the rack 1 is started, and the workpieces to be detected are conveyed one by one to above the multi-directional detection table 4 fixed in the center of the rack 1 through the transfer belt. At this time, the mechanical arm 41 close to the feeding machine 2 on the multi-directional detection table 4 is started, the mechanical arm 41 is first moved to the end of the transfer belt, the electromagnetic part 411a is powered on to adsorb the workpiece, then the workpiece is lifted and moved to above the glass table one 424 of the first detection mechanism 42a, and the workpiece is released after power-off. Subsequently, the flash lamp 423 on the through-type mounting frame 421a of the first detection mechanism 42a supplements light to eliminate shadow, and the detection camera 422 vertically shoots the bottom of the workpiece to complete the preliminary detection of the bottom crack.

[0046] After the bottom detection is completed, the clamping part 411b carried by the mechanical arm 41 between the first detection mechanism 42a and the bearing table 6 on the multi-directional detection table 4 is started to clamp the workpiece from the glass table one 424, and then the workpiece is moved to above the table surface 63 of the bearing table 6 after being lifted. At this time, the cylinders 62 on both sides of the top-end mounting table 611 of the stand column 61 are completely extended, the bearing seat 631 of the table surface 63 is lifted, the bearing table 6 is in the high position and matches the clamping height of the mechanical arm 41. The mechanical arm 41 places the workpiece through the clamping part 411b, and after the pressure sensor 633 on the bearing seat 631 senses the pressure, sends a signal to the control system, and the cylinder 62 is retracted to slowly move the table surface 63 downward.

[0047] With the descending of the table 63, the push-pull seat 7 starts linkage: the connecting rod 72 between the hinged seat two 73 on the four sides of the installation table 611 and the hinged seat one 713 on the L-shaped plate 71 is pulled, and the L-shaped plate 71 slides to the center along the trapezoidal guide block 74 in the containing cavity 632 of the bearing seat 631. At the same time, the embedded rod 82 of the lifting positioning plate 8 slides along the inverted V-shaped groove 634 on both sides of the containing cavity 632. Because the upper half of the V-shaped groove 634 is an uphill structure, the horizontal plate 81 rises along the guide rod 712 on the boss 711 and pushes the workpiece to the center from all around to preliminarily correct the position; after the embedded rod 82 slides through the vertex of the V-shaped groove 634, the horizontal plate 81 moves downward along the guide rod 712 and continues to push the workpiece to the center until the L-shaped plate 71 moves to the limit position, the horizontal plate 81 is completely accommodated into the containing cavity 632, and the workpiece is accurately centered. At this time, the air cylinder 62 is completely retracted, and the table 63 is lowered to the low position.

[0048] After the workpiece is centered, the mechanical arm 41 on the multi-direction detection table 4 close to the other side of the bearing table 6 is started: if the top is detected, the clamping piece 411b clamps the workpiece and then lifts up, and the mechanical arm 41 drives the clamping piece 411b to move to the second detection mechanism 42b area; if the four walls are detected, the electromagnetic piece 411a adsorbs the workpiece and then lifts up, and the mechanical arm 41 drives the electromagnetic piece 411a to move to the third detection mechanism 42c area.

[0049] After the surface crack detection is completed, the image is transmitted to the image processing system, the crack parameters are identified by comparing the standard image, and whether the workpiece is qualified or not is determined. Subsequently, the mechanical arm 41 moves the workpiece to the size detection table 5 on the rack 1, detects the key size of the workpiece, integrates the size detection result to generate a comprehensive report. Finally, the mechanical arm 41 moves the qualified and unqualified workpieces to different material trays of the grading tray machine 3 on one side of the size detection table 5 according to the report, and completes the whole detection process.

[0050] The above-described embodiments only express several embodiments of the present application, the description is more specific and detailed, but it cannot be understood as a limitation on the scope of the patent of the present application. It should be noted that for ordinary skilled persons in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which belong to the protection scope of the present application.

