End plug size and appearance defect detection device

Abstract

The invention provides an end plug size and appearance defect detection device, and relates to the technical field of detection, the end plug size and appearance defect detection device comprises a feeding unit and a detection unit; wherein the feeding unit is used for conveying an end plug to the detection unit; the detection unit comprises a mounting table, and a workpiece positioning device, a first transfer device, a second transfer device, a first visual detection device, a second visual detection device, a third visual detection device, a rotary positioning device and a third transfer device which are arranged on the mounting table. According to the end plug detection device, the full-automatic process from conveying to detection of end plugs is achieved, the detection efficiency and precision are remarkably improved, size detection and appearance defect detection are integrated, the structure of detection equipment is optimized, the space utilization rate of a production line is improved, multiple pieces of equipment do not need to be used, the operation process is greatly simplified, operation complexity is reduced, and the production efficiency is improved. And the detection efficiency is improved.

Description

Technical Field

[0001] This invention relates to the field of testing equipment technology, and in particular to a device for detecting end plug size and appearance defects. Background Technology

[0002] The outer shell of the nuclear fuel rods needs to be welded to the end plugs. Therefore, the size of the end plugs needs to match the nuclear fuel rods. To ensure the safe operation of the fuel rods in the nuclear reactor, the size of each end plug needs to be inspected, including the end plug cone angle, height, diameter (outer diameter, outer ring diameter, inner ring diameter), etc. At the same time, the appearance of the end plugs also needs to be inspected, including the top, bottom and sides of the end plugs, to avoid surface defects such as scratches as much as possible.

[0003] Currently, the inspection of end plug dimensions mainly relies on manual measurement using measuring tools. This method is not only inefficient but also lacks accuracy. Regarding the inspection of end plug appearance defects, although some inspection devices have been developed, these devices are limited in function and have low automation levels, requiring manual operation for many steps, resulting in low inspection efficiency and a heavy workload. Furthermore, existing inspection equipment is complex in structure, has low space utilization, and occupies a large area. Moreover, dimensional and appearance inspections often require separate equipment, increasing operational complexity and reducing work efficiency. Summary of the Invention

[0004] In view of this, the present invention proposes an end plug size and appearance defect detection device, which improves detection efficiency and accuracy, enhances automation level, simplifies operation process, and optimizes equipment structure and space utilization by integrating end plug size and appearance defect detection functions.

[0005] The technical solution of this invention is implemented as follows:

[0006] This invention provides an end plug size and appearance defect detection device, including a feeding unit and a detection unit located on one side of the feeding unit; wherein,

[0007] The feeding unit is used to transport the end plugs to the detection unit;

[0008] The inspection unit includes a mounting platform and a workpiece positioning device, a first transfer device, a second transfer device, a first vision inspection device, a second vision inspection device, a third vision inspection device, a rotary positioning device, and a third transfer device mounted on the mounting platform. The first transfer device is used to transfer the end plug at the end of the feeding unit to the workpiece positioning device. The first vision inspection device is used to measure the side dimensions of the end plug on the workpiece positioning device. The second transfer device is used to transfer the end plug on the workpiece positioning device to the second vision inspection device. The second vision inspection device is used to inspect the top surface defects and bottom surface dimensions of the end plug. The third transfer device is used to transfer the end plug on the second vision inspection device to the rotary positioning device. The third vision inspection device is used to inspect the bottom surface and side surface defects of the end plug on the rotary positioning device.

[0009] Based on the above technical solution, preferably, the workpiece positioning device includes a fixed base, a linear module, a positioning seat, a positioning plate, a limiting frame, and a first lifting cylinder;

[0010] The fixed base is fixedly located on the mounting platform, and the first visual detection device is located on one side of the fixed base;

[0011] The positioning seat is slidably mounted on the fixed base, and the top surface of the positioning seat is provided with a positioning groove for positioning the bottom surface of the end plug;

[0012] The positioning plate is vertically fixed on the side of the fixed base away from the first vision detection device. The side of the positioning plate facing the positioning seat has a V-shaped groove for positioning the outer circumferential surface of the end plug.

[0013] The linear module is mounted on a fixed base and is used to drive the positioning seat to translate towards the positioning plate.

[0014] The limiting frame is U-shaped and is horizontally fitted on the outside of the positioning seat. The opening of the limiting frame faces the positioning plate. The first lifting cylinder is fixedly installed on the side wall of the fixed base and is used to drive the limiting frame to move up and down.

[0015] Further, preferably, the first visual inspection device includes a focusing mechanism, a first 2D area array camera, a first optical lens, and a first surface light source. The first surface light source is fixedly mounted on the mounting platform and located on the side of the positioning plate away from the positioning seat. The focusing mechanism is fixedly located on the side of the fixed base away from the first surface light source. The first 2D area array camera is mounted on the focusing mechanism. The first optical lens is mounted on the side of the first 2D area array camera facing the positioning seat, and the optical axis of the first optical lens is flush with the length direction of the positioning groove.

[0016] Based on the above technical solution, preferably, the detection unit further includes a receiving platform fixedly installed on the mounting platform, the feeding unit includes a vibrating plate and a direct vibration feeding guide rail, one end of the direct vibration feeding guide rail is connected to the vibrating plate and the other end is connected to the receiving platform, and the first transfer device is used to transfer the end plug on the receiving platform to the positioning groove.

[0017] The first transfer device includes a fixed frame, a rodless cylinder, a second lifting cylinder, and a first suction cup. The fixed frame is fixedly installed on the mounting platform and located between the receiving platform and the workpiece positioning device. The rodless cylinder is horizontally fixed on the fixed frame and is used to drive the second lifting cylinder to move horizontally back and forth. The first suction cup is located below the second lifting cylinder and can move up and down under the action of the second lifting cylinder.

[0018] Based on the above technical solution, preferably, the second visual inspection device includes an upper mounting bracket, a second 2D area array camera, a second optical lens, a first ring light source, a stage, a lower mounting bracket, a third 2D area array camera, a third optical lens, and a second ring light source.

[0019] The lower mounting bracket is fixedly mounted on the upper surface of the mounting platform, the stage is fixedly mounted on the top surface of the lower mounting bracket, and a glass slide is fixedly mounted on the top surface of the stage for supporting the end plug;

[0020] The first annular light source is fixedly mounted on the bottom surface of the lower mounting bracket and is used to allow the light source to pass upward through the glass slide.

