A weld appearance inspection machine

Abstract

This invention discloses a weld joint appearance inspection machine. By arranging multiple cables in batches on a sample fixing plate and utilizing a closed-loop conveyor line consisting of upper, lower, left, and right circulating slide rails in the main inspection mechanism, a circulating fixture carrying multiple samples achieves uninterrupted circulation within the inspection station. Simultaneously, the coordinated drive of the first, second, and third circulating pusher sections ensures stable, rhythmic movement of the circulating fixture on the slide rails. Combined with the automatic loading and unloading mechanisms, this invention enables continuous and efficient automated inspection of batches of cable weld joints, effectively improving inspection efficiency and ensuring consistent inspection standards.

Description

Technical Field

[0001] This invention relates to the field of weld joint appearance inspection technology, and in particular to a weld joint appearance inspection machine. Background Technology

[0002] In the electronics, communications, and automotive wiring harness manufacturing industries, the soldering quality of cables and connectors (or terminals) is a critical factor affecting product reliability. The appearance of the solder joints, such as the presence of defects like incomplete soldering, missing solder, solder balls, bridging, solder spikes, or insufficient solder application, directly determines the stability of the electrical connection. Therefore, visual inspection of cable solder joints is an essential part of the production process.

[0003] Currently, the mainstream solder joint inspection methods in the industry still heavily rely on manual visual inspection. Operators must hold a single cable and observe and judge the appearance quality of each solder joint under a magnifying glass or a simple optical microscope. This traditional inspection mode has revealed the following significant shortcomings in actual production: (1) High labor costs and low testing efficiency make it difficult to match large-scale production: It takes several to more than ten seconds to manually test a cable solder joint, and visual fatigue is easily generated after long-term work, which further reduces the testing speed.

[0004] (2) Subjective testing standards and poor quality consistency: Differences in the eyesight, experience, and fatigue levels of different testing personnel may lead to different conclusions in judging the same weld defect. Even the same testing personnel may not maintain completely consistent judgment standards at different times. This subjectivity makes it difficult to trace back product quality, which can easily lead to misjudgment or missed detection of good and bad products, affecting the reliability of the final product and brand reputation. Summary of the Invention

[0005] Based on the above, the purpose of this invention is to provide a solder joint appearance inspection machine that enables automated inspection of solder joint appearance in batches and continuously, improves inspection efficiency, and ensures consistency of inspection standards.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: This invention provides a weld joint appearance inspection machine, including a feeding mechanism, a main inspection mechanism, and a unloading mechanism; The main detection mechanism includes a main frame, on which a circulating conveyor line is provided. The circulating conveyor line includes an upper circulating slide rail, a lower circulating slide rail, a left circulating slide rail, and a right circulating slide rail extending along a first direction. The upper circulating slide rail is located above the lower circulating slide rail, and the left and right circulating slide rails are located on both sides of the upper circulating slide rail. The left and right circulating slide rails are configured to move up and down along a third direction. The upper, lower, left, and right circulating slide rails are all slidably equipped with circulating fixtures. The sample fixing plate to be tested is fixed on the circulating fixture. Several cables to be inspected for weld point appearance are arranged on the sample fixing plate. The circulating fixture slides cyclically on the upper, left, lower, and right circulating slide rails. Camera detection devices are also provided on both sides of the upper circulating slide rail along the second direction.

[0007] Preferably, the camera detection device includes a first camera detection module and a second camera detection module, wherein the first camera detection module and the second camera detection module are disposed on the line of the circulating conveyor line; The first camera detection module inspects the appearance of the solder joints of the odd-numbered cables arranged on the sample fixing plate, and the second camera detection module inspects the appearance of the solder joints of the even-numbered cables arranged on the sample fixing plate.

[0008] The first camera detection module includes a first camera detection unit, a second camera detection unit, a third camera detection unit, and a fourth camera detection unit; The first camera detection unit and the second camera detection unit are arranged opposite to each other and distributed on both sides of the loop conveyor line, and the line connecting the first camera detection unit and the second camera detection unit is perpendicular to the loop conveyor line. The third camera detection unit and the fourth camera detection unit are arranged opposite each other and distributed on both sides of the loop conveyor line. The line connecting the third camera detection unit and the fourth camera detection unit forms an angle α with the loop conveyor line.

[0009] Preferably, the included angle α is: 30°≤α≤60°.

[0010] Preferably, the second camera detection module includes a fifth camera detection unit, a sixth camera detection unit, a seventh camera detection unit, and an eighth camera detection unit; The fifth camera detection unit and the sixth camera detection unit are arranged opposite to each other and distributed on both sides of the loop conveyor line, and the line connecting the fifth camera detection unit and the sixth camera detection unit is perpendicular to the loop conveyor line. The seventh camera detection unit and the eighth camera detection unit are arranged opposite each other and distributed on both sides of the loop conveyor line. The line connecting the seventh camera detection unit and the eighth camera detection unit forms an angle β with the loop conveyor line.

[0011] Preferably, the included angle β is: 30°≤β≤ 60°.

[0012] Preferably, all the camera detection units have the same structure, and each camera detection unit includes a camera support frame on which a CCD camera is mounted.

[0013] Preferably, the camera support frame is further provided with a camera adjustment module, the camera adjustment module includes a camera adjustment base plate, a camera adjustment slide plate is slidably disposed on the camera adjustment base plate, a camera adjustment seat is disposed on the camera adjustment slide plate, and the CCD camera is disposed on the camera adjustment seat; A camera adjustment fixing plate is connected to the side of the camera adjustment base plate, and a camera adjustment screw is provided on the camera adjustment fixing plate. A camera adjustment connecting plate is provided on the side of the camera adjustment slide plate, and the camera adjustment screw is connected to the camera adjustment connecting plate.

[0014] The circulating conveyor line also includes: The first circulating pusher is used to push the circulating fixtures on the right circulating slide rail into the upper circulating slide rail one by one. The back of the circulating fixture is provided with a first circulating pusher slot. The second circulating pusher is used to push the circulating fixtures on the upper circulating slide rail to move one by one along the positive direction of the first direction on the upper circulating slide rail, and to push the circulating fixtures from the upper circulating slide rail to the left circulating slide rail. The third circulating pusher is mounted on the main frame and is used to push the circulating fixture to move sequentially along the negative direction of the first direction on the left circulating slide rail, the lower circulating slide rail and the right circulating slide rail.

[0015] Preferably, the first circulating pusher includes a first circulating pusher drive module one, and a first circulating pusher drive module two is provided at the output end of the first circulating pusher drive module one. The first circulating pusher drive module one can drive the first circulating pusher drive module two to move along a first direction, and a first circulating pusher block is provided at the output end of the first circulating pusher drive module two. The first circulating pusher drive module two can drive the first circulating pusher block to move along a second direction and engage with the first circulating pusher slot. The output end of the first circulating pusher drive module two is also provided with a first circulating pusher mounting plate. The first circulating pusher mounting plate is provided with a first circulating pusher drive module three and a first circulating pusher fixing block. The first circulating pusher fixing block is provided with a first circulating pusher slide groove. The first circulating pusher block is slidably disposed on the first circulating pusher slide groove. The first circulating pusher drive module three can drive the first circulating pusher block to move along a third direction on the first circulating pusher slide groove.

[0016] Preferably, the circulating fixture includes a circulating fixture mounting plate, a circulating fixture slot is provided at the bottom of the front side of the circulating fixture mounting plate, a first circulating fixture slider is provided on the back side of the circulating fixture mounting plate, a first circulating fixture groove is provided on the first circulating fixture slider, and the first circulating fixture groove extends along a first direction.

[0017] Preferably, a second circulating fixture slide rail is further provided on the back of the circulating fixture mounting plate. The second circulating fixture slide rail extends in a third direction. A second circulating fixture slide plate is slidably disposed on the second circulating fixture slide rail. A circulating fixture connecting plate is provided on the top of the second circulating fixture slide plate. A plurality of hooks are provided on the top of the circulating fixture connecting plate. The hooks extend to the top of the front side of the circulating fixture mounting plate. Two spaced circulating fixture positioning plates are also connected to the bottom of the middle part of the circulating fixture connecting plate. The two circulating fixture positioning plates and the circulating fixture connecting plate surround and form the first circulating pusher groove.

[0018] Preferably, a second circulating pusher groove is also provided at the bottom of the back side of the circulating fixture mounting plate; The second circulating pusher unit includes a second circulating pusher drive module one, and a second circulating pusher drive module two is provided at the output end of the second circulating pusher drive module one. The second circulating pusher drive module one can drive the second circulating pusher drive module two to move along the first direction. The second circulating material pushing drive module includes a second circulating material pushing drive slide rail, on which a second circulating material pushing drive slide plate is slidably disposed. The output end of the second circulating material pushing drive module is connected to the second circulating material pushing drive slide plate. The second circulating material pushing drive slide plate is provided with a second circulating material pushing drive motor and a plurality of second circulating material pushing drive fixing plates. A second circulating material pushing drive rotating rod is rotatably disposed on the second circulating material pushing drive fixing plates. The output end of the second circulating material pushing drive motor is connected to the second circulating material pushing drive rotating rod. A plurality of second circulating material pushing drive locking blocks are spaced apart on the second circulating material pushing drive rotating rod. The second circulating material pushing drive locking blocks can be locked into the second circulating material pushing slot.

[0019] Preferably, the main frame is further provided with a left circulation drive assembly, which includes a left circulation drive fixing plate, a left circulation drive slide rail and a left circulation drive cylinder on the left circulation drive fixing plate, the left circulation drive slide rail extends in a third direction, a left circulation slide plate is slidably disposed on the left circulation drive slide rail, the left circulation slide rail is disposed on the left circulation slide plate, the left circulation drive fixing plate is also provided with an upper left sensor switch and a lower left sensor switch, the upper left sensor switch is on the same horizontal line as the upper circulation slide rail, and the lower left sensor switch is on the same horizontal line as the lower circulation slide rail.

[0020] Preferably, the top of the left circulation drive fixing plate is further provided with a release drive module. The release drive module includes a first release cylinder, and a release fixing plate is provided at the output end of the first release cylinder. The first release cylinder can drive the release fixing plate to move along a second direction. The release fixing plate is provided with a second release cylinder and a release fixing block. A release groove is provided on the release fixing block. A fourth circulation push drive block is slidably provided on the release groove. The second release cylinder can drive the fourth circulation push drive block to move along a third direction. The fourth circulation push drive block can be engaged into the first circulation push slot.

