Multi-angle full-automatic workpiece detection equipment and method

Abstract

The invention discloses multi-angle full-automatic workpiece detection equipment and a multi-angle full-automatic workpiece detection method, and relates to the technical field of workpiece detection. The detection mechanism comprises a CCD detection assembly which comprises a workpiece conveying unit and a workpiece detection unit; the workpiece conveying unit comprises a first conveying guide rail, a first moving seat arranged on the first conveying guide rail in a sliding mode, a first overturning frame rotationally installed on the first moving seat and a workpiece fixing seat fixedly installed on the first overturning frame. The workpiece detection unit comprises a mounting bracket fixedly erected on the first conveying guide rail and two groups of CCD (Charge Coupled Device) detection pieces arranged on the mounting bracket; and a discharging mechanism. The to-be-detected workpiece is automatically conveyed into the detection mechanism through the feeding mechanism, the detection mechanism automatically detects the workpiece, the discharging mechanism automatically discharges the workpiece after detection is completed, the automation degree is high, and the detection efficiency of the workpiece is improved.

Description

Technical Field

[0001] This invention relates to the field of workpiece inspection technology, and in particular to a multi-angle fully automatic workpiece inspection device and method. Background Technology

[0002] Currently, batteries are widely used in various industries, and the demand for batteries is increasing, leading to higher and higher levels of battery processing and manufacturing. After battery processing is completed, the battery surface needs to be inspected. Inspection items include battery dimensions, thickness, flange edges, etc., to prevent bulges, dents, cracks, and other defects from appearing on the battery surface, which could reduce battery life or even endanger user safety.

[0003] Existing battery testing equipment has a low degree of automation, and when different sides of the battery need to be tested during the testing process, manual operation is required, which seriously affects the efficiency of battery testing. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to overcome the shortcomings of the prior art and provide a multi-angle fully automatic workpiece inspection device and method.

[0005] To solve the above technical problems, the technical solution of the present invention is as follows: A multi-angle fully automatic workpiece inspection device, comprising: The feeding mechanism is used to move the workpiece to be inspected into the inspection mechanism; The testing mechanism includes a CCD testing component, which comprises a workpiece conveying unit and a workpiece testing unit. The workpiece conveying unit includes a first conveying guide rail, a first movable seat slidably disposed on the first conveying guide rail, a first flipping frame rotatably mounted on the first movable seat, a workpiece fixing seat fixedly mounted on the first flipping frame, and a workpiece adsorption component fixedly mounted on the workpiece fixing seat. Two first movable seats are provided, and the rotation axes of the first flipping frames on both first movable seats are perpendicular to the conveying direction of the first conveying guide rail. In the initial state, the adsorption surface of the workpiece adsorption component is parallel to the horizontal plane. When the two first flipping frames rotate 90° in opposite directions, the adsorption surfaces of the two workpiece adsorption components are arranged opposite each other and aligned with each other. The workpiece testing unit includes a mounting bracket fixedly mounted on the first conveying guide rail and two sets of CCD testing components disposed on the mounting bracket. The two sets of CCD testing components are arranged sequentially along the conveying direction of the first conveying guide rail, and both sets of CCD testing components are located directly above the conveying path of the workpiece fixing seat. And a feeding mechanism for receiving the workpieces conveyed by the detection mechanism and feeding them.

[0006] As a preferred embodiment of the multi-angle fully automatic workpiece inspection equipment of the present invention, wherein: the length direction of the first flipping frame is perpendicular to the conveying direction of the first conveying guide rail, and a plurality of workpiece fixing seats are arranged equidistantly along the length direction of the first flipping frame, and when the two first flipping frames are rotated 90° in opposite directions, any workpiece fixing seat on any first flipping frame is aligned with the adjacent workpiece fixing seat on the other first flipping frame.

[0007] As a preferred embodiment of the multi-angle fully automatic workpiece inspection equipment of the present invention, each group of CCD inspection components includes a number of CCD inspection units consistent with the number of workpiece fixing seats on the first flipping frame. Several CCD inspection units are arranged equidistantly along the length direction of the first flipping frame, and when the first flipping frame is located directly below the CCD inspection component, each workpiece fixing seat is located within the inspection area of ​​the adjacent CCD inspection unit.

[0008] As a preferred embodiment of the multi-angle fully automatic workpiece inspection equipment of the present invention, wherein: a rotating seat is rotatably mounted on the first flipping frame at each of the workpiece fixing seats, and the rotation axis of the rotating seat is perpendicular to the rotation axis of the first flipping frame, and the workpiece fixing seat is fixedly mounted on the rotating seat; The CCD detection unit includes a first lifting drive component fixedly mounted on the mounting bracket, a lifting base driven by the first lifting drive component, and a CCD detection camera fixedly mounted on the lifting base.

[0009] As a preferred embodiment of the multi-angle fully automatic workpiece inspection equipment of the present invention, the CCD inspection unit further includes a supplementary lighting component fixedly installed on the lifting base and located directly below the CCD inspection camera. The supplementary lighting component includes a coaxial supplementary lighting unit and four strip supplementary lighting units. The coaxial supplementary lighting unit includes a coaxial light source box fixedly installed on the lifting base. Each strip supplementary lighting unit includes a mounting base fixedly installed at the lower end of the coaxial light source box and a strip supplementary light lamp disposed in the mounting base. The four strip supplementary lights are arranged in a rectangle below the coaxial light source box.

[0010] As a preferred embodiment of the multi-angle fully automatic workpiece inspection equipment of the present invention, the strip fill light is hinged to the mounting base, the mounting base is provided with an arc-shaped waist hole, the strip fill light is provided with a positioning hole aligned with the arc-shaped waist hole, and a positioning bolt is detachably installed in the positioning hole.

[0011] As a preferred embodiment of the multi-angle fully automatic workpiece inspection equipment of the present invention, the CCD detection components are provided in two sets, and the two sets of CCD detection components are sequentially arranged between the loading mechanism and the unloading mechanism, and the first conveying guide rails in the two sets of CCD detection components are aligned.