[0021] The second 2D area array camera is fixedly installed on the lower surface of the mounting platform, and the second optical lens is installed on the top surface of the second 2D area array camera for detecting the bottom surface dimensions of the end plug.

[0022] The upper mounting bracket is fixedly mounted on the top surface of the lower mounting bracket, and the second annular light source is fixedly mounted on the side wall of the upper mounting bracket to illuminate the glass slide downwards.

[0023] The third 2D area array camera is fixedly mounted on the top surface of the upper mounting bracket, and the third optical lens is fixedly mounted below the third 2D area array camera for detecting defects on the top surface of the end plug.

[0024] The second optical lens, the third optical lens, the first ring light source, the second ring light source, and the glass slide are arranged coaxially.

[0025] Based on the above technical solution, preferably, the second transfer device is located between the workpiece positioning device and the second vision inspection device, and includes a first mounting base, a third lifting cylinder, a first swing cylinder, a first swing arm, and a second suction cup. The first mounting base is fixedly mounted on the mounting platform, the third lifting cylinder is fixedly mounted on the first mounting base, and the third lifting cylinder is used to drive the first swing cylinder to move up and down. One end of the first swing arm is connected to the rotating end of the first swing cylinder, and the other end is fixedly connected to the second suction cup. The first swing cylinder is used to drive the second suction cup to swing horizontally back and forth between the top surface of the positioning base and the top surface of the platform.

[0026] Based on the above technical solution, preferably, the third transfer device includes a flipping gripper and a swing gripper assembly. The flipping gripper assembly is used to grip the end plug on the platform and flip it 180°. The swing gripper assembly is used to grip the flipped end plug on the flipping assembly and transfer it to the rotary positioning device. The rotary positioning device is used to position and rotate the end plug. The third visual inspection device is set on one side of the rotary positioning device and includes a first 3D laser camera and a second 3D laser camera. The first 3D laser camera is used to detect defects on the bottom surface of the end plug on the rotary positioning device, and the second 3D laser camera is used to detect defects on the side surface of the end plug on the rotary positioning device. The third visual inspection device is also equipped with a good product warehouse and a defective product warehouse.

[0027] Based on the above technical solution, preferably, the flipping gripping component is disposed between the second visual detection device and the swing gripping component, including a second mounting base, a fourth lifting cylinder, a second swing cylinder, a second swing arm, a third suction cup, and a limiting seat. The second mounting base is fixedly disposed on the mounting platform, and the fourth lifting cylinder is fixedly disposed on the second mounting base for driving the second swing cylinder to move up and down. One end of the second swing arm is fixedly connected to the rotating end of the second swing cylinder, and the other end is vertically fixedly connected to the third suction cup. The limiting seat is fixedly disposed on the mounting platform and located on the side of the second mounting base away from the second visual detection device. The second swing cylinder is used to drive the second swing arm to flip between the top surface of the platform and the top surface of the limiting seat.

[0028] Based on the above technical solution, preferably, the swing gripping assembly includes a first base, a first servo motor, a connecting seat, a fifth lifting cylinder, a swing arm, and a fourth suction cup. The first base is fixedly mounted on the mounting platform. The first servo motor is located inside the first base. The output axis of the first servo motor passes through the first base and is fixedly connected to the connecting seat. The fifth lifting cylinder is fixedly mounted on the connecting seat. The telescopic end of the fifth lifting cylinder is vertically upward and fixedly connected to one end of the swing arm. The other end of the swing arm is fixedly connected to the fourth suction cup below. The fourth suction cup can transfer the end plug on the fourth suction cup located above the limiting seat to the rotary positioning device under the horizontal swing action of the swing arm.

[0029] Based on the above technical solution, preferably, the rotary positioning device includes a second base, a second servo motor, a driving wheel, a driven wheel, a transmission component, a positioning fixture, and a vacuum suction tube. The second base is fixedly mounted on the mounting platform. The second servo motor is located inside the second base. The output shaft of the second servo motor is vertically upward and fixedly connected to the driving wheel. The driven wheel is rotatably mounted on the top surface of the second base and located on one side of the driven wheel. The driving wheel and the driven wheel are connected by a transmission component. The positioning fixture is fixedly mounted on the driven wheel. The upper end of the vacuum suction tube is fixedly connected to the positioning fixture and is used to adsorb the top surface of the end plug placed on the positioning fixture. The lower end of the vacuum suction tube is used to connect to the air pipe connector.

[0030] The present invention has the following advantages over the prior art:

[0031] (1) By integrating the automated feeding unit, transfer device and vision inspection device, the fully automated process from conveying to inspection of end plugs is realized, which significantly improves the inspection efficiency and avoids the low efficiency problem of manual measurement. Each vision inspection device uses precision image processing technology to inspect the various dimensions and appearance defects of the end plugs, which greatly improves the measurement accuracy and solves the problem of insufficient accuracy in manual measurement. This device integrates dimension inspection and appearance defect inspection into one, eliminating the need to use multiple devices, greatly simplifying the operation process, reducing the complexity of operation, and improving the inspection efficiency. At the same time, this device integrates dimension and appearance defect inspection functions, avoiding the problem of using multiple devices to occupy a lot of space in the traditional way, optimizing the structure of the inspection equipment, and improving the space utilization of the production line.

[0032] (2) By setting up a linear module and a positioning plate, when the end plug is placed on the positioning groove, the linear module can drive the positioning seat to move towards the positioning plate, so that the outer side of the end plug contacts the V-groove on the positioning plate, thereby achieving the reference positioning of the end plug on the positioning seat, thus ensuring that the subsequent second transfer device can accurately grasp and transfer it.

[0033] (3) By setting a first lifting cylinder and a limiting frame, when the end plug is placed into the positioning groove, the first lifting cylinder first drives the limiting frame to rise, so that the limiting frame is above the positioning groove. The inner width of the limiting frame is just matched with the outer diameter of the end plug. Thus, when the end plug is placed, the limiting frame can limit the outer periphery of the end plug in the horizontal direction, ensuring that the end plug can effectively fall into the positioning groove. When the end plug is driven by the linear module and comes into contact with the inner wall of the V-shaped groove, the entire limiting frame is reset, thereby exposing the end plug, which facilitates the first vision inspection device to perform size inspection on the side profile of the end plug above the positioning groove.

[0034] (4) The bottom and top surfaces of the end plug are inspected by the second and third 2D area array cameras respectively, realizing all-round inspection and improving the comprehensiveness and accuracy of inspection. At the same time, size inspection and appearance defect inspection are carried out simultaneously, which greatly improves inspection efficiency.