[0021] Preferably, the third circulating pusher is located below the lower circulating slide rail; The third circulating material pushing unit includes a third circulating material pushing drive motor and a third circulating material pushing slide rail extending along a first direction. A third circulating material pushing slider is slidably disposed on the third circulating material pushing slide rail. A third circulating material pushing drive block is disposed above the third circulating material pushing slider. A third circulating material pushing drive wheel and a third circulating material pushing follower wheel are respectively disposed on both sides of the third circulating material pushing slide rail. A third circulating material pushing belt is sleeved between the third circulating material pushing drive wheel and the third circulating material pushing follower wheel. The third circulating material pushing belt is connected to the third circulating material pushing slider. The output end of the third circulating material pushing drive motor is connected to the third circulating material pushing drive wheel. The third circulating material pushing drive block can be engaged into the second circulating material pushing slot.

[0022] Preferably, the main frame is further provided with a right circulation drive assembly, which includes a right circulation drive fixing plate, a right circulation drive slide rail and a right circulation drive cylinder on the right circulation drive fixing plate, the right circulation drive slide rail extends in a third direction, a right circulation slide plate is slidably disposed on the right circulation drive slide rail, the right circulation slide rail is disposed on the right circulation slide plate, the right circulation slide rail is also provided with an upper right sensor switch and a lower right sensor switch, the upper right sensor switch is on the same horizontal line as the upper circulation slide rail, and the lower right sensor switch is on the same horizontal line as the lower circulation slide rail.

[0023] The main frame is also equipped with two sets of material handling devices; One set of material handling devices is located between the feeding mechanism and the circulating conveyor line, and is used to transfer the sample fixing plate from the feeding mechanism to the circulating conveyor line; Another set of material handling devices is set between the unloading mechanism and the circulating conveyor line to transfer the sample fixing plate from the circulating conveyor line to the unloading mechanism.

[0024] Preferably, the material handling device includes: The robotic arm has a material handling unit at its output end; The material handling unit includes a material handling mounting plate, on which two sets of material handling clamping components and adsorption components are provided. The material handling clamping components are located on both sides of the material handling mounting plate, and the adsorption components are located between the two material handling clamping components. During material handling, the material handling adsorption component first adsorbs the sample fixing plate located on the jig of the feeding mechanism, causing the sample fixing plate to deform. Then, the material handling clamping component clamps the deformed sample fixing plate.

[0025] Preferably, the material picking and adsorption assembly includes a material picking and adsorption driving cylinder, and the output end of the material picking and adsorption driving cylinder is provided with at least one set of material picking vacuum adsorption nozzles, which are connected to an external vacuum adsorption device. The output end of the material picking and adsorption driving cylinder is provided with a material picking and adsorption fixing plate, and the material picking vacuum adsorption nozzle is disposed on the material picking and adsorption fixing plate.

[0026] Preferably, the material handling clamping assembly includes a bidirectional material handling clamping cylinder, and the two output ends of the bidirectional material handling clamping cylinder are respectively provided with material handling clamping plates one-to-one; The material handling clamping plate is provided with a material handling clamping slot; The material handling device also includes a material handling connecting plate, which is connected to the rear side of the material handling mounting plate; The material handling connection plate is provided with a material handling connector on the side away from the material handling mounting plate, and the material handling connector is connected to the output end of the robotic arm.

[0027] Preferably, the feeding mechanism includes: The feeding rack is equipped with a feeding and return section; A feeding and pushing fixture is used to transport materials on the feeding and feeding return sections, wherein the feeding and feeding section transports the feeding and pushing fixture in the positive direction of the first direction, and the feeding and feeding return section transports the feeding and pushing fixture in the negative direction of the first direction. An empty material transfer unit is provided on the loading rack and is used to transfer the empty loading pusher from the loading feed unit to the loading return unit; A fixture positioning part is disposed on the feeding part and located near the front end of the feeding part, for positioning and fixing the feeding and pushing fixture located at the front end of the feeding part.

[0028] Preferably, the feeding rack is provided with a feeding channel, which is located below the conveying channel of the feeding unit.

[0029] Preferably, the feeding unit includes two symmetrically arranged feeding modules; The feeding module includes a feeding mounting plate extending along a first direction. A feeding drive wheel and a feeding follower wheel are rotatably mounted at the front and rear ends of the feeding mounting plate, respectively. A feeding belt is fitted between the feeding drive wheel and the feeding follower wheel. A feeding drive mechanism is also mounted on the feeding mounting plate, with its output end connected to the feeding drive wheel. A feeding stabilizing block is also mounted on the feeding belt, and a feeding stabilizing slot is formed on the feeding stabilizing block. The bottom corner of the feeding pusher fixture can be engaged in the feeding stabilizing slot.

[0030] Preferably, the feeding and returning section includes a feeding and returning drive mechanism and two symmetrically arranged feeding and returning modules; The feeding and returning module includes a feeding and returning mounting plate, which extends along a first direction. A feeding and returning drive wheel and a feeding and returning follower wheel are rotatably mounted at the front and rear ends of the feeding and returning mounting plate, respectively. A feeding and returning belt is sleeved between the feeding and returning drive wheel and the feeding and returning follower wheel. A feeding and returning drive shaft is coaxially connected between the two feeding and returning drive wheels, and a feeding and returning follower shaft is coaxially connected between the two feeding and returning follower wheels. The output end of the feeding and returning drive mechanism is connected to one of the feeding and returning drive wheels; The feeding and return conveyor belt is equipped with a feeding and return stabilizing block, and the feeding and return stabilizing block is provided with a feeding and return stabilizing slot. The bottom corner of the feeding pusher fixture can be locked in the feeding and return stabilizing slot.

[0031] Preferably, the feeding section and the feeding return section are arranged side by side, and the empty material transfer section is located above the feeding section and the feeding return section; The empty material transfer unit includes an empty material transfer mounting frame, on which a first empty material transfer moving module is provided. A second empty material transfer moving module is provided at the output end of the first empty material transfer moving module. The first empty material transfer moving module can drive the second empty material transfer moving module to move along a second direction. An empty material transfer clamping unit is provided at the output end of the second empty material transfer moving module. The second empty material transfer moving module can drive the empty material transfer clamping unit to move along a third direction.

[0032] Preferably, the empty material transfer clamping unit includes an empty material transfer clamping mounting plate, an empty material clamping bidirectional drive cylinder is provided at the center of the bottom of the empty material transfer clamping mounting plate, empty material clamping slide rails are provided on both sides of the empty material clamping bidirectional drive cylinder, empty material clamping sliders are slidably arranged on the empty material clamping slide rails, empty material clamping sliders are connected to empty material clamping plates one-to-one, and the two output ends of the empty material clamping bidirectional drive cylinder are respectively connected to the empty material clamping plates one-to-one.

[0033] Preferably, a plurality of sample fixing plates are stacked on the feeding and pushing fixture along the first direction, and a feeding and pushing block is slidably disposed on the feeding and pushing fixture, and a feeding and pushing slot is provided on the pushing block; The feeding and pushing fixture includes a fixture frame, the front side of which is an open structure, the rear side of which is a closed structure, fixture slides are provided on both sides of the fixture frame, and the middle of the fixture frame is an open structure. The sample fixing plate slides one-to-one in the fixture groove on both sides, and the pusher block slides one-to-one in the fixture groove on both sides. The sample fixing plate is located in front of the pusher block. The front end of the fixture slide is provided with a fixture buckle, and the fixing plate is located on the rear side of the fixture buckle; The fixture buckle has an inclined surface on the side away from the fixing plate, and the inclined surface extends towards the center of the fixing plate.

[0034] Preferably, the jig frame is further provided with jig clamping holes and jig positioning holes on both sides.

[0035] Preferably, the fixture positioning part includes a fixture positioning cylinder, and the output end of the fixture positioning cylinder is provided with a fixture positioning rod, which can be engaged into the fixture positioning hole.

[0036] Preferably, the empty material clamping plate is provided with an empty material clamping rod, which can be engaged into the clamping hole of the fixture.

[0037] Preferably, the feeding rack is further provided with a feeding pusher; The feeding and pushing section includes a first feeding and pushing drive module and a second feeding and pushing drive module; The output end of the first feeding and pushing drive module is connected to the second feeding and pushing drive module to drive the second feeding and pushing drive module to move along the first direction; The output end of the second feeding and pushing drive module is connected to a feeding and pushing rod, which can be engaged in the feeding and pushing slot, and the second feeding and pushing drive module can drive the feeding and pushing rod to move in a third direction; When a sample fixing plate stacked at the front end of the feeding and pushing fixture is removed, the pushing rod of the feeding and pushing part can push several sample fixing plates to move one position to the front end through the feeding and pushing block. The top of the feeding rack is provided with a feeding support plate, and the feeding pusher is provided on the feeding support plate; The output end of the second feeding and pushing drive module is provided with a feeding and pushing mounting plate, the feeding and pushing mounting plate extends along the second direction, and the feeding and pushing rod is mounted on the feeding and pushing mounting plate; The bottom of the feeding and pushing mounting plate is provided with a feeding and pushing slide rail, and a feeding and pushing slider is slidably arranged below the feeding and pushing slide rail. A feeding and pushing connecting plate is connected below the feeding and pushing slider, and the feeding and pushing rod is arranged below the feeding and pushing connecting plate. The front and rear sides of the feeding and pushing mounting plate are both provided with feeding and pushing baffles; The feeding and pushing connecting plate is located between the two feeding and pushing baffles; A feeding spring is provided between the feeding and pushing mounting plate and the feeding and pushing slider.

[0038] Preferably, the main frame is further provided with a cable straightening device, the cable straightening device comprising: A cable straightening mounting bracket, on which a cable straightening section is provided; The cable straightening section includes a first cable straightening drive module, a second cable straightening drive module, a first cable straightening slide rail, a second cable straightening slide rail, a first cable straightening clamp, and a second cable straightening clamp; the first cable straightening slide rail and the second cable straightening slide rail extend in a third direction; The output end of the first winding drive module is connected to the first winding slide rail and the second winding slide rail to drive the first winding slide rail and the second winding slide rail to move closer to or further away from each other along the second direction; The output end of the second winding drive module is connected to the first winding slide rail and the second winding slide rail to drive the first winding slide rail and the second winding slide rail to move up and down along a third direction; The bottom of the first winding slide rail is connected to the first winding clamp, and the bottom of the second winding slide rail is connected to the second winding clamp.

[0039] Preferably, the first wire straightener has a first wire straightening opening, and the second wire straightener has a second wire straightening opening. The first wire straightening opening and the second wire straightening opening correspond to each other. When the first wire straightening slide rail and the second wire straightening slide rail approach each other, the first wire straightening opening and the second wire straightening opening come together, and the sample wire is located between the first wire straightening opening and the second wire straightening opening.

[0040] Preferably, the first cable straightener further includes a first cable straightener plate, and the second cable straightener further includes a second cable straightener plate. Both the first cable straightener plate and the second cable straightener plate extend along a first direction. The first cable straightener opening is disposed at the end of the first cable straightener plate, and the second cable straightener opening is disposed at the end of the second cable straightener plate.