[0012] As a preferred embodiment of the multi-angle fully automatic workpiece inspection equipment of the present invention, the feeding mechanism includes a feeding component, an alternating conveying component, and a discharging component; The alternating conveying assembly includes a first mounting frame, a first conveyor and a second conveyor slidably mounted on the first mounting frame, and a driving component for moving the first and second conveyors. The conveying directions of the first and second conveyors are parallel to the conveying direction of the first conveying guide rail. Both the first and second conveyors are provided with workpiece placement seats, the number of which matches the number of workpiece fixing seats on the first flipping frame. Several workpiece placement seats are arranged equidistantly along the length of the first flipping frame, and each workpiece placement seat is aligned with an adjacent workpiece fixing seat on the first flipping frame. A first slide rail is fixedly mounted at the upper end of the first mounting frame, and a second slide rail is fixedly mounted at the bottom of the mounting frame. Both the first and second slide rails extend along the conveying direction of the first conveying guide rail. The first and second conveyors are slidably mounted on the first and second slide rails, respectively. The second conveyor includes a base plate slidably mounted on the second slide rail, and a lifting mechanism mounted on the base plate via a lifting rod. The mounting bracket includes a plate and a guide rod fixedly mounted at one end of the lifting plate. The workpiece placement seat is fixedly mounted on the lifting plate. A V-shaped waist hole is opened on the side of the mounting bracket near the guide rod, and the two ends of the V-shaped waist hole are respectively near the feeding component and the discharging component. A guide wheel adapted to the V-shaped waist hole is rotatably mounted at the end of the guide rod, and the guide wheel is located inside the V-shaped waist hole. When the guide wheel is located in the middle of the V-shaped waist hole, the second conveying component is located below the first conveying component. When the guide wheel is located at any end of the V-shaped waist hole, the second conveying component and the first conveying component are located in the same horizontal plane, and the second conveying component and the first conveying component are respectively located at both ends of the mounting bracket. The driving component includes several rollers rotatably mounted on one side of the mounting bracket, a transmission belt wrapped around the outside of the rollers, and a drive motor for driving any roller to rotate. One end of the first conveying component and the second conveying component are both fixedly connected to the transmission belt, and the first conveying component and the second conveying component move in opposite directions. The feeding assembly includes a feeding conveyor belt and a first conveying component. The first conveying component includes a third slide rail fixedly installed on both sides of the first mounting frame. The extension direction of the third slide rail is parallel to the movement direction of the first conveyor. A first conveying frame is slidably installed on the third slide rail, and the first conveying frame is located above the first mounting frame. A fourth slide rail is fixedly installed on the first conveying frame, and the extension direction of the fourth slide rail is perpendicular to the extension direction of the third slide rail. A second movable seat is slidably installed on the fourth slide rail, and the second movable seat is provided with a first workpiece adsorption unit and a second lifting drive component for driving the first workpiece adsorption unit to rise and fall. The conveying direction of the feeding conveyor belt is parallel to the movement direction of the first conveying frame, and the feeding conveyor belt extends to the bottom of the first conveying frame. The discharge assembly includes a fifth slide rail fixedly disposed on both sides of the first mounting frame. The extension direction of the fifth slide rail is parallel to the movement direction of the first conveyor. A second transport frame is slidably mounted on the fifth slide rail. The second transport frame is located above the first mounting frame. A second workpiece adsorption unit with the same number of workpiece fixing seats as the first flipping frame and a third lifting drive for driving the second workpiece adsorption unit to rise and fall are fixedly mounted on the second transport frame.

[0013] As a preferred embodiment of the multi-angle fully automatic workpiece inspection equipment of the present invention, the unloading mechanism includes a receiving component, a tray loading component, an unloading component, a tray transport component, and an unloading robot. The receiving assembly includes a second flipping frame rotatably mounted on a second mounting frame. A plurality of workpiece fixing seats are arranged equidistantly along the length of the second flipping frame, and the number of workpiece fixing seats on the second flipping frame is equal to the number of workpiece fixing seats on the first flipping frame. When the second flipping frame rotates 90° in the opposite direction to the adjacent first flipping frame, any workpiece fixing seat on the second flipping frame is aligned with the adjacent workpiece fixing seat on the first flipping frame. The material tray feeding assembly includes a first material rack fixedly installed on a second mounting frame, a first lifting platform located inside the first material rack, and two first belt conveyors fixedly installed inside the first material rack. The two first belt conveyors are located on both sides of the first lifting platform, and the conveying surfaces of the two first belt conveyors are located in the same horizontal plane. When the first lifting platform is lowered to the lowest position, the upper end surface of the first lifting platform is lower than the conveying surface of the first belt conveyor. The unloading assembly includes a first unloading unit and a second unloading unit. The first unloading unit includes a second material rack fixedly installed on a second mounting frame, a second lifting platform located inside the second material rack, and two second belt conveyors fixedly installed inside the second material rack. The two second belt conveyors are located on both sides of the second lifting platform, and the conveying surfaces of the two second belt conveyors are located in the same horizontal plane. When the second lifting platform is lowered to its lowest position, the upper surface of the second lifting platform is lower than the conveying surface of the second belt conveyor. The second unloading unit includes a third material rack fixedly installed on a second mounting frame, a third lifting platform located inside the third material rack, a discharge slide rail fixedly installed inside the third material rack, and a unloading tray slidably installed on the discharge slide rail. The unloading tray has a notch in the middle for the third lifting platform to pass through. When the third lifting platform is lowered to its lowest position, the upper surface of the third lifting platform is lower than the upper surface of the unloading tray. The tray handling assembly includes a first tray handling unit and a second tray handling unit. The first tray handling unit includes a first tray handling bracket mounted above the first tray, a sixth slide rail fixedly mounted on the first tray handling bracket, a third movable seat slidably mounted on the sixth slide rail, a fourth lifting drive fixedly mounted on the third movable seat, and a first tray suction unit drivenly connected to the fourth lifting drive. The first lifting platform and the second lifting platform are both located directly below the displacement path of the first tray suction unit. The second tray handling unit includes a second tray handling bracket mounted above the first tray, a seventh slide rail fixedly mounted on the second tray handling bracket, a fourth movable seat slidably mounted on the seventh slide rail, a fifth lifting drive fixedly mounted on the fourth movable seat, and a second tray suction unit drivenly connected to the fifth lifting drive. The first lifting platform and the third lifting platform are both located directly below the displacement path of the second tray suction unit. The unloading robot is fixedly installed on the second mounting frame and is used to transport the workpiece in the workpiece fixing seat on the second flipping frame to the material tray on the second lifting platform or the third lifting platform.

[0014] This invention also provides a multi-angle fully automatic workpiece inspection method, comprising: The first and second conveyors in the feeding mechanism alternately convey the workpiece to be inspected to the discharge assembly, and the discharge assembly conveys it to the workpiece fixing seat on the adjacent first flipping frame in the adjacent CCD detection assembly; The first moving seat drives the first flipping frame carrying the workpiece to move along the first conveying guide rail to the detection area of ​​the previous CCD detection unit, so that each CCD detection unit can detect the workpiece below it. During the detection process, the CCD detection camera is first controlled to detect the upper surface of the workpiece. Then, the first flipping frame is controlled to rotate 90°, so that the workpiece is flipped from a horizontal state to a vertical state. At the same time, the rotating seat is controlled to drive the workpiece fixed seat to rotate, so that the workpiece rotates around its own axis. The CCD detection camera detects different positions on the side of the workpiece. During the detection process, the first lifting drive unit drives the CCD detection camera to rise and fall to compensate for the depth of field corresponding to different detection positions. After the test is completed, the other first flip frame in the CCD detection assembly is rotated 90° so that the adsorption surfaces of the workpiece adsorption elements in the two first flip frames are set opposite each other. Then, the two first moving seats are controlled to move closer to each other until the workpiece is clamped between the two opposing workpiece adsorption elements in the two first flip frames. Then, the workpiece adsorption elements are controlled to open and close to transfer the workpiece to the other first flip frame. After that, both first flip frames are rotated to reset. The first moving seat without a workpiece drives the first flip frame on it to reset to the initial position to receive the workpiece again. The first moving seat with a workpiece drives the first flip frame on it to move to the detection area of ​​the next CCD detection assembly to complete the above detection items. Then, the workpiece is moved to the next CCD detection assembly. The first flipping frame containing the workpiece in the previous CCD detection assembly docks with the adjacent first flipping frame in the next CCD detection assembly, transferring the workpiece to the next CCD detection assembly. After completing the above detection items, the workpiece is moved to the feeding mechanism. The second flipping frame in the unloading mechanism docks with the first flipping frame containing the workpiece in the adjacent CCD detection component, transferring the workpiece sequentially to the unloading mechanism. At the same time, the unloading robot places the workpiece in the corresponding material tray according to the workpiece detection result, thus realizing unloading.