[0035] (5) Through the cooperation of the flip-grip gripper and the swing gripper, the end plug can be fully detected at different angles. In particular, through the rotation function of the rotation positioning device, the bottom and side surfaces of the end plug can be detected by the 3D laser camera, which greatly improves the detection efficiency and accuracy. Attached Figure Description

[0036] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. 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.

[0037] Figure 1 This is a schematic diagram of the end plug structure disclosed in this invention;

[0038] Figure 2 This is a schematic diagram of the planar structure of the end plug size and appearance defect detection device disclosed in this invention;

[0039] Figure 3 This is a three-dimensional structural schematic diagram of the detection unit disclosed in this invention;

[0040] Figure 4 This is a schematic diagram of the assembly structure of the workpiece positioning device, the first transfer device, and the first vision inspection device disclosed in this invention.

[0041] Figure 5 This is a three-dimensional structural schematic diagram of the workpiece positioning device disclosed in this invention;

[0042] Figure 6 This is a schematic diagram showing the relative positions of the workpiece positioning device and the first vision inspection device disclosed in this invention.

[0043] Figure 7 This is a three-dimensional structural diagram of the second transfer device and the second visual inspection device disclosed in this invention;

[0044] Figure 8 This is a schematic diagram of the assembly structure of the third transfer device, the rotation positioning device, and the third vision inspection device disclosed in this invention.

[0045] Figure 9 This is a three-dimensional structural diagram of the flip-type gripper disclosed in this invention;

[0046] Figure 10 This is a three-dimensional structural diagram of the swing gripping component disclosed in this invention;

[0047] Figure 11 This is a three-dimensional structural diagram of the rotary positioning device disclosed in this invention;

[0048] Figure label:

[0049] 1. Feeding unit; 11. Vibratory feeder; 12. Straight vibratory feeder rail; S. End plug;

[0050] 2. Inspection unit; 21. Mounting platform; 30. Receiving platform; 31. Good product warehouse; 32. Defective product warehouse;

[0051] 22. Workpiece positioning device; 221. Fixed base; 222. Linear module; 223. Positioning seat; 224. Positioning plate; 225. Limiting frame; 226. First lifting cylinder; 2231. Positioning groove; 2241. V-groove;

[0052] 25. First visual inspection device; 251. Focusing mechanism; 252. First 2D area array camera; 253. First optical lens; 254. First surface light source;

[0053] 23. First transfer device; 231. Fixing frame; 232. Rodless cylinder; 233. Second lifting cylinder; 234. First suction cup;

[0054] 26. Second visual inspection device; 261. Upper mounting bracket; 262. Second 2D area array camera; 263. Second optical lens; 264. First ring light source; 265. Stage; 2651. Glass slide; 266. Lower mounting bracket; 267. Third 2D area array camera; 268. Third optical lens; 269. Second ring light source;

[0055] 24. Second transfer device; 241. First mounting base; 242. Third lifting cylinder; 243. First swing cylinder; 244. First swing arm; 245. Second suction cup;

[0056] 29. Third transfer device; 291. Tilting gripper; 2911. Second mounting base; 2912. Fourth lifting cylinder; 2913. Second swing cylinder; 2914. Second swing arm; 2915. Third suction cup; 2916. Limiting seat;

[0057] 292. Swing gripping assembly; 2921. First base; 2922. First servo motor; 2923. Connecting seat; 2924. Fifth lifting cylinder; 2925. Swing arm; 2926. Fourth suction cup;

[0058] 27. Third vision inspection device; 271. First 3D laser camera; 272. Second 3D laser camera;

[0059] 28. Rotary positioning device; 281. Second base; 282. Second servo motor; 283. Drive wheel; 284. Driven wheel; 285. Transmission component; 286. Positioning fixture; 287. Vacuum suction tube. Detailed Implementation

[0060] The technical solutions of the present invention will be clearly and completely described below with reference to the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0061] like Figure 1 As shown, combined with Figure 2-3 This invention discloses an end plug size and appearance defect detection device, including a feeding unit 1 and a detection unit 2 located on one side of the feeding unit 1.

[0062] The feeding unit 1 is used to transport the end plug S to the detection unit 2, ensuring the automation of the entire detection process. The feeding unit 1 can automatically transfer the end plug to the detection unit, avoiding manual operation and improving the efficiency and stability of the feeding process.

[0063] The detection unit 2 includes a mounting platform 21 and a workpiece positioning device 22, a first transfer device 23, a second transfer device 24, a first vision inspection device 25, a second vision inspection device 26, a third vision inspection device 27, a rotation positioning device 28, and a third transfer device 29 disposed on the mounting platform 21.

[0064] In this embodiment, the entire detection unit 2 is installed in a frame (not shown in the figure), and the mounting platform 21 is used to provide the mounting base for the above-mentioned devices.

[0065] The first transfer device 23 is used to transport the end plug from the loading unit 1 to the workpiece positioning device 22. This step ensures that the end plug is correctly delivered to the detection position.

[0066] The workpiece positioning device 22 is used to fix the position of the end plug and serves as the first inspection station, providing an accurate reference for subsequent inspections.

[0067] The first vision inspection device 25 is used to measure the side profile dimensions of the end plug, such as the outer cone facet angle, outer cone chamfer, cone apex height, inner ring height, and outer diameter, providing accurate dimensional data.

[0068] The second transfer device 24 is used to transfer the end plug from the workpiece positioning device 22 to the second vision inspection device 26 for further inspection, ensuring the continuity and automation of the inspection process.

[0069] The second visual inspection device 26 serves as the second inspection station, used to inspect the top surface defects and bottom dimensions of the end plug, ensuring the integrity and dimensional matching of critical parts.

[0070] Specifically, the second vision inspection device 26 can inspect the dimensions of the end plug, such as the outer diameter, inner ring inner diameter, outer ring inner diameter, and groove width, and can also identify defects such as scratches, dents, and foreign objects on the conical surface.

[0071] The third transfer device 29 is used to transfer the end plug on the second visual inspection device 26 to the rotary positioning device 28, in preparation for further inspection of bottom and side defects.

[0072] The rotation positioning device 28 is used to precisely rotate the end plug so that its different detection surfaces are exposed in the direction of the third vision detection device 27, ensuring all-round detection.