[0041] Preferably, the end of the first cable straightener is provided with a first cable straightener plate, and the first cable straightener slot is opened on the first cable straightener plate; the end of the second cable straightener plate is provided with a second cable straightener plate, and the second cable straightener slot is opened on the second cable straightener plate. The first cable guide plate has a first cable guide clearance opening on one side facing the second cable guide plate, and the end of the second cable guide plate can be inserted into the first cable guide clearance opening; A winding clearance groove is formed between the first winding plate and the second winding plate.

[0042] Preferably, the first winding drive module includes a first winding drive motor, a first winding drive slide, a first winding slide table, and a second winding slide table. The first winding drive slide extends along a second direction. A first winding bidirectional screw is rotatably disposed inside the first winding slide rail. The output end of the first winding drive motor is connected to one end of the first winding bidirectional screw. The first winding slide table and the second winding slide table are slidably disposed on the first winding drive slide, and the first winding slide table and the second winding slide table are threadedly connected to the first winding bidirectional screw. The first winding drive motor can drive the first winding slide table and the second winding slide table to move closer to or separate from each other. The first winding slide table has a first winding groove, the second winding slide table has a second winding groove, the first winding slide rail is slidably disposed in the first winding groove, and the second winding slide rail is slidably disposed in the second winding slide rail.

[0043] Preferably, the output end of the second winding drive module is provided with a second winding drive slide, and the second winding drive module can drive the second winding drive slide to move in a third direction; The second winding drive slide is provided with a left second winding drive slide rail and a right second winding drive slide rail extending along a second direction. A left second winding drive slider is slidably disposed on the left second winding drive slide rail, and a right second winding drive slider is slidably disposed on the right second winding drive slide rail. The top of the first winding slide rail is connected to the left second winding drive slider.

[0044] Preferably, the wire straightening section is provided in two sets, located on both sides of the wire straightening mounting frame along the first direction.

[0045] Preferably, the cable straightening mounting frame includes two cable straightening vertical frames, and a cable straightening horizontal frame is connected between the two cable straightening vertical frames, with the cable straightening part fixedly mounted on the cable straightening horizontal frame.

[0046] Preferably, the main frame is further provided with a cutting unit and an marking unit, the cutting unit and the marking unit are respectively located on both sides of the circulating conveyor line, and the cutting unit and the marking unit are located downstream of the circulating conveyor line; The cutting unit is used to cut off products that fail the inspection. The marking unit is used to mark products that fail the inspection.

[0047] Preferably, the marking unit includes a marking mounting plate, which is disposed on the main frame. A first marking driving mechanism is disposed on the marking mounting plate, and a second marking driving mechanism is disposed at the output end of the first marking driving mechanism. The first marking driving mechanism can drive the second marking driving mechanism to move along a first direction, and a marking part is disposed at the output end of the second marking driving mechanism. The second marking driving mechanism can drive the marking part to move along a second direction.

[0048] Preferably, both the first marking drive mechanism and the second marking drive mechanism are cylinders.

[0049] Preferably, the marking part is one of a stamp, a laser marking machine, or an inkjet printer.

[0050] Preferably, the cutting unit includes two sets of first cutting mounting plates spaced apart, and a second cutting mounting plate is disposed above the two first cutting mounting plates; The second cutting mounting plate is provided with a first cutting drive assembly, and the output end of the first cutting drive assembly is provided with a second cutting drive assembly. The first cutting drive assembly can drive the second cutting drive assembly to move along a first direction. The output end of the second cutting drive assembly is provided with a cutting part, and the second cutting drive assembly can drive the cutting part to move along the second direction.

[0051] Preferably, the first cutting drive assembly includes a first cutting drive cylinder, the second cutting mounting plate is provided with a first cutting slide rail extending in a first direction, a first cutting slider is slidably disposed on the first cutting slide rail, a first cutting fixing plate is disposed on the first cutting slider, the second cutting drive assembly is disposed on the first cutting fixing plate, and the output end of the first cutting drive cylinder is connected to the first cutting slider.

[0052] Preferably, the second cutting drive assembly includes a second cutting drive cylinder, which is disposed on the first cutting fixing plate. The first cutting fixing plate is also provided with a second cutting fixing plate. The second cutting fixing plate is provided with a second cutting slide rail extending in a second direction. A second cutting slider is disposed on the second cutting slide rail. The second cutting slider is connected to a second cutting mounting bracket. The output end of the second cutting drive cylinder is connected to the second cutting mounting bracket. The cutting part is disposed on the second cutting mounting bracket.

[0053] Preferably, the cutting section includes a cutting fixation frame, on which a clamping and fixing bidirectional cylinder and a cutting bidirectional cylinder are provided. The output end of the clamping and fixing bidirectional cylinder is provided with a cutting fixation clamp, and the output end of the cutting bidirectional cylinder is provided with a cutting blade. The cutting fixation clamp is located above the cutting blade.

[0054] Preferably, an inclined waste guide plate is provided between the two first cutting mounting plates, the top of the waste guide plate is close to the cutting part, a waste trough is provided on the main frame, and the bottom of the waste guide plate is located above the waste trough.

[0055] Preferably, the main frame is further provided with a defect collection unit; The defect collection unit includes two oppositely arranged defect collection mounting plates, each equipped with a defect collection clamping cylinder, and the output end of the defect collection clamping cylinder is equipped with a defect clamp. A defect fixing plate is provided between the two defective clamps, and two defective insert plates are connected to the defect fixing plate; The sample fixing plate has a defective slot, and the defective insert passes through the defective slot one by one.

[0056] The beneficial effects of this invention are as follows: (1) This invention achieves uninterrupted circulation of a circulating fixture carrying multiple samples within the testing station by arranging multiple cables in batches on a sample fixing plate and utilizing a closed-loop circulating conveyor line composed of an upper circulating slide rail, a lower circulating slide rail, a left circulating slide rail, and a right circulating slide rail in the main testing mechanism. Simultaneously, the coordinated drive of the first, second, and third circulating pusher sections ensures stable, rhythmic movement of the circulating fixture on the slide rails. Combined with the automatic loading and unloading mechanisms, this invention enables continuous and efficient automated testing of batches of cable solder joints, effectively improving testing efficiency and ensuring consistency in testing standards.

[0057] (2) By setting up upper, right, lower, and left circulating slide rails that are connected end to end, and coordinating with the sequential pushing actions of the first, second, and third circulating pusher sections, multiple circulating fixtures can move simultaneously in a closed loop. When the previous circulating fixture carries the cable board into the inspection station for inspection, the next circulating fixture can move forward under the action of the first circulating pusher section, realizing a continuous operation mode of "inspection and conveying are carried out simultaneously". This is fundamentally different from the intermittent operation of "taking one piece, putting one piece, inspecting one piece, and then taking the next piece" in traditional manual inspection, completely eliminating the large amount of ineffective time spent on manual picking, placing, positioning, and adjusting posture, and improving inspection efficiency.

[0058] (3) A circulating fixture is used to fix the cable board, and the upper, lower, left, and right circulating slide rails guide each cable board to be inspected to accurately reach the inspection station. With the quantitative and fixed-distance pushing of the first, second, and third circulating pusher, the dwell position and dwell time of each circulating fixture at the inspection station can be precisely controlled. This mechanized positioning and conveying method completely eliminates the problem of inconsistent judgment standards caused by differences in operator experience, visual fatigue, and fluctuations in attention during manual inspection. It ensures that each cable solder joint is captured and judged by the camera under the same optical conditions and spatial posture, thereby greatly improving the repeatability and consistency of the inspection results and reducing the missed detection rate and misjudgment rate.

[0059] (4) A rectangular closed-loop layout is adopted, consisting of an upper circulating slide rail as the detection and conveying section, a lower circulating slide rail as the empty fixture return section, and left and right circulating slide rails as lifting and lowering transition sections. The left and right circulating slide rails are moved up and down through the left and right circulating drive components, enabling the circulating fixture to complete a complete cycle of "rising-horizontal conveying-falling-horizontal return" in the vertical plane. Compared with linear reciprocating or horizontal circular conveyor lines, this three-dimensional layout significantly reduces the horizontal footprint of the equipment. At the same time, it utilizes the vertical space to accommodate the return path, making the overall structure compact and suitable for production sites with limited space.

[0060] (5) By setting a first circulating pusher slot on the circulating fixture, and cooperating with the first circulating pusher block that can move along the second direction in the first circulating pusher section, it can accurately engage the slot; then, by using the first circulating pusher drive module three drive block to move along the third direction, it drives the circulating fixture connecting plate and the claw to move up and down, thereby automatically opening or closing the gripper and completing the reliable fixation of the sample to be tested. At the same time, the first circulating pusher drive module one drive block in the first circulating pusher section can move along the first direction, pushing the fixture from the right circulating slide rail into the upper circulating slide rail one by one, realizing the organic integration of the two actions of "opening the gripper to fix the product" and "pushing into the circulating line", without the need to set up an independent claw opening mechanism and an independent pusher mechanism, simplifying the equipment structure and reducing manufacturing costs and control complexity.

[0061] (6) A first camera detection module and a second camera detection module are set up and arranged on the conveyor line of the main detection equipment. At the same time, several sample lines are arranged on the sample fixing plate. Based on this structure, the first camera detection module and the second camera detection module can work in parallel and synchronously detect the odd-numbered and even-numbered sample lines respectively. Compared with the existing technology of detecting one by one with a single camera, this solution realizes dual-path parallel detection, doubling the detection throughput in the same conveyor time, thereby significantly improving the overall efficiency of solder joint detection and effectively solving the problem of low efficiency of manual and single-camera detection.

[0062] (7) The first camera detection module and the second camera detection module each contain four camera detection units. Among them, the camera detection units that are arranged opposite each other and whose connecting lines are perpendicular to the conveying line (such as the first and second, the fifth and the sixth) can capture the two-dimensional contour information of the solder joint from a direct angle; while the camera detection units whose connecting lines are at an angle of 30°-60° to the conveying line (such as the third and fourth, the seventh and the eighth) can obtain the three-dimensional height information and side shape of the solder joint from an inclined angle. This multi-angle stereo imaging scheme that combines vertical and inclined angles can cover all feature surfaces of the solder joint in all directions, effectively eliminating the blind spots that may exist in single-angle detection. Especially for three-dimensional solder joints or deep cavity structures, it can significantly improve the defect detection rate and detection accuracy.

[0063] (8) Each camera inspection unit is equipped with a camera adjustment module, including an adjustment base plate, an adjustment slide plate, and an adjustment screw. Operators can precisely drive the camera adjustment slide plate and the CCD camera on it to perform linear displacement by rotating the camera adjustment screw. This design allows the camera position to be finely adjusted according to the actual position of the weld points on the sample line, enabling rapid focusing and field-of-view calibration without the need for complete disassembly of the equipment. Logically, this significantly reduces the difficulty of equipment installation and debugging, as well as the time cost of subsequent maintenance, ensuring the long-term stability and reproducibility of the inspection system.