[0015] The beneficial effects of this invention are: (1) The present invention automatically transports the workpiece to be tested to the testing mechanism through the feeding mechanism, and the testing mechanism automatically tests the workpiece. After the test is completed, the unloading mechanism automatically unloads the workpiece. The entire testing process basically does not require operator intervention, has a high degree of automation, and effectively improves the testing efficiency of the workpiece.

[0016] (2) In this invention, the workpiece fixing seat is fixedly installed on the first flipping frame. The first flipping frame can drive the workpiece fixing seat to rotate. When the workpiece is inspected, the workpiece fixing seat can be driven to rotate, so that the end face and side face of the workpiece can be inspected. At the same time, the rotation axis of the first flipping frame on the two first moving seats is perpendicular to the conveying direction of the first conveying guide rail. The two first flipping frames can rotate 90° in opposite directions to align the workpiece fixing seats on the two first flipping frames. Then, by controlling the two first moving seats to approach each other until they are in contact, the workpiece can be transferred from one of the first flipping frames to the other. This not only realizes the automatic transfer of the workpiece, but also realizes the flipping of the workpiece during the transfer process. No manual intervention from the operator is required, which further improves the inspection efficiency.

[0017] (3) In the feeding mechanism provided by the present invention, the workpiece is fed continuously by the first conveying component and the second conveying component in the alternating conveying component, which ensures the feeding efficiency of the workpiece. At the same time, a V-shaped waist hole is opened on one side of the mounting frame, and a guide rod is fixedly installed at one end of the lifting plate. The guide wheel at the end of the guide rod moves along the V-shaped waist hole, so that the lifting plate moves synchronously during the movement of the second conveying component, thus avoiding mutual influence when the first conveying component and the second conveying component move in the same horizontal plane.

[0018] (4) In this invention, a rotating seat is rotatably mounted on the first flipping frame, and each workpiece fixing seat is fixedly mounted on an adjacent rotating seat. Simultaneously, each CCD detection unit includes a first lifting drive component fixedly mounted on a mounting bracket, a lifting seat driven by the first lifting drive component, and a CCD detection camera fixedly mounted on the lifting seat. During the detection process, when the first flipping frame rotates 90° and the rotating seat drives the workpiece fixing seat to rotate around its own axis, the workpiece detection height will change. At this time, by driving the CCD detection camera to rise and fall via the lifting seat, the depth of field corresponding to different detection positions can be compensated.

[0019] (5) The unloading assembly of the present invention includes a first unloading unit for unloading qualified workpieces and a second unloading unit for unloading unqualified workpieces. It can classify and unload workpieces with different test results. At the same time, the material tray loading assembly can automatically load empty material trays. With the material tray transport assembly, the empty material trays can be automatically transported to the two unloading units to realize automatic unloading. It can also ensure that the workpieces form a full material pile after unloading, which is convenient for subsequent processes. Attached Figure Description

[0020] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a schematic diagram of the structure of the multi-angle fully automatic workpiece inspection equipment provided by the present invention; Figure 2 This is a schematic diagram of the feeding mechanism in the multi-angle fully automatic workpiece inspection equipment provided by the present invention. Figure 3 This is a schematic diagram of the feeding assembly in the feeding mechanism; Figure 4 This is a schematic diagram of the alternating conveying component in the feeding mechanism; Figure 5 This is a cross-sectional schematic diagram of the alternating conveying components in the feeding mechanism; Figure 6 This is a schematic diagram of the discharge component in the feeding mechanism; Figure 7 This is a schematic diagram of the detection mechanism in the multi-angle fully automatic workpiece inspection equipment provided by the present invention. Figure 8 This is a schematic diagram of the unloading mechanism in the multi-angle fully automatic workpiece inspection equipment provided by the present invention. Figure 9 This is a schematic diagram showing the detection positions on the top and bottom surfaces of the workpiece; Wherein: 100, feeding mechanism; 200, detection mechanism; 300, unloading mechanism; 110, feeding assembly; 120, alternating conveying assembly; 130, discharging assembly; 111, feeding conveyor belt; 112, first handling component; 112a, third slide rail; 112b, first handling frame; 112c, fourth slide rail; 112d, second moving seat; 112e, first workpiece adsorption unit; 121, first mounting frame; 122, first conveying component; 123, second conveying component; 1 24. Driving component; 125. First slide rail; 126. Second slide rail; 127. Workpiece placement seat; 121a. V-shaped waist hole; 122a. Conveying plate; 123a. Base plate; 123b. Lifting plate; 123c. Guide rod; 123d. Guide wheel; 123e. Lifting rod; 124a. Roller; 124b. Transmission belt; 124c. Drive motor; 131. Fifth slide rail; 132. Second conveying frame; 133. Second workpiece adsorption unit; 134. Third lifting... 210. Drive unit; 220. Workpiece conveying unit; 211. Workpiece detection unit; 212. First conveying guide rail; 213. First moving seat; 214. First tilting frame; 215. Workpiece fixing seat; 221. Mounting bracket; 222. CCD detection unit; 222a. First lifting drive unit; 222b. Lifting seat; 222c. CCD detection camera; 222d. Coaxial supplementary lighting unit; 222e. Strip supplementary lighting unit; 310. Second mounting bracket; 320. Receiving assembly; 330. Material tray loading assembly; 340. Material unloading assembly; 350. Material tray handling assembly; 360. Material unloading robot; 321. Second tilting frame; 331. First material rack; 341. Second material rack; 342. Third material rack; 351. First material tray handling bracket; 352. Sixth slide rail; 353. Third moving seat; 354. First material tray suction component; 355. Second material tray handling bracket; 356. Seventh slide rail; 357. Fourth moving seat; 358. Second material tray suction component. Detailed Implementation

[0022] To make the content of this invention easier to understand, the invention will be further described in detail below with reference to specific embodiments and accompanying drawings.

[0023] See Figures 1-8 This application provides a multi-angle fully automatic workpiece inspection device, which includes a loading mechanism 100, an inspection mechanism 200, and an unloading mechanism 300. The loading mechanism 100 automatically transports the workpiece to be inspected to the inspection mechanism 200, where the inspection mechanism 200 inspects the workpiece, and the unloading mechanism 300 automatically unloads the workpiece after inspection.

[0024] Specifically, the feeding mechanism 100 includes a feeding component 110, an alternating conveying component 120, and a discharging component 130. The feeding mechanism conveys the workpiece to be inspected to the alternating conveying component 120, which then conveys it to the discharging component 130, and the discharging component 130 conveys the workpiece into the inspection mechanism 200.