Claims

1. A device for detecting surface cracks of a magnetic core, comprising a frame (1), a feeding machine (2), a multi-directional detection table (4), a size detection table (5) and a grading and placing machine (3), characterized in that: The multi-direction detection platform (4) is provided with a detection unit (42) and a plurality of mechanical arms (41); Further comprising: A bearing table (6) is provided between the detection unit (42) and fixedly arranged, the bearing table (6) comprises a mounting table (611) and a table top (63), the table top (63) is connected with the mounting table (611) in lifting activity, the table top (63) comprises a V-shaped groove (634); A push-pull seat (7) comprises an L-shaped plate (71), the L-shaped plate (71) is slidingly arranged on the table top (63), a connecting rod (72) is hingedly arranged between the L-shaped plate (71) and the mounting table (611), a boss (711) is fixedly arranged on the L-shaped plate (71), and a guide rod (712) is fixedly arranged on the boss (711); A lifting positioning plate (8) is slidingly arranged on the L-shaped plate (71); The table top (63) further comprises a bearing seat (631), the bearing seat (631) is connected with the air cylinder (62), four sides of the bearing seat (631) are provided with accommodating cavities (632), the V-shaped grooves (634) are arranged on both sides of the accommodating cavities (632), and a pressure sensor (633) is fixedly arranged on the bearing seat (631); The lifting positioning plate (8) comprises a horizontal plate (81), embedding rods (82) are fixedly arranged on both sides of the horizontal plate (81), and a sliding groove (83) is arranged on the lower surface of the horizontal plate (81); The sliding groove (83) is sleeved on the guide rod (712), and the horizontal plate (81) is slidingly arranged on the boss (711) through the guide rod (712); The embedding rods (82) are slidingly arranged in the V-shaped grooves (634), and the horizontal plate (81) is slidingly arranged in the accommodating cavities (632) through the embedding rods (82); The embedding rods (82) of the lifting positioning plate (8) slide along the inverted V-shaped grooves (634) on both sides of the accommodating cavities (632), the upper half of the V-shaped groove (634) is an uphill structure, the horizontal plate (81) rises along the guide rod (712) on the boss (711), and the workpiece is preliminarily corrected in position from the periphery to the center; when the embedding rods (82) slide through the vertex of the V-shaped groove (634), the horizontal plate (81) moves downward along the guide rod (712), continues to push the workpiece to the center, and until the L-shaped plate (71) moves to the limit position, the horizontal plate (81) is completely accommodated in the accommodating cavity (632), the workpiece is accurately centered, and at this time, the air cylinder (62) is completely retracted, and the table top (63) is lowered to the low position; When the workpiece is placed, the horizontal plate (81) is at the high position and not accommodated in the accommodating cavity, sufficient space is provided for the mechanical arm to place the workpiece, and part interference is avoided; before the workpiece is taken, the horizontal plate (81) is accommodated in the accommodating cavity after positioning is completed, and the table top is lowered to the low position, so that the mechanical arm can quickly grab, and the motion trajectories of different mechanical arms (41) are avoided when the magnetic cores are transferred.

2. The device for magnetic core surface crack detection according to claim 1, characterized in that: The bearing table (6) further comprises a column (61), the mounting table (611) is fixedly arranged at the top end of the column (61), the air cylinder (62) is fixedly arranged on both sides of the mounting table (611), and the output end of the air cylinder (62) penetrates the mounting table (611) and is fixedly connected with the table top (63).

3. The device for magnetic core surface crack detection according to claim 2, characterized in that: The lower surface of the L-shaped plate (71) is provided with a guide groove (741), the accommodation cavity (632) is fixedly provided with a trapezoidal guide block (74), the guide groove (741) is matched with the trapezoidal guide block (74), the L-shaped plate (71) is fixedly provided with a hinge seat one (713), the mounting table (611) is fixedly provided with a hinge seat two (73) at four edge positions, and the connecting rod (72) is hingedly arranged between the hinge seat two (73) and the hinge seat one (713).

4. The device for magnetic core surface crack detection according to claim 1, characterized in that: The detection unit comprises a first detection mechanism (42a), a second detection mechanism (42b) and a third detection mechanism (42c), and the first detection mechanism (42a), the second detection mechanism (42b) and the third detection mechanism (42c) all comprise a detection camera (422) and a flash (423); The first detection mechanism (42a) comprises a through-type mounting bracket (421a), the through-type mounting bracket (421a) is arranged in penetration on the multi-directional detection table (4), the detection camera (422) and the flash (423) are slidably arranged on the through-type mounting bracket (421a), the flash (423) is located above the detection camera (422), the flash (423) is fixedly provided with a glass table one (424), one side of the glass table one (424) is provided with a glass table two (425), a light angle detection camera (426) is arranged below the glass table two (425), one of the mechanical arms (41) is located on one side of the through-type mounting bracket (421a), and the mechanical arm (41) is fixedly provided with an electromagnetic element (411a); The second detection mechanism (42b) comprises a vertical mounting bracket (421b), the detection camera (422) and the flash (423) are slidably arranged on the vertical mounting bracket (421b), the detection camera (422) is located above the flash (423), and one of the mechanical arms (41) is located on one side of the vertical mounting bracket (421b). The third detection mechanism (42c) comprises a horizontal mounting bracket (421c), the detection camera (422) and the flash (423) are slidably arranged on the horizontal mounting bracket (421c), the detection camera (422) is located on one side of the flash (423), and the horizontal mounting bracket (421c) is provided with the mechanical arm (41) provided with the clamping element (411b) on one side.

5. The device for magnetic core surface crack detection according to claim 1, characterized in that: The multi-directional detection table (4) is arranged on the rack (1), the feeding machine (2) is arranged on one side of the rack (1), the size detection table (5) is arranged on the rack (1), and the grade disc arranging machine (3) is arranged on one side of the size detection table (5).

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