[0073] The third vision inspection device 27 is responsible for inspecting defects on the bottom and sides of the end plug, thereby ensuring that there are no defects such as scratches in the appearance quality.

[0074] Specifically, the third vision inspection device 27 can detect indentations, scratches, and debris on the side, and can also detect scratches, indentations, and debris on the inner and outer ring end faces of the end plug bottom surface.

[0075] By integrating the automated feeding unit 1, the transfer device, and the vision inspection device, a fully automated process from conveying to inspection of end plugs is realized, significantly improving inspection efficiency and avoiding the inefficiency of manual measurement. Each vision inspection device uses precision image processing technology to detect various dimensions and appearance defects of the end plugs, greatly improving measurement accuracy and solving the problem of insufficient accuracy in manual measurement. This device integrates dimension inspection and appearance defect inspection into one unit, eliminating the need for multiple devices, greatly simplifying the operation process, reducing operational complexity, and improving inspection efficiency. At the same time, the device integrates dimension and appearance defect inspection functions, avoiding the problem of occupying a lot of space with multiple devices in the traditional method, optimizing the structure of the inspection equipment, and improving the space utilization of the production line.

[0076] In order to enable the workpiece positioning device 22 to serve as an initial positioning reference after the end plug is transferred from the feeding unit 1 to the workpiece positioning device 22, and to provide a reliable basis for the subsequent transfer and inspection of the end plug, this embodiment shows a preferred structural configuration of the workpiece positioning device 22.

[0077] For details, please refer to the appendix. Figure 4 and5 As shown, the workpiece positioning device 22 includes a fixed base 221, a linear module 222, a positioning seat 223, a positioning plate 224, a limit frame 225, and a first lifting cylinder 226.

[0078] The fixed base 221 is fixedly located on the mounting platform 21, and the first visual inspection device 25 is located on one side of the fixed base 221. The first visual inspection device 25 is used to inspect the side dimensions of the end plug horizontally in the direction of the fixed base 221.

[0079] The positioning seat 223 is slidably disposed on the fixed base 221. The top surface of the positioning seat 223 is provided with a positioning groove 2231 for positioning the bottom surface of the end plug. In this embodiment, the first transfer device 23 transfers the end plug at the end of the feeding unit 1 to the positioning groove 2231. At this time, it is ensured that the conical surface of the end plug faces upward and the inner ring of the bottom surface of the end plug cooperates with the positioning groove 2231.

[0080] To ensure the end plug is accurately positioned in the positioning groove 2231, in this embodiment, the positioning plate 224 is vertically fixed on the side of the fixed base 221 away from the first visual inspection device 25. The positioning plate 224 has a V-shaped groove 2241 on the side facing the positioning seat 223 for positioning the outer circumferential surface of the end plug. At the same time, a linear module 222 is provided on the fixed base 221 to drive the positioning seat 223 to translate towards the positioning plate 224.

[0081] With this configuration, when the end plug is placed on the positioning groove 2231, the linear module 222 drives the positioning seat 223 to move toward the positioning plate 224, so that the outer side of the end plug contacts the V-groove 2241 on the positioning plate 224, thereby achieving the reference positioning of the end plug on the positioning seat 223, thus ensuring that the subsequent second transfer device 24 can accurately grasp and transfer it.

[0082] Since the first transfer device 23 cannot accurately place the inner ring of the bottom surface of the end plug into the positioning groove 2231 every time it places the end plug into the positioning groove 2231, this may cause the end plug to be skewed and slide off the top surface of the positioning seat 223. Therefore, this embodiment provides a limiting frame 225 and a first lifting cylinder 226.

[0083] The limiting frame 225 is U-shaped and is horizontally fitted on the outside of the positioning seat 223. The opening of the limiting frame 225 faces the positioning plate 224. The first lifting cylinder 226 is fixedly installed on the side wall of the fixed base 221 and is used to drive the limiting frame 225 to move up and down.

[0084] With this configuration, when the end plug is placed into the positioning groove 2231, the first lifting cylinder 226 drives the limiting frame 225 to rise, so that the limiting frame 225 is above the positioning groove 2231. The inner width of the limiting frame 225 is just matched with the outer diameter of the end plug. Thus, when the end plug is placed, the limiting frame 225 can limit the outer periphery of the end plug in the horizontal direction, ensuring that the end plug can effectively fall into the positioning groove 2231. When the end plug is driven by the linear module 222 and comes into contact with the inner wall of the V-groove 2241, the entire limiting frame 225 is reset, thereby exposing the end plug, which facilitates the first vision inspection device 25 to perform dimensional inspection on the side profile of the end plug above the positioning groove 2231.

[0085] This embodiment illustrates the specific structure of the first visual detection device 25, as shown in the attached diagram. Figure 4 and 6 As shown, it includes a focusing mechanism 251, a first 2D area array camera 252, a first optical lens 253, and a first surface light source 254.

[0086] The first light source 254 is fixedly mounted on the mounting platform 21 and located on the side of the positioning plate 224 away from the positioning seat 223. The focusing mechanism 251 is fixedly located on the side of the fixed base 221 away from the first light source 254. The first 2D area array camera 252 is mounted on the focusing mechanism 251. The first optical lens 253 is mounted on the side of the first 2D area array camera 252 facing the positioning seat 223, and the optical axis of the first optical lens 253 is flush with the length direction of the positioning groove 2231.

[0087] The focusing mechanism 251 is used to adjust the focal length of the first 2D area array camera 252 and the first optical lens 253 to obtain a clear inspection image. After the focal length of the first 2D area array camera 252 is adjusted by the focusing mechanism 251, it can clearly capture the side image of the end plug, providing high-quality image data for subsequent image processing and dimensional measurement. The first optical lens 253 works in conjunction with the first 2D area array camera 252 to be responsible for the imaging optical system. The optical axis of the first optical lens 253 is aligned with the length direction of the positioning groove 2231, ensuring that the side of the end plug is in the optimal position during imaging, reducing image distortion and measurement errors. The first light source 254 provides uniform illumination for imaging. The first light source 254 is fixed on the mounting stage 21 and located on the side of the positioning plate 224 away from the positioning seat 223, avoiding obstruction and interference of the light source, ensuring that the side of the end plug can be uniformly illuminated, thereby obtaining a high-quality image.