[0025] The aforementioned alternating conveying mechanism includes a first mounting frame 121, a first conveying member 122 and a second conveying member 123 slidably mounted on the first mounting frame 121, and a driving member 124 for moving the first conveying member 122 and the second conveying member 123. The first mounting frame 121 is generally a hollow rectangular frame with an open top. First slide rails 125 are fixedly mounted on the upper ends of two opposite side plates of the rectangular frame, and two second slide rails 126 are fixedly mounted on the bottom inside the rectangular frame, with both the first slide rails 125 and the second slide rails 126 extending along the width direction of the mounting frame. The first conveying member 122 includes a conveying plate 122a slidably mounted on the first slide rail 125. The second conveying member 123 includes a base plate 123a slidably mounted on the second slide rail 126, and a lifting plate 123b is mounted on the base plate 123a via a lifting rod 123e. Several workpiece placement seats 127 for placing workpieces to be inspected are fixedly installed on both the conveyor plate 122a and the lifting plate 123b, and the workpiece placement seats 127 are arranged at equal intervals along the length of the mounting frame.

[0026] Preferably, a guide rod 123c is fixedly installed at one end of the lifting plate 123b. Simultaneously, a V-shaped oblong hole 121a is formed on the side of the first mounting bracket 121 adjacent to the guide rod 123c, with both ends of the V-shaped oblong hole 121a extending towards both ends of the width direction of the mounting bracket. A guide wheel 123d, matching the size of the V-shaped oblong hole 121a, is rotatably installed at the end of the guide rod 123c, and the guide wheel 123d is rolled within the V-shaped oblong hole 121a. During the sliding of the base plate 123a along the second slide rail 126, the guide wheel 123d moves along the V-shaped oblong hole 121a, and the lifting plate 123b rises and falls accordingly. It is understandable that when the guide wheel 123d moves from either end of the V-shaped waist hole 121a to the middle of the V-shaped waist hole 121a, the lifting plate 123b gradually descends; when the guide wheel 123d moves from the middle of the V-shaped waist hole 121a to either end of the V-shaped waist hole 121a, the lifting plate 123b gradually rises.

[0027] In this embodiment, when the guide wheel 123d is located in the middle of the V-shaped waist hole 121a, the lifting plate 123b is located below the conveying plate 122a; when the guide wheel 123d is located at either end of the V-shaped waist hole 121a, the lifting plate 123b and the conveying plate 122a are located in the same horizontal plane, and the lifting plate 123b and the conveying plate 122a are located at both ends of the mounting frame respectively.

[0028] The aforementioned driving component 124 includes a plurality of rollers 124a rotatably mounted on one side of the first mounting bracket 121, a transmission belt 124b wound around the outside of the rollers 124a, and a drive motor 124c for driving any one of the rollers 124a to rotate. One end of the conveyor plate 122a and the lifting plate 123b are both fixedly connected to the transmission belt 124b, and the moving directions of the conveyor plate 122a and the lifting plate 123b are opposite.

[0029] The feeding assembly 110 is located at the front end of the alternating conveyor assembly 120. The feeding assembly 110 includes a feeding conveyor belt 111 for conveying workpieces to be inspected and a first transport member 112 for conveying the workpieces on the feeding conveyor belt 111 to the alternating conveyor assembly 120. The first transport member 112 includes two third slide rails 112a fixedly mounted on a base, located on opposite sides of a first mounting frame 121. The extending direction of the third slide rails 112a is parallel to the extending directions of the first slide rails 125 and 126. A first transport frame 112b is slidably mounted on the third slide rails 112a, and the height of the first transport frame 112b is higher than the upper surface of the first mounting frame 121. A fourth slide rail 112c is fixedly mounted on the first transport frame 112b, and the extending direction of the fourth slide rail 112c is perpendicular to the extending direction of the third slide rails 112a. A second movable seat 112d is slidably mounted on the fourth slide rail 112c, and a first workpiece adsorption unit 112e and a second lifting drive 124 for driving the first workpiece adsorption unit 112e to rise and fall are mounted on the second movable seat 112d. A feeding conveyor belt 111 is fixedly mounted on the base, and the conveying direction of the feeding conveyor belt 111 is parallel to the moving direction of the first transport frame 112b, and the feeding conveyor belt 111 extends to the bottom of the first transport frame 112b.

[0030] The feeding conveyor belt 111 sequentially transports the workpieces to be inspected toward the direction of the first transport frame 112b. By sliding the first transport frame 112b along the third slide rail 112a, the first workpiece adsorption unit 112e can be moved to directly above the target workpiece on the feeding conveyor belt 111, thereby adsorbing the target workpiece. Then, by sliding the first transport frame 112b along the third slide rail 112a, the target workpiece can be transported to the workpiece placement seat 127 on the conveyor plate 122a or the lifting plate 123b.

[0031] The discharge assembly 130 is located at the rear end of the alternating conveyor assembly 120 and is used to transport the workpiece to be inspected from the first conveyor 122 or the second conveyor 123 to the inspection station. The discharge assembly 130 includes a fifth slide rail 131 fixedly mounted on a base, the extension direction of which is parallel to the movement direction of the first conveyor 122. A second transport frame 132 is slidably mounted on the fifth slide rail 131, and the height of the second transport frame 132 is also higher than the upper surface of the first mounting frame 121. A plurality of second workpiece adsorption units 133 are fixedly mounted on the second transport frame 132, each of which is driven to rise and fall by a third lifting drive 134. It should be noted that the number of second workpiece adsorption units 133 on the second transport frame 132 is equal to the number of workpiece placement seats 127 on any conveyor assembly. When the second transport frame 132 moves directly above the first transport member 122 or the second transport member 123, each of the second workpiece adsorption units 133 is located directly above the adjacent workpiece placement seat 127. When the first transport member 122 or the second transport member 123 is directly below the second transport frame 132, each second workpiece adsorption unit 133 can adsorb the workpiece to be tested in the adjacent workpiece placement seat 127. Then, by moving the second transport frame 132 along the fifth slide rail 131, all the workpieces adsorbed on the second workpiece adsorption units 133 can be transferred to the detection mechanism 200.

[0032] The inspection mechanism 200 has two sets of CCD inspection components. These two sets of CCD inspection components are sequentially arranged between the loading mechanism 100 and the unloading mechanism 300. Each set of CCD inspection components includes a workpiece conveying unit 210 and a workpiece inspection unit 220.

[0033] The workpiece conveying unit 210 includes a first conveying guide rail 211 disposed between the loading mechanism 100 and the unloading mechanism 300. Two first movable seats 212 are slidably mounted on the first conveying guide rail 211, and both first movable seats 212 reciprocate along the first conveying guide rail 211 under the drive of a driving device. A first tilting frame 213 is rotatably mounted on the upper end of each first movable seat 212, and the rotation axis of the first tilting frame 213 extends horizontally. The length direction of the first tilting frame 213 is perpendicular to the conveying direction of the first conveying guide rail 211. A plurality of workpiece fixing seats 214 are fixedly mounted on the first tilting frame 213, and each workpiece fixing seat 214 is provided with a workpiece adsorption element for adsorbing workpieces. The number of workpiece fixing seats 214 is equal to the number of second workpiece adsorption units 133 on the second transport frame 132, and the distance between any two adjacent workpiece fixing seats 214 is equal to the distance between any two adjacent second workpiece adsorption units 133 on the second transport frame 132.