[0064] (9) By setting up a parallel feeding and return feeding unit and cooperating with an empty material transfer unit, a complete closed-loop circulation path of "feeding, empty fixture transfer, and return" is constructed. The feeding and returning unit conveys the feeding and pushing fixture fully loaded with the sample fixing plate to be tested in the first direction in the forward direction. After the sample fixing plate to be tested is removed, the empty fixture is automatically transferred to the feeding and returning unit via the empty material transfer unit and sent back in the first direction in the reverse direction. The automatic recycling of the fixture is realized, ensuring the continuity and high cycle time of the feeding process. It can be efficiently matched with the downstream automatic weld joint detection equipment, effectively eliminating production bottlenecks and significantly improving the overall detection efficiency.

[0065] (10) A fixture positioning unit is specially set up at the front end of the feeding section (i.e., the station that docks with the main testing equipment). When the feeding and pushing fixture is conveyed to the front end of the feeding section, the fixture positioning unit can actively and accurately position and fix the fixture, completely eliminating random positional deviations caused by cumulative conveying errors or conveyor belt slippage. This ensures that the main testing equipment can smoothly and stably pick up materials later.

[0066] (11) Stacked sample fixing plates and feeding push blocks are installed inside the feeding and pushing fixture, and they work in conjunction with the feeding and pushing part. When the foremost sample fixing plate is removed, the feeding push rod of the feeding and pushing part precisely engages with the feeding push slot, driving the feeding push block to automatically and stably push the stacked sample plates forward one station. At the same time, the cooperation structure between the fixture slide and the fixture buckle ensures the orderly sliding of the sample plates within the fixture, effectively preventing the sample plates from tilting, lifting, or accidentally falling out during the conveying process. This structure ensures the consistency of posture during the feeding process and avoids the failure of the main inspection equipment to pick up the sample due to the workpiece position deviation.

[0067] (12) By setting a first wire-straightening drive module and a second wire-straightening drive module, the first wire-straightening slide rail and the second wire-straightening slide rail are driven to move closer or further apart along the second direction and up and down along the third direction, so that the first wire-straightening clamp and the second wire-straightening clamp can flexibly adjust their positions and accurately reach the work position of the sample line. When the sample fixing plate transports the sample line to the camera detection position, the first wire-straightening drive module drives the first wire-straightening clamp and the second wire-straightening clamp to move closer together. The vertically arranged soft sample line is temporarily clamped and combed through the first wire-straightening opening and the second wire-straightening opening, which effectively corrects the skew and sway phenomenon caused by the insufficient rigidity of the sample line itself. At the same time, the second wire-straightening drive module can drive the wire-straightening clamp to move in the up and down direction, simulating the wire-straightening action, so that the sample line is further straightened and pulled during the clamping process, ensuring that it maintains the preset correct posture at the moment of detection. Furthermore, the corresponding design of the first and second wire-straightening openings, as well as the cooperation between the first wire-straightening clearance opening and the wire-straightening clearance groove, reliably limits the sample wire while preventing damage to the wire or obstruction of the solder joint area. Therefore, this wire-straightening device can perform temporary, automated wire-straightening before or during camera inspection, significantly reducing image deviation and positioning inaccuracies caused by sample wire positional shifts. This greatly improves the accuracy and stability of the solder joint inspection equipment during continuous batch inspection. It also features a compact structure, reliable operation, and suitability for high-speed automated inspection lines.

[0068] (13) A cutting unit and a marking unit are set on the main frame. Both are located downstream of the main inspection conveyor line and are linked with the main inspection equipment signal. After a non-conforming product is detected, the system can automatically select to perform cutting or marking operations according to production requirements, which completely changes the traditional method of manually removing or marking products according to the detection signal.

[0069] (14) The cutting unit is equipped with a clamping and fixing bidirectional cylinder and a cutting bidirectional cylinder. The clamping and fixing bidirectional cylinder drives the cutting and fixing clamp to first clamp the defective product, and then the cutting bidirectional cylinder drives the cutting blade to cut it. This "clamping first and then cutting" action sequence can reliably fix the defective product, prevent the product from shifting or popping out during cutting, and avoid accidentally damaging the adjacent normal products on the conveyor line. An inclined waste guide plate is provided below the cutting unit, and the bottom of the waste guide plate corresponds to the waste trough. After cutting, the defective product automatically slides down the waste guide plate into the waste trough without manual cleaning. Attached Figure Description

[0070] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the content of the embodiments of the present invention and these drawings without creative effort.

[0071] Figure 1 This is a schematic diagram of the structure of a weld joint appearance inspection machine provided in an embodiment of the present invention; Figure 2 This is a schematic diagram of the main detection mechanism provided in an embodiment of the present invention; Figure 3 This is a schematic diagram of the feeding mechanism provided in an embodiment of the present invention; Figure 4 A schematic diagram of the structure of the loading rack, the loading and feeding section, the loading and returning section, and the empty material transfer section provided in an embodiment of the present invention; Figure 5 This is a schematic diagram of the structure of the feeding and receiving section and the feeding and receiving section provided in an embodiment of the present invention; Figure 6 This is a schematic diagram of the structure of the empty material transfer unit provided in an embodiment of the present invention; Figure 7 This is a schematic diagram of the structure of the fixture positioning part provided in an embodiment of the present invention; Figure 8 This is a schematic diagram of the feeding and pushing section provided in an embodiment of the present invention; Figure 9 This is a schematic diagram of the structure of the feeding and pushing fixture provided in an embodiment of the present invention; Figure 10 This is a schematic diagram of the material handling device provided in an embodiment of the present invention; Figure 11 This is a schematic diagram of the material handling section provided in an embodiment of the present invention; Figure 12 This is a structural schematic diagram of the material handling unit provided in another view according to an embodiment of the present invention; Figure 13 This is a schematic diagram of the main detection mechanism and camera detection device provided in an embodiment of the present invention; Figure 14 This is a schematic diagram of the camera detection unit provided in an embodiment of the present invention; Figure 15 This is a schematic diagram of the structure of a circulating conveyor line provided in an embodiment of the present invention; Figure 16 A schematic diagram of the structure of the upper circulating slide rail, lower circulating slide rail, left circulating slide rail, right circulating slide rail, first circulating pusher, second circulating pusher, third circulating pusher, left circulating drive assembly, right circulating drive assembly and release drive module provided in the embodiments of the present invention; Figure 17 This is a schematic diagram of the structure of the circulatory fixture provided in an embodiment of the present invention; Figure 18 This is another structural schematic diagram of the circulatory fixture provided in an embodiment of the present invention; Figure 19This is a schematic diagram of the structure of the first circulating pusher section provided in an embodiment of the present invention; Figure 20 This is a schematic diagram of the structure of the first circulating pusher section provided in an embodiment of the present invention; Figure 21 This is a schematic diagram of the structure of the left loop drive component provided in an embodiment of the present invention; Figure 22 This is a schematic diagram of the structure of the release drive module provided in an embodiment of the present invention; Figure 23 This is a schematic diagram of the structure of the third circulating pusher section provided in an embodiment of the present invention; Figure 24 This is a schematic diagram of the structure of the right loop drive component provided in an embodiment of the present invention; Figure 25 This is a schematic diagram of the wire straightening device provided in an embodiment of the present invention; Figure 26 A schematic diagram showing the positions of the first and second wire-straightening clamps of the wire-straightening device provided in an embodiment of the present invention; Figure 27 This is a schematic diagram of the resection unit provided in an embodiment of the present invention; Figure 28 This is a schematic diagram of the structure of the identification unit provided in an embodiment of the present invention; Figure 29 This is a schematic diagram of the structure of the defective collection unit provided in an embodiment of the present invention; Figure 30 This is a schematic diagram of the sample fixing plate provided in an embodiment of the present invention. Detailed Implementation

[0072] To make the technical problems solved by the present invention, the technical solutions adopted, and the technical effects achieved clearer, the technical solutions of the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0073] In the description of this invention, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0074] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0075] In the description of this embodiment, the terms "upper," "lower," "left," "right," etc., refer to the orientation or positional relationship shown in the accompanying drawings. They are used only for ease of description and simplification of operation, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention. In addition, the terms "first" and "second" are used only for distinction in description and have no special meaning.

[0076] In the description of this invention, unless otherwise explicitly specified and limited, the terms "first direction," "second direction," and "third direction" refer to three mutually perpendicular directions in three-dimensional space. For ease of description, in this embodiment, a direction in the horizontal plane is designated as the first direction (e.g., the X-axis direction), a direction in the horizontal plane perpendicular to the first direction is designated as the second direction (e.g., the Y-axis direction), and a vertical direction is designated as the third direction (e.g., the Z-axis direction). The terms "up," "down," "left," "right," "front," and "back," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0077] Figure 1 This is a structural schematic diagram of a weld joint appearance inspection machine provided in an embodiment of the present invention. Figure 1 As shown, this embodiment provides a solder joint appearance inspection machine, including a feeding mechanism 100, a main inspection mechanism 200, and a discharging mechanism 300. The feeding mechanism 100 supplies batches of cable solder joint samples to be inspected to the main inspection mechanism 200 in an orderly manner; the main inspection mechanism 200 performs automatic optical inspection on the cable solder joints and sorts them according to the inspection results; the discharging mechanism 300 collects and outputs the inspected, high-quality cables. The feeding mechanism 100 and the discharging mechanism 300 are respectively located at both ends of the main inspection mechanism 200 along a first direction, and the three work together to form a complete automated inspection production line.

[0078] Figure 3 This is a schematic diagram of the feeding mechanism provided in an embodiment of the present invention. Figure 4 This is a structural diagram of the loading rack, loading and feeding section, loading and returning section, and empty material transfer section. Figure 3 , Figure 4 As shown, the feeding mechanism 100 includes a feeding rack 110, on which a feeding feed section 120 and a feeding return section 130 are provided. The feeding feed section 120 and the feeding return section 130 are arranged side by side and both extend along a first direction. The feeding feed section 120 is used to feed the feeding pusher fixture 140 loaded with the sample fixing plate 400 to be tested along the positive direction of the first direction (i.e., from back to front, toward the main testing mechanism 200); the feeding return section 130 is used to feed the empty feeding pusher fixture 140 along the negative direction of the first direction (i.e., from front to back, away from the main testing mechanism 200). Since some cables to be tested are relatively long, a feeding channel 101 can be opened on the corresponding ground feeding rack 110.