[0088] In order for the first transfer device 23 to smoothly transfer the end plug from the end of the feeding unit 1 to the positioning groove 2231, refer to the attached drawing. Figure 4As shown, the detection unit 2 in this embodiment also includes a receiving platform 30 fixedly mounted on the mounting platform 21. The feeding unit 1 includes a vibratory plate 11 and a linear vibratory feeding guide rail 12. One end of the linear vibratory feeding guide rail 12 is connected to the vibratory plate 11, and the other end is connected to the receiving platform 30. The first transfer device 23 is used to transfer the end plug on the receiving platform 30 to the positioning groove 2231.

[0089] The receiving platform 30 is used to receive and temporarily store the end plugs transferred from the feeding unit 1, ensuring that the end plugs have a stable temporary storage space during the process of being transferred from the feeding unit 1 to the detection unit 2, thus avoiding the loss or misalignment of the end plugs. The combination of the vibratory feeder 11 and the linear vibratory feeding guide 12 enables automatic feeding of end plugs, reducing manual intervention and improving work efficiency. The vibratory feeder 11 sorts the end plugs, and the linear vibratory feeding guide 12 transports the sorted end plugs to the receiving platform 30, ensuring the continuity and automation of the end plug feeding process.

[0090] The first transfer device 23 includes a fixed frame 231, a rodless cylinder 232, a second lifting cylinder 233, and a first suction cup 234. The fixed frame 231 is fixedly mounted on the mounting platform 21 and is located between the receiving platform 30 and the workpiece positioning device 22. The rodless cylinder 232 is horizontally fixed on the fixed frame 231 and is used to drive the second lifting cylinder 233 to move horizontally back and forth. The first suction cup 234 is located below the second lifting cylinder 233 and can move up and down under the action of the second lifting cylinder 233.

[0091] Using the above technical solution, when there is an end plug on the receiving platform 30, the rodless cylinder 232 drives the second lifting cylinder 233 and the first suction cup 234 to move horizontally towards the receiving platform 30. After the first suction cup 234 moves directly above the receiving platform 30, the second lifting cylinder 233 drives the first suction cup 234 to descend and adsorb the top surface of the end plug. Immediately afterwards, the second lifting cylinder 233 is lifted, and then the rodless cylinder 232 drives the second lifting cylinder 233 and the first suction cup 234 to move horizontally towards the positioning seat 223. When the end plug is directly above the positioning groove 2231, the second lifting cylinder 233 drives the first suction cup 234 to descend and drop the end plug into the positioning groove 2231.

[0092] By combining the vibratory feeder 11, the linear vibratory feeding guide 12, the rodless cylinder 232, the second lifting cylinder 233, and the first suction cup 234, the automated feeding and transfer of the end plug is realized, which improves the automation level, working efficiency and detection accuracy of the system, reduces the error of manual operation, and ensures the stability and reliability of the detection device.

[0093] In order to enable the second vision inspection device 26 to inspect the top surface defects and bottom surface dimensions of the end plug, this embodiment shows a preferred structural configuration of the second vision inspection device 26.

[0094] For details, please refer to the appendix. Figure 7 As shown, the second visual inspection device 26 includes an upper mounting bracket 261, a second 2D area array camera 262, a second optical lens 263, a first ring light source 264, a stage 265, a lower mounting bracket 266, a third 2D area array camera 267, a third optical lens 268, and a second ring light source 269.

[0095] The lower mounting bracket 266 is fixedly mounted on the upper surface of the mounting platform 21, providing a mounting base for the stage 265, the first ring light source 264, the upper mounting bracket 261, the third 2D area array camera 267, the third optical lens 268, and the second ring light source 269. The stage 265 is fixedly mounted on the top surface of the lower mounting bracket 266, and a glass slide 2651 is fixedly mounted on the top surface of the stage 265 to support the end plug. In this embodiment, the stage 265 has a cylindrical structure to facilitate the light source passing through the stage 265 and through the glass slide 2651.

[0096] The first annular light source 264 is fixedly mounted on the bottom surface of the lower mounting bracket 266, and is used to pass the light source upward through the glass slide 2651.

[0097] The second 2D area array camera 262 is fixedly mounted on the lower surface of the mounting platform 21, and the second optical lens 263 is mounted on the top surface of the second 2D area array camera 262 for detecting the bottom surface dimensions of the end plug. The fact that both the second 2D area array camera 262 and the second optical lens 263 are mounted on the lower surface of the mounting platform 21 can reduce the installation height of the entire second vision inspection device 26 on the top surface of the mounting platform 21, thereby making full use of the space and avoiding the excessive space occupation caused by directly mounting the second vision inspection device 26 on the top surface of the mounting platform 21, which would also affect the end plug transfer operation of the second transfer device 24 and the third transfer device 29.

[0098] The upper mounting bracket 261 is fixedly mounted on the top surface of the lower mounting bracket 266 to provide a mounting base for the third 2D area array camera 267, the third optical lens 268 and the second ring light source 269. The second ring light source 269 is fixedly mounted on the side wall of the upper mounting bracket 261 to illuminate the glass slide 2651 downwards.

[0099] The third 2D area array camera 267 is fixedly mounted on the top surface of the upper mounting bracket 261, and the third optical lens 268 is fixedly mounted below the third 2D area array camera 267 for detecting defects on the top surface of the end plug.

[0100] The second optical lens 263, the third optical lens 268, the first ring light source 264, the second ring light source 269, and the glass slide are coaxially arranged. This ensures the uniformity of light source illumination and the clarity of the image, reducing detection errors caused by uneven illumination.

[0101] The bottom and top surfaces of the end plug are inspected by the second 2D area array camera 262 and the third 2D area array camera 267, respectively, realizing all-round inspection and improving the comprehensiveness and accuracy of inspection. At the same time, dimensional inspection and appearance defect inspection are carried out simultaneously, which greatly improves the inspection efficiency.

[0102] This embodiment illustrates a preferred structural configuration of the second transfer device 24. For details, please refer to the attached document. Figure 7 As shown, the second transfer device 24 is located between the workpiece positioning device 22 and the second vision inspection device 26, and includes a first mounting base 241, a third lifting cylinder 242, a first swing cylinder 243, a first swing arm 244 and a second suction cup 245. The first mounting base 241 is fixedly mounted on the mounting table 21, and the third lifting cylinder 242 is fixedly mounted on the first mounting base 241. The third lifting cylinder 242 is used to drive the first swing cylinder 243 to move up and down. One end of the first swing arm 244 is connected to the rotating end of the first swing cylinder 243, and the other end is fixedly connected to the second suction cup 245. The first swing cylinder 243 is used to drive the second suction cup 245 to swing horizontally back and forth between the top surface of the positioning base 223 and the top surface of the platform 265.