[0034] It should be noted that the rotation axes of the first flipping frames 213 on both first moving seats 212 are perpendicular to the conveying direction of the first conveying guide rail 211. Initially, the adsorption surface of the workpiece adsorption element is parallel to the horizontal plane. When the two first flipping frames 213 rotate 90° in opposite directions (each first flipping frame 213 rotates towards the side of the other first flipping frame 213), any workpiece fixing seat 214 on any one first flipping frame 213 is aligned with the adjacent workpiece fixing seat 214 on the other first flipping frame 213. At this time, by controlling the two first moving seats 212 to move closer together until they are in contact, the workpiece can be transferred from one first flipping frame 213 to the other.

[0035] When the second transport frame 132 moves along the fifth slide rail 131 to the discharge station, the first movable seat 212 adjacent to the loading mechanism 100 can move along the first conveying guide rail 211 to directly below the second transport frame 132. When the first flipping frame 213 is in its initial state, that is, when all the workpiece fixing seats 214 on the first flipping frame 213 are arranged horizontally, each workpiece fixing seat 214 is located directly below the adjacent second workpiece adsorption unit 133. At this time, driven by the third lifting drive component 134, the second workpiece adsorption unit 133 can be lowered to dock with the workpiece fixing seat 214. Then, by controlling the opening and closing of the second workpiece adsorption unit 133 and the workpiece adsorption component through the through hole, the workpiece to be tested can be transferred from the loading mechanism 100 to the testing mechanism 200.

[0036] The workpiece inspection unit 220 includes a mounting bracket 221 fixedly mounted on the first conveying guide rail 211 and two sets of CCD detection elements mounted on the mounting bracket 221. The two sets of CCD detection elements are fixedly mounted on opposite sides of the mounting bracket 221. The two sets of CCD detection elements are arranged sequentially along the conveying direction of the first conveying guide rail 211. Each set of CCD detection elements includes a number of CCD detection units 222 equal to the number of workpiece fixing seats 214 on the first flipping frame 213. These CCD detection units 222 are arranged equidistantly along the length of the first flipping frame 213. When the first flipping frame 213 is directly below the CCD detection elements, each workpiece fixing seat 214 is located within the detection area of ​​an adjacent CCD detection unit 222.

[0037] During workpiece inspection, the first movable seat 212 carrying the workpiece moves the first flipping frame 213 on it to the first set of CCD detectors for inspection. After inspection, the two first flipping frames 213 are flipped so that the workpiece fixing seats 214 on them are positioned opposite each other. Then, the two first movable seats 212 are moved closer together until they are in contact, transferring the workpiece from the first first flipping frame 213 to the second first flipping frame 213. During this transfer, the workpiece is also flipped. The bottom surface of the workpiece is then inspected using the second set of CCD detectors.

[0038] Preferably, a rotating seat is rotatably mounted on the first tilting frame 213 below each workpiece fixing seat 214, and the rotation axis of the rotating seat is perpendicular to the rotation axis of the first tilting frame 213. Each workpiece fixing seat 214 is fixedly mounted on an adjacent rotating seat. Meanwhile, each CCD detection unit 222 includes a first lifting drive 222a fixedly mounted on a mounting bracket 221, a lifting seat 222b driven by the first lifting drive 222a, and a CCD detection camera 222c fixedly mounted on the lifting seat 222b. During the detection process, when the first tilting frame 213 rotates 90° and the rotating seat drives the workpiece fixing seat 214 to rotate around its own axis, the workpiece detection height changes. Therefore, the lifting seat 222b needs to drive the CCD detection camera 222c to rise and fall to compensate for the depth of field corresponding to different detection positions.

[0039] To ensure the effectiveness of the CCD inspection camera 222c in inspecting the workpiece, each CCD inspection unit 222 also includes a supplementary lighting assembly fixedly mounted on the lifting base 222b. This supplementary lighting assembly is located directly below the CCD inspection camera 222c. The supplementary lighting assembly includes a coaxial supplementary lighting unit 222d and four strip supplementary lighting units 222e. The coaxial supplementary lighting unit 222d is fixedly mounted on a coaxial light source box on the lifting base 222b. Each strip supplementary lighting unit 222e includes a mounting base fixedly mounted at the lower end of the coaxial light source box and a strip supplementary light lamp disposed within the mounting base. The four strip supplementary lights are arranged in a rectangle below the coaxial light source box.

[0040] During CCD inspection, the CCD inspection camera 222c captures the top surface image of the workpiece using coaxial light and the four edge images of the workpiece using four edge beams. These images are then synthesized into a 2.5D image using optical path stereoscopic technology. The method for capturing the bottom surface of the workpiece is the same as that for the top surface.

[0041] Preferably, all the aforementioned strip lights are hinged to the mounting base via a hinge shaft. The mounting base has an arc-shaped waist hole, and correspondingly, the strip light has a positioning hole aligned with the arc-shaped waist hole. A positioning bolt is detachably installed in this positioning hole. During use, the angle of the strip light can be adjusted by controlling its rotation around the hinge shaft. After adjusting to the target angle, the angle of the strip light is fixed by tightening the positioning bolt.

[0042] It should be noted that the first transport guide rails 211 in the two sets of CCD detection components are aligned. This allows the workpiece to be transferred after the workpiece has been inspected by the first set of CCD detection components, by flipping the two adjacent first flip frames 213 of the two CCD detection components. Then, the second set of CCD detection components inspects the remaining positions of the workpiece. Figure 9 This is a schematic diagram showing the detection positions on the top and bottom surfaces of the workpiece.

[0043] The unloading mechanism 300 includes a second mounting frame 310 and a receiving assembly 320, a tray loading assembly 330, an unloading assembly 340, a tray transport assembly 350, and an unloading robot 360, all mounted on the second mounting frame 310. The receiving assembly 320 receives workpieces that have completed inspection in the inspection mechanism 200. The unloading robot 360 then transports these workpieces to the corresponding unloading assembly 340. The tray loading assembly 330 and the tray transport assembly 350 transport empty workpiece trays to the corresponding unloading assembly 340.

[0044] Specifically, the receiving assembly 320 includes a second tilting frame 321 rotatably mounted on the second mounting frame 310. A plurality of workpiece fixing seats 214 are equidistantly arranged along the length of the second tilting frame 321, and the number of workpiece fixing seats 214 on the second tilting frame 321 is equal to the number of workpiece fixing seats 214 on the first tilting frame 213. When the second tilting frame 321 rotates 90° in the opposite direction to the adjacent first tilting frame 213, any workpiece fixing seat 214 on the second tilting frame 321 is aligned with an adjacent workpiece fixing seat 214 on the first tilting frame 213. At this time, by controlling the first tilting frame 213 to move towards the second tilting frame 321, the workpiece on the first tilting frame 213 can be transferred to the second tilting frame 321. After receiving the workpiece, the second tilting frame 321 rotates back to its initial state, i.e., the workpiece fixing seats 214 on the second tilting frame 321 are arranged horizontally, facilitating the unloading robot 360 to grasp the workpiece.

[0045] The pallet loading assembly 330 includes a first pallet rack 331 fixedly mounted on a second mounting frame 310, a first lifting platform located within the first pallet rack 331, and two first belt conveyors fixedly disposed within the first pallet rack 331. The two first belt conveyors are located on opposite sides of the first lifting platform, with their conveying surfaces on the same horizontal plane. When the first lifting platform is lowered to its lowest position, its upper surface is lower than the conveying surface of the first belt conveyor. The operator pre-places stacked empty pallets on the first belt conveyors. Then, by controlling the operation of the first belt conveyors, the pallets are transported to the first lifting platform, which then lifts the pallet stack to the target height, facilitating subsequent handling of the pallets by the pallet handling assembly 350.