[0079] The feeding mechanism 100 also includes an empty material transfer section 150 and a fixture positioning section 160. The empty material transfer section 150 is disposed on the feeding rack 110, above the feeding feed section 120 and the feeding return section 130, and is used to transfer the emptied feeding push fixture 140 from the front end of the feeding feed section 120 (i.e., the end near the main detection mechanism 200) to the front end of the feeding return section 130. The fixture positioning section 160 is disposed on the feeding feed section 120 and is located near the front end of the feeding feed section 120, and is used to position and fix the feeding push fixture 140 located at the front end of the feeding feed section 120 to ensure the positional accuracy when the subsequent material handling device 500 picks up the material.

[0080] Furthermore, such as Figure 5 As shown, the feeding unit 120 includes two symmetrically arranged feeding modules 121. Each feeding module 121 includes a feeding mounting plate 122 extending along a first direction. A feeding drive wheel 123 and a feeding follower wheel 124 are rotatably mounted at the front and rear ends of the feeding mounting plate 122, respectively. A feeding belt 125 is sleeved between the feeding drive wheel 123 and the feeding follower wheel 124. A feeding drive mechanism 126 is also provided on the feeding mounting plate 122. The output end of the feeding drive mechanism 126 is connected to the feeding drive wheel 123 and is used to drive the feeding belt 125 to rotate. The feeding drive mechanism 126 is a synchronous pulley structure driven by a motor. The feeding belt 125 is also equipped with a feeding stabilizing block 127, which has a feeding stabilizing slot 128. The four corners of the bottom of the feeding and pushing fixture 140 can be inserted into the corresponding feeding stabilizing slot 128 to ensure the stability of the fixture during the conveying process.

[0081] Similarly, the feeding and returning section 130 includes a feeding and returning drive mechanism 131 and two symmetrically arranged feeding and returning modules 132. Each feeding and returning module 132 includes a feeding and returning mounting plate 133 extending along a first direction. A feeding and returning drive wheel 134 and a feeding and returning follower wheel 135 are rotatably mounted at the front and rear ends of the mounting plate 133, respectively. A feeding and returning belt 136 is sleeved between the drive wheel 134 and the follower wheel 135. A feeding and returning drive shaft 137 is coaxially connected between the two sets of drive wheels 134, and a feeding and returning follower shaft 138 is coaxially connected between the two sets of follower wheels 135 to ensure synchronous operation of the belts on both sides. The output end of the feeding and returning drive mechanism 131 is connected to one of the drive wheels 134. The feeding and return conveyor belt 136 is equipped with a feeding and return stabilizing block 139, which has a feeding and return stabilizing groove 1391, which is also used to hold the corner of the bottom of the feeding and pushing fixture 140.

[0082] Figure 6 This is a schematic diagram of the empty material transfer section provided in an embodiment of the present invention. Figure 4 , Figure 6 As shown, the empty material transfer unit 150 includes an empty material transfer mounting frame 151. A first empty material transfer moving module 152 (e.g., a linear module or a lead screw module) is provided on the empty material transfer mounting frame 151. A second empty material transfer moving module 153 (e.g., a cylinder or a linear module) is provided at the output end of the first empty material transfer moving module 152. The first empty material transfer moving module 152 can drive the second empty material transfer moving module 153 to move along a second direction. An empty material transfer clamping unit 154 is provided at the output end of the second empty material transfer moving module 153. The second empty material transfer moving module 153 can drive the empty material transfer clamping unit 154 to move along a third direction. The empty material transfer clamping unit 154 includes an empty material transfer clamping mounting plate 155. An empty material clamping bidirectional drive cylinder 156 is disposed at the center of the bottom of the empty material transfer clamping mounting plate 155. Empty material clamping slide rails 157 are disposed on both sides of the empty material clamping bidirectional drive cylinder 156. Empty material clamping sliders 158 are slidably disposed on the empty material clamping slide rails 157. Each empty material clamping slider 158 is connected to an empty material clamping clamping plate 159. The two output ends of the empty material clamping bidirectional drive cylinder 156 are respectively connected to the empty material clamping clamping plates 159 one-to-one. An empty material clamping rod 1510 is disposed on the empty material clamping clamping plate 159. The empty material clamping rod 1510 can engage with the clamping holes 148 on both sides of the feeding and pushing fixture 140 (see...). Figure 9 This enables reliable gripping and transfer of the air fixture.

[0083] Figure 9 This is a schematic diagram of the feeding and pushing fixture provided in an embodiment of the present invention. Figure 9As shown, the feeding and pushing fixture 140 includes a fixture frame 141. The front side of the fixture frame 141 is open, and the rear side is closed. Fixture grooves 142 are provided on both sides of the fixture frame 141, and the middle of the fixture frame 141 is open. A plurality of sample fixing plates 400 are stacked in the feeding and pushing fixture 140 along a first direction, and the two sides of the sample fixing plates 400 slide one-to-one in the fixture grooves 142. A feeding and pushing block 143 is also slidably disposed on the feeding and pushing fixture 140. The two sides of the feeding and pushing block 143 also slide in the fixture grooves 142, and the sample fixing plates 400 are located on the front side of the feeding and pushing block 143. A feeding and pushing slot 144 is provided on the feeding and pushing block 143. A fixture latch 145 is provided at the front end of the fixture slide 142 to prevent the sample fixing plate 400 from sliding out from the front of the fixture. An inclined surface 146 is provided on the side of the fixture latch 145 away from the sample fixing plate 400. The inclined surface 146 extends towards the center of the sample fixing plate 400, so that the sample fixing plate 400 can be elastically deformed and released from the constraint of the fixture latch 145 when the material picking device 500 picks up the material. Fixture clamping holes 148 and fixture positioning holes 149 are also provided on both sides of the fixture frame 141.

[0084] Figure 7 This is a schematic diagram of the structure of the positioning part of the fixture provided in an embodiment of the present invention. Figure 7 As shown, the fixture positioning part 160 includes a fixture positioning cylinder 161. The output end of the fixture positioning cylinder 161 is provided with a fixture positioning rod 162. The fixture positioning rod 162 can extend upward and be inserted into the fixture positioning hole 149 at the bottom of the feeding and pushing fixture 140, thereby realizing the precise positioning and fixing of the feeding and pushing fixture 140.

[0085] Figure 8 This is a schematic diagram of the feeding and pushing section provided in an embodiment of the present invention. Figure 3 , Figure 8As shown, the feeding rack 110 is also provided with a feeding and pushing part 170. The feeding and pushing part 170 includes a first feeding and pushing drive module 171 (e.g., a linear module) and a second feeding and pushing drive module 172 (e.g., a linear module). The output end of the first feeding and pushing drive module 171 is connected to the second feeding and pushing drive module 172 to drive the second feeding and pushing drive module 172 to move along a first direction. The output end of the second feeding and pushing drive module 172 is connected to a feeding and pushing rod 173, which can extend downward and engage with the feeding and pushing slot 144 on the feeding and pushing block 143. The second feeding and pushing drive module 172 can drive the feeding and pushing rod 173 to move along a third direction (vertical direction). When a sample fixing plate 400 stacked at the front end of the feeding and pushing fixture 140 is removed, the feeding and pushing rod 173 is inserted into the feeding and pushing slot 144, and under the drive of the first feeding and pushing drive module 171, the feeding and pushing block 143 is pushed forward, thereby pushing the sample fixing plate 400 at the rear forward by one station.

[0086] To ensure the smoothness and flexibility of the feeding action, a feeding and pushing mounting plate 174 is fixedly connected to the output end of the second feeding and pushing drive module 172. The feeding and pushing mounting plate 174 extends along the second direction (Y direction). A feeding and pushing slide rail 175 is fixedly provided at the bottom of the feeding and pushing mounting plate 174. A feeding and pushing slider 176 is slidably provided below the feeding and pushing slide rail 175. A feeding and pushing connecting plate 177 is fixedly connected below the feeding and pushing slider 176. The feeding and pushing rod 173 is fixedly provided below the feeding and pushing connecting plate 177. Feeding and pushing baffles 178 extend downwards on both the front and rear sides of the feeding and pushing mounting plate 174, and the feeding and pushing connecting plate 177 is sandwiched between the two feeding and pushing baffles 178. Furthermore, one or more feeding push springs 179 are provided between the feeding push mounting plate 174 and the feeding push slider 176. These feeding push springs 179 provide a certain preload, allowing the feeding push rod 173 to have a certain floating margin during the pushing process, thus preventing jamming or damage to the workpiece due to positional errors. This embodiment of the invention, by providing feeding push springs, gives the feeding push rod an elastic pushing structure. Since the sample fixing plate may deform after prolonged use, the elastic pushing structure ensures that the sample fixing plate is pushed to the accurate position.

[0087] During operation, the operator or preceding equipment places the feeding and pushing fixture, filled with stacked sample fixing plates, at the rear end of the feeding and conveying section. The feeding and conveying belt drives the feeding and pushing fixture forward. When it reaches the front end of the feeding section, the fixture positioning rod of the fixture positioning section inserts into the fixture positioning hole to complete the positioning. Subsequently, the rear-end picking device removes the foremost sample fixing plate from the front opening of the feeding and pushing fixture. After removal, the feeding pushing rod descends and engages with the feeding pushing slot, pushing the feeding pushing block forward. The feeding pushing block then pushes all the stacked sample fixing plates behind it forward one position, allowing the next sample fixing plate to be pushed to the picking position. When all the sample fixing plates in the feeding and pushing fixture are removed, the fixture becomes an empty fixture, and the fixture positioning section resets. Operation of the empty material transfer unit: The second empty material transfer moving module drives the empty material transfer clamping unit to descend, and the empty material clamping bidirectional drive cylinder drives the two empty material clamping plates to close, so that the empty material clamping rod is inserted into the fixture clamping hole and clamps the empty fixture. Then, the second empty material transfer moving module rises, and the first empty material transfer moving module moves laterally, transporting the empty fixture from the front end of the feeding section to the rear end of the feeding return section. Finally, the empty material transfer clamping unit releases, placing the empty fixture on the feeding return belt. The feeding return section sends the empty fixture back to the operator or automatic loading station in the opposite direction of the first direction, completing a complete cycle.

[0088] Figure 10 This is a schematic diagram of the material handling device provided in an embodiment of the present invention. Figure 2 , Figure 10 As shown, the main frame 210 is equipped with two sets of material handling devices 500. One set of material handling devices 500 is located between the feeding mechanism 100 and the main detection mechanism 200, and is used to transfer the sample fixing plate 400 from the feeding mechanism 100 to the circulating conveyor line 220 of the main detection mechanism 200. The other set of material handling devices 500 is located between the main detection mechanism 200 and the unloading mechanism 300, and is used to transfer the sample fixing plate 400 from the circulating conveyor line 220 to the unloading mechanism 300. The main frame 210 is provided with a circulating channel 211 for accommodating cables.