[0103] The second transfer device 24, through both vertical and horizontal movement, enables the end plug to be efficiently transferred between the workpiece positioning device 22 and the second vision inspection device 26, greatly improving the automation level of the inspection process. The combination of the vertical movement of the third lifting cylinder 242 and the horizontal swing of the first swing cylinder 243 ensures that the second suction cup 245 can accurately grasp and release the end plug, reducing errors in the transfer process and improving the overall system accuracy.

[0104] As some preferred embodiments, please refer to the appendix. Figure 8 As shown, the third transfer device 29 includes a flip-grip 291 and a swing gripping assembly 292. The flip-grip assembly is used to grip the end plug on the stage 265 and flip it 180°. This process ensures that the bottom and sides of the end plug can be fully exposed in subsequent inspections.

[0105] The swing gripping assembly 292 is used to grip the flipped end plug on the flipping assembly and transfer it to the rotary positioning device 28.

[0106] The rotary positioning device 28 is used to position and rotate the end plug, ensuring that the end plug can be inspected from multiple angles and comprehensively during the inspection process.

[0107] The third-vision inspection device 27 is disposed on one side of the rotary positioning device 28, and includes a first 3D laser camera 271 and a second 3D laser camera 272. The first 3D laser camera 271 is used to detect defects on the bottom surface of the end plug on the rotary positioning device 28, and the second 3D laser camera 272 is used to detect defects on the side surface of the end plug on the rotary positioning device 28. The 3D laser cameras can provide high-precision three-dimensional inspection, ensuring that no defects on the bottom surface and side surface are missed.

[0108] The third vision inspection device 27 is also equipped with a good product warehouse and a defective product warehouse. The end plugs are classified according to the inspection results. Good products go into the good product warehouse and defective products go into the defective product warehouse to ensure product quality diversion.

[0109] With the cooperation of the flip-grip assembly 291 and the swing gripping assembly 292, the end plug can be fully detected at different angles. In particular, the rotation function of the rotary positioning device 28 enables the bottom and sides of the end plug to be detected by the 3D laser camera.

[0110] The flip-grip assembly 291 flips the end plug on the stage 265 by 180°, ensuring that the bottom surface of the end plug is exposed in the inspection field of view. The swing gripping assembly 292 then precisely moves the flipped end plug onto the rotary positioning device 28, ensuring stability and accuracy during the transfer process.

[0111] The third transfer device 29, through the flipping gripper 291 and the swing gripper assembly 292, realizes the automatic flipping and transfer of the end plugs. Combined with the rotary positioning device 28 and a high-precision 3D laser camera, it completes comprehensive inspection of the bottom and sides of the end plugs. Simultaneously, the establishment of good and defective product bins enables automatic classification of the end plugs after inspection, significantly improving the efficiency of the inspection process and product quality control. The entire device is ingeniously designed, highly automated, and suitable for precision quality inspection in mass production.

[0112] As some preferred embodiments, please refer to the appendix. Figure 9 As shown, the flipping gripping component is disposed between the second vision detection device 26 and the swing gripping component 292, and includes a second mounting base 2911, a fourth lifting cylinder 2912, a second swing cylinder 2913, a second swing arm 2914, a third suction cup 2915 and a limiting seat 2916.

[0113] The second mounting base 2911 is fixedly mounted on the mounting platform 21. The fourth lifting cylinder 2912 is fixedly mounted on the second mounting base 2911 and is used to drive the second swing cylinder 2913 to move up and down. One end of the second swing arm 2914 is fixedly connected to the rotating end of the second swing cylinder 2913, and the other end is vertically fixedly connected to the third suction cup 2915. The limiting seat 2916 is fixedly mounted on the mounting platform 21 and is located on the side of the second mounting base 2911 away from the second visual inspection device 26. The second swing cylinder 2913 is used to drive the second swing arm 2914 to flip between the top surface of the platform 265 and the top surface of the limiting seat 2916.

[0114] By controlling the movement of the fourth lifting cylinder 2912, the heights of the second swing cylinder 2913 and the third suction cup 2915 can be adjusted, thereby enabling grasping and flipping actions within a spatial range. The second swing cylinder 2913 allows the second swing arm 2914 to flip within a specific range, and the third suction cup 2915 generates negative pressure to adhere to the end plug, ensuring it does not detach during flipping. The limiting seat 2916 serves as a limiting device for the flipping action. It ensures that the second swing arm 2914 does not exceed its designed range during flipping, protecting the equipment and the end plug.

[0115] As some preferred embodiments, please refer to the appendix. Figure 10 As shown, the swing gripping assembly 292 includes a first base 2921, a first servo motor 2922, a connecting seat 2923, a fifth lifting cylinder 2924, a swing arm 2925, and a fourth suction cup 2926.

[0116] The first base 2921 is fixedly mounted on the mounting platform 21, serving as the basic support structure for the swing gripping assembly 292. The first servo motor 2922 is located inside the first base 2921, its output axis passing upwards through the first base 2921 and fixedly connected to the connecting seat 2923. The first servo motor 2922 provides precise rotational control to drive the rotation of the connecting seat 2923. The fifth lifting cylinder 2924 is fixedly mounted on the connecting seat 2923. The telescopic end of the fifth lifting cylinder 2924 is vertically upwards and fixedly connected to one end of the swing arm 2925. The fifth lifting cylinder 2924 adjusts the height of the swing arm 2925 and the fourth suction cup 2926 through its telescopic movement, thereby controlling the gripping's falling and rising operations. The other end of the swing arm 2925 is fixedly connected to the fourth suction cup 2926. The fourth suction cup 2926, positioned above the limiting seat 2916, can transfer the end plug from the swing arm 2925 to the rotary positioning device 28 under the horizontal swinging action of the swing arm 2925. The swing arm 2925 achieves the three-dimensional movement of the fourth suction cup 2926 through the up-and-down movement of the fifth lifting cylinder 2924 and the horizontal swinging of the connecting seat 2923. The fourth suction cup 2926 generates negative pressure to adsorb the end plug, ensuring it does not fall off during the transfer process.

[0117] As some preferred embodiments, please refer to the appendix. Figure 11 As shown, the rotary positioning device 28 includes a second base 281, a second servo motor 282, a drive wheel 283, a driven wheel 284, a transmission component 285, a positioning fixture 286, and a vacuum suction tube.