[0046] The unloading assembly 340 includes a first unloading unit and a second unloading unit. The first unloading unit is used to unload workpieces that pass inspection. The second unloading unit is used to unload workpieces that fail inspection. Specifically, the first unloading unit includes a second material rack 341 fixedly mounted on a second mounting frame 310, a second lifting platform located within the second material rack 341, and two second belt conveyors fixedly disposed within the second material rack 341. The two second belt conveyors are located on opposite sides of the second lifting platform, with their conveying surfaces on the same horizontal plane. When the second lifting platform is lowered to its lowest position, its upper surface is lower than the conveying surfaces of the second belt conveyors. The second unloading unit includes a third material rack 342 fixedly mounted on the second mounting frame 310, a third lifting platform located within the third material rack 342, a discharge slide rail fixedly disposed within the third material rack 342, and a unloading tray slidably disposed on the discharge slide rail. The material unloading pallet has a notch in the middle for the third lifting platform to pass through, and when the third lifting platform is lowered to its lowest position, the upper surface of the third lifting platform is lower than the upper surface of the material unloading pallet.

[0047] The tray handling assembly 350 includes a first tray handling unit and a second tray handling unit. The first tray handling unit handles empty trays from the tray loading assembly 330 to the first unloading unit, and the second tray handling unit handles empty trays from the tray loading assembly 330 to the second unloading unit. Specifically, the first tray handling unit includes a first tray handling bracket 351 mounted above the first tray rack 331, a sixth slide rail 352 fixedly mounted on the first tray handling bracket 351, a third movable seat 353 slidably mounted on the sixth slide rail 352, a fourth lifting drive fixedly mounted on the third movable seat 353, and a first tray suction member 354 drivenly connected to the fourth lifting drive. Both the first and second lifting platforms are located directly below the displacement path of the first tray suction member 354. The second tray handling unit includes a second tray handling bracket 355 mounted above the first tray rack 331, a seventh slide rail 356 fixedly mounted on the second tray handling bracket 355, a fourth movable seat 357 slidably mounted on the seventh slide rail 356, a fifth lifting drive fixedly mounted on the fourth movable seat 357, and a second tray adsorption member 358 drivenly connected to the fifth lifting drive. Both the first lifting platform and the third lifting platform are located directly below the displacement path of the second tray adsorption member 358.

[0048] After the material tray loading assembly 330 raises the material tray stack to a preset height, the third moving seat 353 drives the first material tray suction component 354 to slide along the sixth slide rail 352 to directly above the first lifting platform. Then, the fourth lifting drive component 124 drives the first material tray suction component 354 to descend until it contacts the uppermost material tray in the material tray stack. At this time, the first material tray suction component 354 operates, suctioning the uppermost material tray. Subsequently, the third moving seat 353 drives the first material tray suction component 354 to slide to directly above the second lifting platform, and the fourth lifting drive component 124 drives the first material tray suction component 354 to descend, placing the material tray on the second lifting platform. Later, when the material trays on the second lifting platform are full, the second lifting platform is controlled to descend to a certain height, and the first material tray transport unit then transports the next empty material tray to above the full material tray for subsequent unloading. When the full material tray in the first unloading unit is full, the second lifting platform can be lowered to place the full material tray onto the second belt conveyor, which then transports it outwards. The loading process for empty material trays and the continuous unloading process in the second unloading unit are the same as those in the first unloading unit. The difference is that when the full material tray in the second unloading unit is full, the third lifting platform is lowered to place the full material onto the unloading pallet, which is then pulled out by the operator to unload the material.

[0049] In addition, this application embodiment also provides a multi-angle fully automatic workpiece inspection method, which specifically includes the following steps: Step S101: The first conveyor 122 and the second conveyor 123 in the feeding mechanism 100 alternately convey the workpiece to be inspected to the discharge assembly 130, and the discharge assembly 130 conveys it to the workpiece fixing seat 214 on the adjacent first flipping frame 213 in the adjacent CCD detection assembly. Step S102: The first moving seat 212 drives the first flipping frame 213 carrying the workpiece to move along the first conveying guide rail 211 to the detection area of ​​the previous CCD detection unit, so that each CCD detection unit 222 can detect the workpiece below it. During the detection process, the CCD detection camera 222c is first controlled to detect the upper surface of the workpiece. Then, the first flipping frame 213 is controlled to rotate 90°, so that the workpiece is flipped from a horizontal state to a vertical state. At the same time, the rotating seat is controlled to drive the workpiece fixing seat 214 to rotate, so that the workpiece rotates around its own axis. The CCD detection camera 222c detects different positions on the side of the workpiece. During the detection process, the first lifting drive 222a124 drives the CCD detection camera 222c to rise and fall to compensate for the depth of field corresponding to different detection positions. Step S103: After the detection is completed, control the other first flip frame 213 in the CCD detection assembly to rotate 90° so that the adsorption surfaces of the workpiece adsorption elements in the two first flip frames 213 are set opposite each other. Then control the two first moving seats 212 to move closer to each other until the workpiece is clamped between the two opposing workpiece adsorption elements in the two first flip frames 213. Then control the opening and closing of the workpiece adsorption elements to transfer the workpiece to the other first flip frame 213. After that, both first flip frames 213 rotate and reset. The first moving seat 212 without a workpiece drives the first flip frame 213 on it to reset to the initial position to receive the workpiece again. The first moving seat 212 with a workpiece drives the first flip frame 213 on it to move to the detection area of ​​the next CCD detection assembly to complete the above detection items. Then drive the workpiece to the next CCD detection assembly. Step S104: The first flipping frame 213 containing the workpiece in the previous CCD detection assembly docks with the adjacent first flipping frame 213 in the next CCD detection assembly, transferring the workpiece to the next CCD detection assembly. After completing the above detection items, the workpiece is moved to the feeding mechanism 300. Step S105: The second flipping frame 321 in the unloading mechanism 300 docks with the first flipping frame 213 containing the workpiece in the adjacent CCD detection component, and the workpiece is transferred to the unloading mechanism 300 in sequence. At the same time, the unloading robot 360 places the workpiece in the corresponding material tray according to the workpiece detection result, and realizes unloading.

[0050] Therefore, the technical solution of this application automatically transports the workpiece to be inspected to the inspection mechanism 200 through the feeding mechanism 100, and the inspection mechanism 200 automatically inspects the workpiece. After the inspection is completed, the unloading mechanism 300 automatically unloads the workpiece. The entire inspection process basically does not require operator intervention, has a high degree of automation, and effectively improves the inspection efficiency of the workpiece.

[0051] In addition to the above embodiments, the present invention may have other implementation methods; all technical solutions formed by equivalent substitution or equivalent transformation fall within the protection scope claimed by the present invention.