[0089] Figure 11 and Figure 12 This is a schematic diagram of the material handling section. (For example...) Figures 10 to 12As shown, the material handling device 500 includes a robotic arm 510, and a material handling section 520 is provided at the output end of the robotic arm 510. The material handling section 520 includes a material handling mounting plate 521, on which two sets of material handling clamping assemblies 522 and at least one set of adsorption assemblies 523 are provided. The material handling clamping assemblies 522 are located on both sides of the material handling mounting plate 521, and the adsorption assemblies 523 are located between the two sets of material handling clamping assemblies 522. The adsorption assembly 523 includes a material handling adsorption drive cylinder 524, and a material handling adsorption fixing plate 525 is provided at the output end of the material handling adsorption drive cylinder 524. At least one set of material handling vacuum adsorption nozzles 526 are provided on the material handling adsorption fixing plate 525, and the material handling vacuum adsorption nozzles 526 are connected to an external vacuum adsorption device. During material handling, the material handling adsorption component 523 first extends downward and adsorbs the upper surface of the sample fixing plate 400, causing the sample fixing plate 400 to undergo slight elastic deformation (the sample fixing plate 400 is usually made of a material with a certain degree of elasticity). This causes the two sides of the sample fixing plate 400 to disengage from the constraint of the fixture buckle 145. Then, the material handling clamping component 522 moves to clamp the two sides of the deformed sample fixing plate 400, and the robotic arm 510 can then remove the sample fixing plate 400 from the fixture and move it away.

[0090] The material handling and clamping assembly 522 includes a bidirectional material handling and clamping cylinder 527. Each of the two output ends of the bidirectional material handling and clamping cylinder 527 is respectively equipped with a material handling and clamping plate 528. The material handling and clamping plate 528 is provided with a material handling and clamping slot 529 for reliably engaging with the edge of the sample fixing plate 400. The material handling device 500 also includes a material handling connecting plate 5210 connected to the rear side of the material handling mounting plate 521. A material handling connector 5211 is provided on the side of the material handling connecting plate 5210 away from the material handling mounting plate 521, and the material handling connector 5211 is connected to the output end of the robotic arm 510.

[0091] In this embodiment of the invention, when material needs to be picked up, the robotic arm first moves the picking unit to the front of the target sample fixing plate, aligning the adsorption assembly with the middle area of ​​the sample fixing plate. Then, the picking adsorption drive cylinder extends, moving the picking adsorption fixing plate and three sets of picking vacuum adsorption nozzles toward the sample fixing plate until the picking vacuum adsorption nozzles contact the surface of the uppermost sample fixing plate. The external vacuum adsorption equipment starts, and the picking vacuum adsorption nozzles generate negative pressure, firmly adsorbing the middle part of the sample fixing plate. Then, the picking adsorption drive cylinder retracts. Because the adsorption force is concentrated on the middle area of ​​the sample fixing plate, and the sample fixing plate has a certain elasticity, the middle part is adsorbed, while the two sides of the sample fixing plate are still limited by the fixtures, resulting in local elastic deformation. This deformation naturally creates a separation gap between the adsorbed sample fixing plate and the sample fixing plate behind it, breaking the tight fit in the stacked state. Subsequently, the picking clamping assemblies on both sides begin to operate. The bidirectional clamping cylinder drives the two clamping plates on both sides to move relative to each other, causing the clamping jaws on both sides to engage with the upper and lower edges of the deformed sample fixing plate, respectively, and apply an appropriate clamping force. Once a certain clamping force is applied, the vacuum suction nozzle can be either broken or left undone. Thus, the sample fixing plate is fixed by clamping or by a combination of suction and clamping. Finally, the robotic arm moves away from the fixture, easily removing the sample from the fixture of the loading device. Once removed, the sample fixing plate returns to its original shape and is transferred to the circulating conveyor line. After being transferred to the correct position, the clamping assembly releases, or simultaneously the vacuum suction nozzle breaks the vacuum, completing one full clamping and transfer operation. This embodiment achieves reliable, accurate, and low-damage clamping of tightly stacked elastic sample fixing plates by first deforming the suction assembly and then clamping the separating edges, effectively solving the problems of clamping failure or sample adhesion caused by overlapping and bonding.

[0092] Figure 2 This is a schematic diagram of the main detection mechanism provided in an embodiment of the present invention. Figure 13 A schematic diagram of the main inspection mechanism and camera inspection device. (Example) Figure 2 , Figure 13 As shown, the main inspection mechanism 200 includes a main frame 210, on which a circulating conveyor line 220 and a camera inspection device 230 are mounted. The circulating conveyor line 220 is used to carry and transport the circulating fixture 240. The camera inspection device 230 is located on both sides of the upper circulating slide rail 221 of the circulating conveyor line 220 along the second direction, and is used to photograph and inspect the cable solder joints carried by the sample fixing plate 400 fixed on the circulating fixture 240.

[0093] Figure 15 This is a schematic diagram of a circulating conveyor line. Figure 16This is a structural diagram of the upper circulating slide rail, lower circulating slide rail, left circulating slide rail, right circulating slide rail, and each pusher section. (See diagram below.) Figure 15 , Figure 16 As shown, the circulating conveyor line 220 includes an upper circulating slide rail 221 and a lower circulating slide rail 222 extending along a first direction, and a left circulating slide rail 223 and a right circulating slide rail 224 located on either side of the upper circulating slide rail 221. The upper circulating slide rail 221 is located above the lower circulating slide rail 222, and the two are arranged parallel to each other. The left circulating slide rail 223 and the right circulating slide rail 224 are both configured to move up and down along a third direction (Z direction). The upper circulating slide rail 221, the lower circulating slide rail 222, the left circulating slide rail 223, and the right circulating slide rail 224 together form a rectangular closed circulating track, on which multiple circulating fixtures 240 can slide cyclically.

[0094] like Figure 17 , Figure 18 As shown, the circulating fixture 240 includes a circulating fixture mounting plate 241. A circulating fixture slot 242 is provided at the bottom of the front side of the circulating fixture mounting plate 241 for holding the lower edge of the sample fixing plate 400. A first circulating fixture slider 243 is provided on the back side of the circulating fixture mounting plate 241. The first circulating fixture slider 243 has a first circulating fixture groove 244 extending along a first direction for sliding engagement with the upper circulating slide rail 221, the lower circulating slide rail 222, the left circulating slide rail 223, and the right circulating slide rail 224. The back of the circulating fixture mounting plate 241 is also provided with a second circulating fixture slide rail 245 extending in a third direction. A second circulating fixture slide plate 246 is slidably mounted on the second circulating fixture slide rail 245. A circulating fixture connecting plate 247 is provided on the top of the second circulating fixture slide plate 246. Several hooks 248 are provided on the top of the circulating fixture connecting plate 247. The hooks 248 extend to the top of the front of the circulating fixture mounting plate 241 and are used to press the sample fixing plate 400 from above and below. Two spaced circulating fixture positioning plates 249 are also connected to the bottom of the middle part of the circulating fixture connecting plate 247. The two circulating fixture positioning plates 249 and the circulating fixture connecting plate 247 surround to form a first circulating pusher groove 2410. A second circulating pusher groove 2411 is also provided at the bottom of the back of the circulating fixture mounting plate 241. The top two sides of the front of the cyclic fixture mounting plate are also provided with cyclic fixture limiting plates 2412, which are used to limit the displacement of the cable to be tested in the left and right directions and improve the positioning accuracy.

[0095] like Figure 16As shown, the circulating conveyor line 220 also includes a first circulating pusher 250, a second circulating pusher 260, and a third circulating pusher 270. The first circulating pusher 250 is located at the end of the right circulating slide rail 224 and is used to push the circulating jigs 240 on the right circulating slide rail 224 one by one into the upper circulating slide rail 221. The second circulating pusher 260 is located on one side of the upper circulating slide rail 221 and is used to push the circulating jigs 240 on the upper circulating slide rail 221 to move one by one in the positive direction of the first direction, and to push the circulating jigs 240 from the end of the upper circulating slide rail 221 into the left circulating slide rail 223. The third circulating pusher 270 is located on the main frame 210, below the lower circulating slide rail 222, and is used to push the circulating jigs 240 to move one by one in the negative direction of the first direction on the left circulating slide rail 223, the lower circulating slide rail 222, and the right circulating slide rail 224.

[0096] Specifically, such as Figure 19 , Figure 20 As shown, the first circulating pusher unit 250 includes a first circulating pusher drive module 1 251 (linear module), and a first circulating pusher drive module 252 (e.g., cylinder) is provided at the output end of the first circulating pusher drive module 1 251. The first circulating pusher drive module 1 251 can drive the first circulating pusher drive module 252 to move along a first direction. A first circulating pusher mounting plate 253 is provided at the output end of the first circulating pusher drive module 252. A first circulating pusher drive module 254 (e.g., cylinder) and a first circulating pusher fixing block 255 are provided on the first circulating pusher mounting plate 253. A first circulating pusher slide groove 256 is provided on the first circulating pusher slide groove 256, and a first circulating pusher locking block 257 is slidably disposed in the first circulating pusher slide groove 256. The first cycle pusher drive module 252 can drive the first cycle pusher block 257 to move along the second direction to engage with the first cycle pusher slot 2410 of the cycle fixture 240, and the first cycle pusher drive module 254 can drive the first cycle pusher block 257 to move along the third direction on the first cycle pusher slide 256. In specific operation, when the circulating fixture is at the right circulating slide rail end, the second first circulating pusher drive module drives the first circulating pusher block to extend along the second direction, so that the first circulating pusher block aligns with the first circulating pusher slot and engages; then the third first circulating pusher drive module 254 drives the first circulating pusher block to move upward, so that the hook moves upward. At this time, the picking device places the sample fixing plate on the circulating fixture slot on the front of the circulating fixture mounting plate. Then the third first circulating pusher drive module drives the first circulating pusher block to move downward, and the hook moves downward under the action of gravity, thereby fixing the cable fixing plate; then the first circulating pusher drive module 1 drives the entire assembly to move along the positive direction of the first direction (from right to left), pushing the circulating fixture from the right circulating slide rail to the upper circulating slide rail; after the pushing is completed, the first circulating pusher unit resets, ready to push the next circulating fixture.