[0118] The second base 281 is fixedly mounted on the mounting platform 21, serving as the basic support structure for the entire rotary positioning device 28. The second servo motor 282 is located inside the second base 281, with its output shaft pointing vertically upwards and fixedly connected to the driving wheel 283. The driven wheel 284 is rotatably mounted on the top surface of the second base 281, located to one side of the driven wheel 284. The driving wheel 283 and the driven wheel 284 are connected via a transmission component 285. The servo motor provides precise rotational control to drive the driving wheel 283 and the driven wheel 284 via the transmission component. A positioning fixture 286 is fixedly mounted on the driven wheel 284 for fixing and positioning the end plug. The positioning fixture 286 rotates with the driven wheel 284, ensuring the end plug remains stable during rotation. The upper end of the vacuum suction tube is fixedly connected to the positioning fixture 286 and is used to adsorb the top surface of the end plug placed on the positioning fixture 286. The lower end of the vacuum suction tube is used to connect to the air pipe connector, which is connected to the vacuum system to provide the negative pressure required for adsorption.

[0119] The working principle of the end plug size and appearance defect detection device of the present invention:

[0120] The end plugs are manually loaded into the vibratory feeder 11. Under the action of the vibratory feeder 11 and the linear feeding guide 12, the end plugs are sequentially conveyed to the receiving platform 30. When there are end plugs on the receiving platform 30, the first transfer device 23 transfers the end plugs from the receiving platform 30 to the positioning groove 2231. After the end plugs are initially positioned in the positioning groove 2231, the first surface light source 254 is turned on. The first 2D area array camera 252 and the first optical lens 253 work together to detect the outer surface dimensions of the end plugs on the positioning groove 2231. After the outer surface dimensions of the end plugs are detected, the second transfer device 24 picks up the end plugs on the positioning groove 2231 and swings them horizontally to the loading platform 26. At step 5, the second vision inspection device 26 simultaneously inspects the top surface defects and bottom dimensions of the end plug. After the inspection at the above station is completed, the flipping gripping component picks up the end plug on the stage 265 and flips it 180°. Then, the swing gripping component 292 picks up the flipped end plug from the flipping component and transfers it to the rotary positioning device 28. The rotary positioning device 28 rotates the end plug and uses the first 3D laser camera 271 and the second 3D laser camera 272 to inspect the side and bottom surfaces of the end plug for defects, respectively. Based on the inspection results, the end plugs are classified. Good products go into the good product warehouse, and defective products go into the defective product warehouse, ensuring product quality diversion.

[0121] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A device for detecting end plug dimensions and appearance defects, characterized in that, It includes a feeding unit (1) and a detection unit (2) located on one side of the feeding unit (1); wherein, The feeding unit (1) is used to transport the end plug to the detection unit (2); The detection unit (2) includes a mounting platform (21) and a workpiece positioning device (22), a first transfer device (23), a second transfer device (24), a first vision inspection device (25), a second vision inspection device (26), a third vision inspection device (27), a rotary positioning device (28), and a third transfer device (29) disposed on the mounting platform (21). The first transfer device (23) is used to transfer the end plug of the conveying end of the loading unit (1) to the workpiece positioning device (22). The first vision inspection device (25) is used to inspect the workpiece positioning device (29). The side dimensions of the end plug on the workpiece positioning device (22) are measured. The second transfer device (24) is used to transfer the end plug on the workpiece positioning device (22) to the second vision inspection device (26). The second vision inspection device (26) is used to inspect the top surface defects and bottom surface dimensions of the end plug. The third transfer device (29) is used to transfer the end plug on the second vision inspection device (26) to the rotary positioning device (28). The third vision inspection device (27) is used to inspect the bottom surface and side surface defects of the end plug on the rotary positioning device (28).

2. The end plug size and appearance defect detection device as described in claim 1, characterized in that: The workpiece positioning device (22) includes a fixed base (221), a linear module (222), a positioning seat (223), a positioning plate (224), a limiting frame (225), and a first lifting cylinder (226); The fixed base (221) is fixedly located on the mounting platform (21), and the first visual inspection device (25) is located on one side of the fixed base (221); The positioning seat (223) is slidably mounted on the fixed base (221), and the top surface of the positioning seat (223) is provided with a positioning groove (2231) for positioning the bottom surface of the end plug; The positioning plate (224) is vertically fixed on the side of the fixed base (221) away from the first vision detection device (25). The positioning plate (224) has a V-shaped groove (2241) on the side facing the positioning seat (223) for positioning the outer peripheral surface of the end plug. The linear module (222) is mounted on the fixed base (221) and is used to drive the positioning seat (223) to translate towards the positioning plate (224); The limiting frame (225) is U-shaped and is horizontally fitted on the outside of the positioning seat (223). The opening of the limiting frame (225) faces the positioning plate (224). The first lifting cylinder (226) is fixedly installed on the side wall of the fixed base (221) to drive the limiting frame (225) to move up and down.

3. The end plug size and appearance defect detection device as described in claim 2, characterized in that: The first visual inspection device (25) includes a focusing mechanism (251), a first 2D area array camera (252), a first optical lens (253), and a first surface light source (254). The first surface light source (254) is fixedly mounted on the mounting platform (21) and located on the side of the positioning plate (224) away from the positioning seat (223). The focusing mechanism (251) is fixedly located on the side of the fixed base (221) away from the first surface light source (254). The first 2D area array camera (252) is mounted on the focusing mechanism (251). The first optical lens (253) is located on the side of the first 2D area array camera (252) facing the positioning seat (223), and the optical axis of the first optical lens (253) is flush with the length direction of the positioning groove (2231).

4. The end plug size and appearance defect detection device as described in claim 2, characterized in that: The detection unit (2) also includes a receiving platform (30) fixedly installed on the mounting platform (21). The feeding unit (1) includes a vibratory plate (11) and a linear vibratory feeding guide rail (12). One end of the linear vibratory feeding guide rail (12) is connected to the vibratory plate (11), and the other end is connected to the receiving platform (30). The first transfer device (23) is used to transfer the end plug on the receiving platform (30) to the positioning groove (2231). The first transfer device (23) includes a fixed frame (231), a rodless cylinder (232), a second lifting cylinder (233), and a first suction cup (234). The fixed frame (231) is fixedly mounted on the mounting platform (21) and located between the receiving platform (30) and the workpiece positioning device (22). The rodless cylinder (232) is horizontally fixed on the fixed frame (231) and is used to drive the second lifting cylinder (233) to move horizontally back and forth. The first suction cup (234) is located below the second lifting cylinder (233) and can move up and down under the action of the second lifting cylinder (233).