Claims

1. A multi-angle fully automatic workpiece inspection device, characterized in that: include: The feeding mechanism (100) is used to move the workpiece to be inspected into the inspection mechanism (200); The testing mechanism (200) includes a CCD testing component, which includes a workpiece conveying unit (210) and a workpiece testing unit (220). The workpiece conveying unit (210) includes a first conveying guide rail (211), a first movable seat (212) slidably disposed on the first conveying guide rail (211), a first flipping frame (213) rotatably mounted on the first movable seat (212), a workpiece fixing seat (214) fixedly mounted on the first flipping frame (213), and a workpiece adsorption component fixedly mounted on the workpiece fixing seat (214). There are two first movable seats (212), and the first flipping frames (212) on the two first movable seats (212) are connected together. 3) The rotation axes are all perpendicular to the conveying direction of the first conveying guide rail (211). In the initial state, the adsorption surface of the workpiece adsorption component is parallel to the horizontal plane. When the two first flipping frames (213) rotate 90° in opposite directions, the adsorption surfaces of the two workpiece adsorption components are arranged opposite each other and aligned with each other. The workpiece detection unit (220) includes a mounting bracket (221) fixedly mounted on the first conveying guide rail (211) and two sets of CCD detection components set on the mounting bracket (221). The two sets of CCD detection components are arranged sequentially along the conveying direction of the first conveying guide rail (211), and both sets of CCD detection components are located directly above the displacement path of the workpiece fixing seat (214). And a feeding mechanism (300) for receiving the workpieces conveyed by the detection mechanism (200) and feeding them.

2. The multi-angle fully automatic workpiece inspection equipment according to claim 1, characterized in that: The length direction of the first flipping frame (213) is perpendicular to the conveying direction of the first conveying guide rail (211). A plurality of workpiece fixing seats (214) are arranged equidistantly along the length direction of the first flipping frame (213). When two first flipping frames (213) rotate 90° in opposite directions, any workpiece fixing seat (214) on any first flipping frame (213) is aligned with the adjacent workpiece fixing seat (214) on the other first flipping frame (213).

3. The multi-angle fully automatic workpiece inspection equipment according to claim 2, characterized in that: Each set of CCD detection components includes a number of CCD detection units (222) that are the same as the number of workpiece holders (214) on the first flipping frame (213). Several CCD detection units (222) are arranged equidistantly along the length of the first flipping frame (213). When the first flipping frame (213) is located directly below the CCD detection component, each workpiece holder (214) is located within the detection area of ​​the adjacent CCD detection unit (222).

4. The multi-angle fully automatic workpiece inspection equipment according to claim 3, characterized in that: A rotating seat is rotatably mounted on each of the workpiece fixing seats (214) on the first flipping frame (213), and the rotation axis of the rotating seat is perpendicular to the rotation axis of the first flipping frame (213). The workpiece fixing seat (214) is fixedly mounted on the rotating seat. The CCD detection unit (222) includes a first lifting drive (222a) fixedly mounted on the mounting bracket (221), a lifting seat (222b) drivenly connected to the first lifting drive (222a), and a CCD detection camera (222c) fixedly mounted on the lifting seat (222b).

5. The multi-angle fully automatic workpiece inspection equipment according to claim 4, characterized in that: The CCD detection unit (222) further includes a supplementary lighting component fixedly installed on the lifting base (222b) and located directly below the CCD detection camera (222c). The supplementary lighting component includes a coaxial supplementary lighting unit (222d) and four strip supplementary lighting units (222e). The coaxial supplementary lighting unit (222d) includes a coaxial light source box fixedly installed on the lifting base (222b). Each strip supplementary lighting unit (222e) includes a mounting base fixedly installed at the lower end of the coaxial light source box and a strip supplementary light lamp disposed in the mounting base. The four strip supplementary lights are arranged in a rectangle below the coaxial light source box.

6. The multi-angle fully automatic workpiece inspection equipment according to claim 5, characterized in that: The strip fill light is hinged to the mounting base, which has an arc-shaped waist hole. The strip fill light has a positioning hole aligned with the arc-shaped waist hole, and a positioning bolt can be detachably installed in the positioning hole.

7. The multi-angle fully automatic workpiece inspection equipment according to claim 6, characterized in that: The CCD detection components are provided in two sets, and the two sets of CCD detection components are arranged sequentially between the feeding mechanism (100) and the unloading mechanism (300), and the first conveying guide rail (211) in the two sets of CCD detection components are aligned.

8. The multi-angle fully automatic workpiece inspection equipment according to claim 7, characterized in that: The feeding mechanism (100) includes a feeding assembly (110), an alternating conveying assembly (120), and a discharging assembly (130); The alternating conveying assembly (120) includes a first mounting frame (121), a first conveying member (122) and a second conveying member (123) slidably mounted on the first mounting frame (121), and a driving member (124) for moving the first conveying member (122) and the second conveying member (123). The conveying directions of the first conveying member (122) and the second conveying member (123) are both parallel to the conveying direction of the first conveying guide rail (211). The first conveying member (122) and the second conveying member (123) are each provided with a number of workpiece placement seats (127) that are the same as the number of workpiece fixing seats (214) on the first flipping frame (213). The workpiece placement seats (127) are arranged equidistantly along the length of the first flipping frame (213), and each workpiece placement seat (127) is aligned with the adjacent workpiece fixing seat (214) on the first flipping frame (213). A first slide rail (125) is fixedly provided at the upper end of the first mounting frame (121), and a second slide rail (126) is fixedly provided at the bottom of the mounting frame. Both the first slide rail (125) and the second slide rail (126) extend along the conveying direction of the first conveying guide rail (211). The first conveying component (122) and the second conveying component (123) are slidably arranged on the first slide rail (125) and the second slide rail (126) respectively. The second slide rail (126) is used for conveying the second conveyor (123). The second conveyor (123) includes a base plate (123a) slidably disposed on the second slide rail (126), a lifting plate (123b) mounted on the base plate (123a) via a lifting rod (123e), and a guide rod (123c) fixedly disposed at one end of the lifting plate (123b). The workpiece placement seat (127) is fixedly disposed on the lifting plate (123b). The mounting bracket has a V-shaped waist hole (121a) on one side near the guide rod (123c), and the two ends of the V-shaped waist hole (121a) are respectively near the feeding assembly (110) and the discharging assembly (130). The guide rod (123a) is fixedly disposed on one end of the lifting plate (123b). The end of 23c) is rotatably provided with a guide wheel (123d) adapted to the V-shaped waist hole (121a), and the guide wheel (123d) is located inside the V-shaped waist hole (121a); ​​when the guide wheel (123d) is located in the middle of the V-shaped waist hole (121a), the second conveyor (123) is located below the first conveyor (122); when the guide wheel (123d) is located at either end of the V-shaped waist hole (121a), the second conveyor (123) and the first conveyor (122) are located in the same horizontal plane, and the second conveyor (123) and the first conveyor (122) are respectively located at both ends of the mounting frame;The driving component (124) includes a plurality of rollers (124a) rotatably mounted on one side of the mounting frame, a transmission belt (124b) wrapped around the outside of the rollers (124a), and a drive motor (124c) for driving any roller (124a) to rotate. One end of the first conveying component and the second conveying component are fixedly connected to the transmission belt (124b), and the first conveying component and the second conveying component move in opposite directions. The feeding assembly (110) includes a feeding conveyor belt (111) and a first conveying component (112). The first conveying component (112) includes a third slide rail (112a) fixedly installed on both sides of the first mounting frame (121). The extension direction of the third slide rail (112a) is parallel to the movement direction of the first conveyor component (122). A first conveying frame (112b) is slidably installed on the third slide rail (112a). The first conveying frame (112b) is located above the first mounting frame (121). A fourth slide rail (112c) is fixedly installed on the first conveying frame (112b). The fourth slide rail (112c) extends perpendicularly to the extension direction of the third slide rail (112a). A second movable seat (112d) is slidably mounted on the fourth slide rail (112c). A first workpiece adsorption unit (112e) and a second lifting drive (124) for driving the first workpiece adsorption unit (112e) to rise and fall are provided on the second movable seat (112d). The conveying direction of the feeding conveyor belt (111) is parallel to the moving direction of the first transport frame (112b). The feeding conveyor belt (111) extends to the bottom of the first transport frame (112b). The discharge assembly (130) includes a fifth slide rail (131) fixedly disposed on both sides of the first mounting frame (121). The extension direction of the fifth slide rail (131) is parallel to the moving direction of the first conveyor (122). A second transport frame (132) is slidably mounted on the fifth slide rail (131). The second transport frame (132) is located above the first mounting frame (121). A second workpiece adsorption unit (133) with the same number as the workpiece fixing seat (214) on the first flipping frame (213) and a third lifting drive (134) for driving the second workpiece adsorption unit (133) to rise and fall are fixedly mounted on the second transport frame (132).