[0097] like Figure 16 and Figure 20 As shown, the second circulating pusher unit 260 is mounted on the main inspection frame and arranged along the length of the upper circulating slide rail. It is used to push the circulating fixture on the upper circulating slide rail to move gradually along the positive direction of the first direction on the upper circulating slide rail, and to push the circulating fixture from the end of the upper circulating slide rail into the left circulating slide rail. The second circulating pusher unit 260 includes a second circulating pusher drive module 261, which is a linear module and is existing technology, so it will not be described in detail here. Its output end is connected to a second circulating pusher drive module 262, which can drive the second circulating pusher drive module 262 to move along the first direction. The second circulating pusher drive module 262 includes a second circulating pusher drive slide rail 2621, on which a second circulating pusher drive slide plate 2622 is slidably mounted. The output end of the second circulating pusher drive module 261 is connected to the second circulating pusher drive slide plate 2622. The second-cycle pusher drive slide plate 2622 is equipped with a second-cycle pusher drive motor 2623 and several second-cycle pusher drive fixing plates 2624. A second-cycle pusher drive rotating rod 2625 is rotatably mounted on each of the second-cycle pusher drive fixing plates 2624. The output end of the second-cycle pusher drive motor 2623 is connected to the second-cycle pusher drive rotating rod 2625 via a coupling or synchronous belt, driving its rotation. Several second-cycle pusher drive locking blocks 2626 are spaced apart on the second-cycle pusher drive rotating rod 2625. These second-cycle pusher drive locking blocks 2626 can engage with the second-cycle pusher slots 2411 of the circulating fixture 240. When the second-cycle pusher drive motor 2623 drives the rotating rod 2625 to rotate, the second-cycle pusher drive locking blocks 2626 rotate accordingly, thereby alternately entering and exiting the second-cycle pusher slots 2411. The second cycle pusher drive module 261 advances the length of one cycle fixture 2411 each time, thereby pushing the cycle fixtures 240 on the upper cycle slide rail 221 to the left one by one.

[0098] Figure 21 This is a schematic diagram of the structure of the left loop drive component provided in an embodiment of the present invention. Figure 16 , Figure 21As shown, a left circulation drive assembly 280 is also provided on the main frame 210. The left circulation drive assembly 280 includes a left circulation drive fixing plate 281, on which a left circulation drive slide rail 282 extending in a third direction and a left circulation drive cylinder 283 are provided. A left circulation slide plate 284 is slidably mounted on the left circulation drive slide rail 282, and a left circulation slide rail 223 is fixedly mounted on the left circulation slide plate 284. The left circulation drive fixing plate 281 is also provided with an upper left sensor switch 285 and a lower left sensor switch 286. The upper left sensor switch 285 is on the same horizontal line as the upper circulation slide rail 221, and the lower left sensor switch 286 is on the same horizontal line as the lower circulation slide rail 222, used to detect whether the left circulation slide plate 284 has been raised or lowered to the correct position.

[0099] Figure 22 This is a schematic diagram of the structure of the release drive module provided in an embodiment of the present invention. Figure 16 , Figure 22 As shown, a release drive module 290 is also provided on the top of the left circulation drive fixing plate 281. The release drive module 290 includes a first release cylinder 291, and a release fixing plate 292 is provided at the output end of the first release cylinder 291. The first release cylinder 291 can drive the release fixing plate 292 to move in a second direction. A second release cylinder 293 and a release fixing block 294 are provided on the release fixing plate 292. A release groove 295 is provided on the release fixing block 294, and a fourth circulation pusher drive block 296 is slidably provided on the release groove 295. The second release cylinder 293 can drive the fourth circulation pusher drive block 296 to move in a third direction. When the circulating fixture 240 is pushed from the upper circulating slide rail 221 into the left circulating slide rail 223, the fourth circulating pusher drive block 296 can be engaged in the first circulating pusher slot 2410 and lifted upward under the drive of the second release cylinder 293, causing the hook 248 to release, thereby releasing the pressure on the sample fixing plate 400, making it easier to remove the sample fixing plate 400 from the circulating fixture 240 later.

[0100] Figure 23 This is a schematic diagram of the third circulating pusher section provided in an embodiment of the present invention. Figure 16 , Figure 23As shown, the third circulating pusher unit 270 includes a third circulating pusher drive motor 271 and a third circulating pusher slide rail 272 extending along a first direction. A third circulating pusher slider 273 is slidably mounted on the third circulating pusher slide rail 272, and a third circulating pusher drive block 274 is mounted above the third circulating pusher slider 273. A third circulating pusher drive wheel 275 and a third circulating pusher follower wheel 276 are respectively mounted on both sides of the third circulating pusher slide rail 272, and a third circulating pusher belt 277 is sleeved between them, connecting the third circulating pusher slider 273. When the circulating fixture on the left circulating slide rail descends to its lowest point, the third circulating pusher drive block engages precisely in the second circulating pusher slot 2411 of the circulating fixture. When the third circulating pusher drive motor rotates forward or reverse, it drives the third circulating pusher slider to move along the first direction via belt drive, thereby causing the engaged circulating fixture to move to the right along the lower circulating slide rail.

[0101] Figure 24 This is a schematic diagram of the structure of the right loop drive component provided in an embodiment of the present invention. Figure 16 , Figure 24 As shown, the main frame 210 is also equipped with a right circulation drive assembly 2100, which has a similar structure to the left circulation drive assembly 280. It includes a right circulation drive fixing plate 2101, a right circulation drive slide rail 2102, a right circulation drive cylinder 2103, a right circulation slide plate 2104, an upper right induction switch 2105, and a lower right induction switch 2106. The right circulation slide rail 224 is fixedly mounted on the right circulation slide plate 2104 and can move up and down along the right side under the drive of the right circulation drive cylinder 2103.

[0102] The following is a detailed description of the entire circulating conveyor line's operation: First, the right circulating drive assembly activates, with the right circulating drive cylinder driving the right circulating slide plate upwards, aligning the upper end of the right circulating slide rail with the right end of the upper circulating slide rail (triggered by the upper right induction switch). Then, the first circulating pusher activates: the second first circulating pusher drive module extends and engages with the first circulating pusher slot, while the third first circulating pusher drive module drives the first circulating pusher block upwards along a third direction. At this time, the claws on the circulating fixture are open, and the upstream material handling device places the sample fixing plate to be tested onto the circulating fixture, inserting the lower edge of the sample fixing plate into the circulating fixture slot. Then, the third first circulating pusher drive module drives the first circulating pusher block downwards along a third direction. Under gravity, the claws of the circulating fixture move downwards, automatically pressing the upper edge of the cable fixing plate, thus fixing the cable fixing plate onto the circulating fixture. Next, the first circulating pusher drive module pushes along the positive direction of the first direction, pushing the circulating fixture from the right circulating slide rail to the starting end of the upper circulating slide rail. The first cycle pusher block retracts and resets, ready to push the next cycle fixture. Next, the second cycle pusher unit operates: the second cycle pusher drive motor drives the second cycle pusher drive rod to rotate, causing the second cycle pusher drive block to engage with the second cycle pusher slot of the cycle fixture; then, the second cycle pusher drive module moves one step to the left, pushing the cycle fixture one fixture position to the left. This stepping action is repeated, and the cycle fixture gradually moves to the left on the upper cycle slide rail. When the cycle fixture reaches the inspection station, the camera device acquires images and determines defects in the cable solder joints. After inspection, the cycle fixture continues to move to the left until it is pushed into the left cycle slide rail. When the circulating fixture enters the left circulating slide rail, the release drive module operates: the first release cylinder drives the release fixing plate to extend forward, causing the fourth circulating push drive block to align with and engage with the first circulating push slot; the second release cylinder drives the fourth circulating push drive block to move upward, pulling the circulating fixture connecting plate of the circulating fixture upward, thereby causing the hook to lift upward and release the cable fixing plate that has been inspected. The material handling device removes the cable fixing plate. The release drive module resets. Then, the left circulating drive assembly operates: the left circulating drive cylinder drives the left circulating slide plate to move downward, causing the left circulating slide rail to move downward to the position of the lower left induction switch. At this time, the second circulating push slot of the circulating fixture is engaged with the third circulating push drive block. The third circulating push unit operates: because the third circulating push drive block is engaged with the second circulating push slot of the circulating fixture, the third circulating push drive motor drives the third circulating push slider to move to the right, pushing the circulating fixture from the left circulating slide rail to the lower circulating slide rail, and continuing to push it to the right. The circulating fixture moves to the right on the lower circulating slide rail until it reaches the right end of the lower circulating slide rail.When the circulating fixture reaches the right end of the lower circulating slide rail, the right circulating drive assembly activates: the right circulating drive cylinder drives the right circulating slide plate downwards, aligning the lower end of the right circulating slide rail with the right end of the lower circulating slide rail (triggered by the lower right induction switch). The third circulating pusher continues to push to the right, moving the circulating fixture from the lower circulating slide rail onto the right circulating slide rail. Subsequently, the right circulating drive assembly again drives the right circulating slide plate upwards, aligning the upper end of the right circulating slide rail with the right end of the upper circulating slide rail, awaiting the next push. At this point, the unloaded circulating fixture has returned to its initial loading position, and the unloading device can reload a new sample fixing plate to be inspected, starting a new round of inspection cycle.

[0103] like Figure 13 As shown, the camera inspection device 230 includes a first camera inspection module 231 and a second camera inspection module 232, which are arranged sequentially along the conveying direction (first direction) of the circulating conveyor line 220. The first camera inspection module 231 is used to inspect the appearance of the solder joints of the odd-numbered cables arranged on the sample fixing plate 400, and the second camera inspection module 232 is used to inspect the appearance of the solder joints of the even-numbered cables arranged on the sample fixing plate 400.

[0104] The first camera detection module 231 includes a first camera detection unit 233, a second camera detection unit 234, a third camera detection unit 235, and a fourth camera detection unit 236. The first camera detection unit 233 and the second camera detection unit 234 are positioned opposite each other and distributed on both sides of the loop conveyor line 220. The line connecting the first camera detection unit 233 and the second camera detection unit 234 is perpendicular to the loop conveyor line 220 (i.e., along a second direction). The third camera detection unit 235 and the fourth camera detection unit 236 are positioned opposite each other and distributed on both sides of the loop conveyor line 220. The line connecting the third camera detection unit 235 and the fourth camera detection unit 236 forms an angle α with the loop conveyor line 220. Preferably, the angle α ranges from 30° to 60°; in this embodiment, α = 45°.

[0105] The second camera detection module 232 includes a fifth camera detection unit 237, a sixth camera detection unit 238, a seventh camera detection unit 239, and an eighth camera detection unit 2310. Its layout is the same as that of the first camera detection module 231: the fifth camera detection unit 237 and the sixth camera detection unit 238 are arranged opposite each other and the line connecting them is perpendicular to the conveying line; the seventh camera detection unit 239 and the eighth camera detection unit 2310 are arranged opposite each other and the line connecting them forms an angle β with the conveying line. The range of β is also 30°≤β≤60°. In this embodiment, β=45°.