5. The end plug size and appearance defect detection device as described in claim 2, characterized in that: The second visual inspection device (26) includes an upper mounting bracket (261), a second 2D area array camera (262), a second optical lens (263), a first ring light source (264), a stage (265), a lower mounting bracket (266), a third 2D area array camera (267), a third optical lens (268), and a second ring light source (269); The lower mounting bracket (266) is fixedly mounted on the upper surface of the mounting platform (21), and the stage (265) is fixedly mounted on the top surface of the lower mounting bracket (266). A glass slide (2651) is fixedly mounted on the top surface of the stage (265) for supporting the end plug. The first ring light source (264) is fixedly mounted on the bottom surface of the lower mounting bracket (266) for passing the light source upward through the glass slide (2651); The second 2D area array camera (262) is fixedly mounted on the lower surface of the mounting platform (21), and the second optical lens (263) is mounted on the top surface of the second 2D area array camera (262) for detecting the bottom surface dimensions of the end plug; the upper mounting bracket (261) is fixedly mounted on the top surface of the lower mounting bracket (266), and the second ring light source (269) is fixedly mounted on the side wall of the upper mounting bracket (261) for illuminating the glass slide (2651) downwards; The third 2D area array camera (267) is fixedly mounted on the top surface of the upper mounting bracket (261), and the third optical lens (268) is fixedly mounted below the third 2D area array camera (267) for detecting defects on the top surface of the end plug; The second optical lens (263), the third optical lens (268), the first ring light source (264), the second ring light source (269), and the glass slide (2651) are arranged coaxially.

6. The end plug size and appearance defect detection device as described in claim 5, characterized in that: The second transfer device (24) is located between the workpiece positioning device (22) and the second vision inspection device (26), and includes a first mounting base (241), a third lifting cylinder (242), a first swing cylinder (243), a first swing arm (244) and a second suction cup (245). The first mounting base (241) is fixedly mounted on the mounting table (21), and the third lifting cylinder (242) is fixedly mounted on the first mounting base (241). The third lifting cylinder (242) is used to drive the first swing cylinder (243) to move up and down. One end of the first swing arm (244) is connected to the rotating end of the first swing cylinder (243), and the other end is fixedly connected to the second suction cup (245). The first swing cylinder (243) is used to drive the second suction cup (245) to swing horizontally back and forth between the top surface of the positioning base (223) and the top surface of the platform (265).

7. The end plug size and appearance defect detection device as described in claim 5, characterized in that: The third transfer device (29) includes a flipping gripper (291) and a swing gripper assembly (292). The flipping gripper assembly (291) is used to grip the end plug on the stage (265) and flip it 180°. The swing gripper assembly (292) is used to grip the flipped end plug on the flipping assembly and transfer it to the rotary positioning device (28). The rotary positioning device (28) is used to position and rotate the end plug. The third visual inspection device (27) is set on one side of the rotary positioning device (28) and includes a first 3D laser camera (271) and a second 3D laser camera (272). The first 3D laser camera (271) is used to detect defects on the bottom surface of the end plug on the rotary positioning device (28). The second 3D laser camera (272) is used to detect defects on the side surface of the end plug on the rotary positioning device (28). The third visual inspection device (27) is also equipped with a good product warehouse and a defective product warehouse.

8. The end plug size and appearance defect detection device as described in claim 7, characterized in that: The flipping gripping assembly (291) is disposed between the second visual inspection device (26) and the swing gripping assembly (292), and includes a second mounting base (2911), a fourth lifting cylinder (2912), a second swing cylinder (2913), a second swing arm (2914), a third suction cup (2915), and a limiting seat (2916). The second mounting base (2911) is fixedly disposed on the mounting platform (21), and the fourth lifting cylinder (2912) is fixedly disposed on the second mounting base (2911) for driving the second swing arm. The moving cylinder (2913) moves up and down. One end of the second swing arm (2914) is fixedly connected to the rotating end of the second swing cylinder (2913), and the other end is vertically fixedly connected to the third suction cup (2915). The limiting seat (2916) is fixedly set on the mounting platform (21) and located on the side of the second mounting base (2911) away from the second visual inspection device (26). The second swing cylinder (2913) is used to drive the second swing arm (2914) to flip between the top surface of the platform (265) and the top surface of the limiting seat (2916).

9. The end plug size and appearance defect detection device as described in claim 8, characterized in that: The swing gripping assembly (292) includes a first base (2921), a first servo motor (2922), a connecting seat (2923), a fifth lifting cylinder (2924), a swing arm (2925), and a fourth suction cup (2926). The first base (2921) is fixedly mounted on the mounting platform (21). The first servo motor (2922) is located inside the first base (2921). The output axis of the first servo motor (2922) passes upward through the first base (2921) and connects with the connecting seat (2926). 3) Fixed connection: The fifth lifting cylinder (2924) is fixedly installed on the connecting seat (2923). The telescopic end of the fifth lifting cylinder (2924) is vertically upward and fixedly connected to one end of the swing rod (2925). The other end of the swing rod (2925) is fixedly connected to the fourth suction cup (2926) below. The fourth suction cup (2926) can transfer the end plug on the fourth suction cup (2926) located above the limit seat (2916) to the rotary positioning device (28) under the horizontal swing action of the swing rod (2925).

10. The end plug size and appearance defect detection device as described in claim 9, characterized in that: The rotary positioning device (28) includes a second base (281), a second servo motor (282), a drive wheel (283), a driven wheel (284), a transmission component (285), a positioning fixture (286), and a vacuum suction tube (287). The second base (281) is fixedly mounted on the mounting platform (21). The second servo motor (282) is located inside the second base (281). The output shaft of the second servo motor (282) is vertically upward and fixedly connected to the drive wheel (283). The wheel (284) is rotatably mounted on the top surface of the second base (281) and located on one side of the driven wheel (284). The driving wheel (283) and the driven wheel (284) are connected by a transmission component (285). The positioning fixture (286) is fixedly mounted on the driven wheel (284). The upper end of the vacuum suction tube (287) is fixedly connected to the positioning fixture (286) and is used to adsorb the top surface of the end plug placed on the positioning fixture (286). The lower end of the vacuum suction tube (287) is used to connect to the air pipe connector.

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