9. The multi-angle fully automatic workpiece inspection equipment according to claim 8, characterized in that: The unloading mechanism (300) includes a receiving component (320), a tray loading component (330), an unloading component (340), a tray handling component (350), and an unloading robot (360); The receiving assembly (320) includes a second flipping frame (321) rotatably mounted on a second mounting frame (310). A plurality of workpiece fixing seats (214) are arranged equidistantly along the length direction of the second flipping frame (321), and the number of workpiece fixing seats (214) on the second flipping frame (321) is equal to the number of workpiece fixing seats (214) on the first flipping frame (213). When the second flipping frame (321) rotates 90° in the opposite direction to the adjacent first flipping frame (213), any workpiece fixing seat (214) on the second flipping frame (321) is aligned with the adjacent workpiece fixing seat (214) on the first flipping frame (213). The material tray loading assembly (330) includes a first material rack (331) fixedly installed on the second mounting frame (310), a first lifting platform located in the first material rack (331), and two first belt conveyors fixedly installed in the first material rack (331). The two first belt conveyors are located on both sides of the first lifting platform, and the conveying surfaces of the two first belt conveyors are located in the same horizontal plane. When the first lifting platform is lowered to the lowest position, the upper surface of the first lifting platform is lower than the conveying surface of the first belt conveyor. The unloading assembly (340) includes a first unloading unit and a second unloading unit. The first unloading unit includes a second material rack (341) fixedly installed on a second mounting frame (310), a second lifting platform located in the second material rack (341), and two second belt conveyors fixedly installed in the second material rack (341). The two second belt conveyors are located on both sides of the second lifting platform, and the conveying surfaces of the two second belt conveyors are located in the same horizontal plane. When the second lifting platform is lowered to the lowest position, the upper surface of the second lifting platform is lower than the conveying surface of the second belt conveyor. The second unloading unit includes a third material rack (342) fixedly installed on a second mounting frame (310), a third lifting platform located in the third material rack (342), a discharge slide rail fixedly installed in the third material rack (342), and a unloading tray slidably installed on the discharge slide rail. The unloading tray has a notch in the middle for the third lifting platform to pass through. When the third lifting platform is lowered to the lowest position, the upper surface of the third lifting platform is lower than the upper surface of the unloading tray. The tray handling assembly (350) includes a first tray handling unit and a second tray handling unit. The first tray handling unit includes a first tray handling bracket (351) mounted above the first tray rack (331), a sixth slide rail (352) fixedly mounted on the first tray handling bracket (351), a third movable seat (353) slidably mounted on the sixth slide rail (352), a fourth lifting drive fixedly mounted on the third movable seat (353), and a first tray suction unit (354) drivenly connected to the fourth lifting drive. The first lifting platform and the second lifting platform are both located on the first tray. The second tray conveying unit includes a second tray conveying bracket (355) mounted on the first tray (331), a seventh slide rail (356) fixedly mounted on the second tray conveying bracket (355), a fourth movable seat (357) slidably mounted on the seventh slide rail (356), a fifth lifting drive fixedly mounted on the fourth movable seat (357), and a second tray adsorption component (358) drivenly connected to the fifth lifting drive component. The first lifting platform and the third lifting platform are both located directly below the displacement path of the second tray adsorption component (358). The unloading robot (360) is fixedly installed on the second mounting frame (310) and is used to transport the workpiece in the workpiece fixing seat (214) on the second flipping frame (321) to the material tray on the second lifting platform or the third lifting platform.

10. A multi-angle fully automatic workpiece inspection method based on claim 9, characterized in that: include: The first conveyor (122) and the second conveyor (123) in the feeding mechanism (100) alternately convey the workpiece to be inspected to the discharge assembly (130), and the discharge assembly (130) conveys it to the workpiece fixing seat (214) on the adjacent first flipping frame (213) in the adjacent CCD detection assembly; The first moving seat (212) drives the first flipping frame (213) carrying the workpiece to move along the first conveying guide rail (211) to the detection area of ​​the previous CCD detection unit, so that each CCD detection unit (222) can detect the workpiece below it. During the detection process, the CCD detection camera (222c) is first controlled to detect the upper surface of the workpiece. Then, the first flipping frame (213) is controlled to rotate 90°, so that the workpiece is flipped from a horizontal state to a vertical state. At the same time, the rotating seat is controlled to drive the workpiece fixing seat (214) to rotate, so that the workpiece rotates around its own axis. The CCD detection camera (222c) detects different positions on the side of the workpiece. During the detection process, the first lifting drive (222a)(124) drives the CCD detection camera (222c) to rise and fall to compensate for the depth of field corresponding to different detection positions. After the detection is completed, the other first flip frame (213) in the CCD detection assembly is rotated 90° so that the adsorption surfaces of the workpiece adsorption elements in the two first flip frames (213) are set opposite each other. Then, the two first moving seats (212) are controlled to move closer to each other until the workpiece is clamped between the two opposing workpiece adsorption elements in the two first flip frames (213). Then, the workpiece adsorption elements are controlled to open and close so that the workpiece is transferred to the other first flip frame (213). After that, both first flip frames (213) are rotated and reset. The first moving seat (212) without workpieces drives the first flip frame (213) on it to reset to the initial position to receive materials again. The first moving seat (212) with workpieces drives the first flip frame (213) on it to move to the detection area of ​​the next CCD detection component to complete the above detection items. Then, the workpiece is moved to the next CCD detection assembly. The first flipping frame (213) containing the workpiece in the previous CCD detection assembly docks with the adjacent first flipping frame (213) in the next CCD detection assembly, transferring the workpiece to the next CCD detection assembly. After completing the above detection items, the workpiece is moved to the feeding mechanism (300). The second flipping frame (321) in the unloading mechanism (300) docks with the first flipping frame (213) in the adjacent CCD detection component, which contains the workpiece, and transfers the workpiece to the unloading mechanism (300) in sequence. At the same time, the unloading robot (360) places the workpiece in the corresponding tray according to the workpiece detection result, thereby realizing unloading.

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