[0106] Figure 14 This is a schematic diagram of the camera detection unit provided in an embodiment of the present invention. Figure 14As shown, each camera detection unit has the same structure, including a camera support frame 2311, on which a CCD camera 2312 is mounted. To facilitate adjustment of the CCD camera 2312's position, a camera adjustment module 2313 is also provided on the camera support frame 2311. The camera adjustment module 2313 includes a camera adjustment base plate 2314, a camera adjustment slide plate 2315 slidably mounted on the base plate 2314, and a camera adjustment seat 2316 mounted on the slide plate 2315. The CCD camera 2312 is mounted on the camera adjustment seat 2316. A camera adjustment fixing plate 2317 is connected to the side of the camera adjustment base plate 2314, and a camera adjustment screw 2318 is mounted on the fixing plate 2317. A camera adjustment connecting plate 2319 is located on the side of the slide plate 2315, and the screw 2318 is connected to the connecting plate 2319. By rotating the camera adjustment screw 2318, the position of the CCD camera 2312 can be precisely adjusted to achieve focus and field of view calibration.

[0107] During the inspection process, a sample holder plate carries multiple sample lines and moves along the circular conveyor line. When the sample holder plate reaches the station of the first camera inspection module, the first and second camera inspection units capture vertical images of the solder joints on the odd-numbered sample lines from opposite sides. Simultaneously, the third and fourth camera inspection units capture side images of the same odd-numbered sample lines from a 45° angle, thus obtaining multi-angle images of the solder joints. Subsequently, the sample holder plate moves to the station of the second camera inspection module, where the fifth, sixth, seventh, and eighth camera inspection units capture multi-angle images of the even-numbered sample lines using a combination of vertical and angled images. Images acquired by all CCD cameras are transmitted to an image processing system (not shown in the figure) for analysis to identify whether defects exist in the solder joints. Through the above structure, this embodiment achieves parallel inspection of odd-numbered and even-numbered sample lines, and each sample line obtains images from at least four different perspectives, significantly improving inspection efficiency and accuracy. Meanwhile, operators can independently fine-tune each CCD camera by rotating the camera adjustment screw according to the actual welding point location, ensuring image clarity and accuracy of field of view coverage.

[0108] The cable used for visual inspection of solder joints on the sample holder plate is prone to skewing or tilting during transport or when stopped at the camera inspection station due to its length, soft material, and insufficient rigidity. This shift in cable position can cause the camera to capture images of the solder joints that deviate from the standard field of view, resulting in inaccurate detection area positioning, blurred images, or even obscuring of the solder joints. Ultimately, this significantly reduces the accuracy and stability of the inspection system. To address this issue... Figure 25 This is a schematic diagram of the wire straightening device provided in an embodiment of the present invention. Figure 26 This is a structural diagram showing the positions of the first and second wire-straightening clamps of the wire-straightening device. Figure 2 , Figure 25 , Figure 26 As shown, a cable straightening device 2200 is also provided on the main frame 210. The cable straightening device 2200 is located above the inspection station of the camera inspection device 230 and is used to straighten and shape the cable before inspection to ensure that the cable enters the inspection area in the correct posture.

[0109] The cable straightening device 2200 includes a cable straightening mounting frame 2210, which includes two cable straightening vertical frames 2211. A cable straightening horizontal frame 2212 is connected between the two cable straightening vertical frames 2211, and a cable straightening part 2220 is fixedly installed on the cable straightening horizontal frame 2212. Preferably, two sets of cable straightening parts 2220 are provided, respectively located on both sides of the cable straightening mounting frame 2210 along the first direction, to accommodate cables in different positions or batches.

[0110] The cable straightening unit 2220 includes a first cable straightening drive module 2221, a second cable straightening drive module 2222, a first cable straightening slide rail 2223, a second cable straightening slide rail 2224, a first cable straightening clamp 2225, and a second cable straightening clamp 2226. The first cable straightening slide rail 2223 and the second cable straightening slide rail 2224 extend along a third direction (Z direction). The output end of the first cable straightening drive module 2221 is connected to the first cable straightening slide rail 2223 and the second cable straightening slide rail 2224 to drive them to move closer or further apart along a second direction. The output end of the second cable straightening drive module 2222 is connected to the first cable straightening slide rail 2223 and the second cable straightening slide rail 2224 to drive them to move up and down along a third direction. The bottom of the first winding slide rail 2223 is connected to the first winding clamp 2225, and the bottom of the second winding slide rail 2224 is connected to the second winding clamp 2226.

[0111] Specifically, the first winding drive module 2221 includes a first winding drive motor 2227, a first winding drive slide 2228 extending along a second direction, and a first winding slide 2229 and a second winding slide 22210 slidably disposed on the first winding drive slide 2228. A first winding bidirectional screw (not shown) is rotatably disposed inside the first winding drive slide 2228. The output end of the first winding drive motor 2227 is connected to one end of the first winding bidirectional screw. The first winding slide 2229 and the second winding slide 22210 are threadedly connected to the first winding bidirectional screw, thereby moving closer or further apart under the drive of the first winding drive motor 2227. The first winding slide table 2229 has a first winding groove 22291, the second winding slide table 22210 has a second winding groove 222101, the first winding slide rail 2223 is slidably disposed in the first winding groove, and the second winding slide rail 2224 is slidably disposed in the second winding groove.

[0112] The output end of the second winding drive module 2222 (e.g., a linear module) is provided with a second winding drive slide 22212. The second winding drive slide 22212 is provided with a left second winding drive slide rail 22213 and a right second winding drive slide rail 22214 extending along the second direction. A left second winding drive slider 22215 is slidably disposed on the left second winding drive slide rail 22213, and a right second winding drive slider 22216 is slidably disposed on the right second winding drive slide rail 22214. The top of the first winding slide rail 2223 is connected to the left second winding drive slider 22215, and the top of the second winding slide rail 2224 is connected to the right second winding drive slider 22216.

[0113] like Figure 26 As shown, a first cable straightener 2225 has a first cable straightener opening 22251, and a second cable straightener 2226 has a second cable straightener opening 22261. The first cable straightener 2225 also includes a first cable straightener plate 22252, and the second cable straightener 2226 also includes a second cable straightener plate 22262. Both the first cable straightener plate 22252 and the second cable straightener plate 22262 extend along a first direction. A first cable straightener clamping plate 22253 is provided at the end of the first cable straightener plate 22252, and the first cable straightener opening 22251 is formed on the first cable straightener clamping plate 22253. Similarly, a second cable straightener clamping plate 22263 is provided at the end of the second cable straightener plate 22262, and the second cable straightener opening 22261 is formed on the second cable straightener clamping plate 22263. The first wire straightening plate 22253 has a first wire straightening clearance opening 22254 on the side facing the second wire straightening plate 22263. The end of the second wire straightening plate 22263 can be inserted into the first wire straightening clearance opening 22254 to achieve cross closure. A wire straightening clearance groove 2227 is formed between the first wire straightening plate 22252 and the second wire straightening plate 22262 to avoid interference or damage to other parts of the sample line during the wire straightening process.

[0114] When the sample holder carrying the cable moves along the circulating conveyor line to the camera device's station and stops, the first cable straightening drive motor starts, driving the first and second cable straightening slides to move closer together. This causes the first and second cable straightening rails to move closer together, bringing the first and second cable straightening clamps together from both sides. The cable enters between the first and second cable straightening openings and is gently clamped and limited. Subsequently, the second cable straightening drive motor starts, driving the second cable straightening drive slide to move up and down along a third direction once or multiple times. This causes the first and second cable straightening rails, as well as the first and second cable straightening clamps, to move up and down synchronously, thus performing a "straightening" action on the sample cable in the up and down direction, straightening and correcting any skewing or wobble. After the cable straightening is completed, the camera acquires images. Upon completion of the inspection, the first cable straightening drive module drives the first and second cable straightening clamps to separate, and the second cable straightening drive module drives the cable straightening clamps to reset. The sample fixing plate then continues to move, proceeding to the next sample's inspection process. Through the above structure and working process, the cable straightening device provided in this embodiment can effectively ensure that the cable is always in the correct position during inspection, significantly improving the accuracy and consistency of solder joint inspection.

[0115] like Figure 2 As shown, the main frame 210 is also equipped with a cutting unit 2300 and a marking unit 2400, which are located on both sides of the circulating conveyor line 220, and both are located downstream of the camera detection device 230 (i.e., behind it along the conveying direction). The cutting unit 2300 is used to cut off the cable products that fail the inspection, and the marking unit 2400 is used to mark the cable products that fail the inspection by inkjet printing or laser marking.

[0116] Figure 28 This is a schematic diagram of the structure of the identification unit provided in an embodiment of the present invention. Figure 28 As shown, the marking unit 2400 includes a marking mounting plate 2410, which is mounted on the main frame 210. A first marking drive mechanism 2420 (e.g., a cylinder) is mounted on the marking mounting plate 2410. A second marking drive mechanism 2430 (e.g., a cylinder) is located at the output end of the first marking drive mechanism 2420. The first marking drive mechanism 2420 can drive the second marking drive mechanism 2430 to move along a first direction. A marking part 2440 is located at the output end of the second marking drive mechanism 2430, which can drive the marking part 2440 to move along a second direction. The marking part 2440 can be one of a stamp, a laser marking machine, or an inkjet printer.

[0117] Figure 27 This is a schematic diagram of the resection unit provided in an embodiment of the present invention. Figure 27As shown, the cutting unit 2300 includes two sets of spaced-apart first cutting mounting plates 2310, and a second cutting mounting plate 2320 is disposed above the two first cutting mounting plates 2310. A first cutting drive assembly 2330 is disposed on the second cutting mounting plate 2320, and a second cutting drive assembly 2340 is disposed at the output end of the first cutting drive assembly 2330. The first cutting drive assembly 2330 can drive the second cutting drive assembly 2340 to move along a first direction. A cutting section 2350 is disposed at the output end of the second cutting drive assembly 2340, and the second cutting drive assembly 2340 can drive the cutting section 2350 to move along a second direction.

[0118] Specifically, the first cutting drive assembly 2330 includes a first cutting drive cylinder 2331, a second cutting mounting plate 2320 is provided with a first cutting slide rail 2332 extending in a first direction, a first cutting slider 2333 is slidably disposed on the first cutting slide rail 2332, a first cutting fixing plate 2334 is provided on the first cutting slider 2333, the second cutting drive assembly 2340 is disposed on the first cutting fixing plate 2334, and the output end of the first cutting drive cylinder 2331 is connected to the first cutting slider 2333.

[0119] The second cutting drive assembly 2340 includes a second cutting drive cylinder 2341, which is mounted on a first cutting fixing plate 2334. A second cutting fixing plate 2342 is also mounted on the first cutting fixing plate 2334. A second cutting slide rail 2343 extending in a second direction is mounted on the second cutting slide rail 2343. A second cutting slider 2344 is mounted on the second cutting slide rail 2343. The second cutting slider 2344 is connected to a second cutting mounting bracket 2345. The output end of the second cutting drive cylinder 2341 is connected to the second cutting mounting bracket 2345. A cutting part 2350 is mounted on the second cutting mounting bracket 2345.

[0120] The cutting unit 2350 includes a cutting fixture 2351, on which a clamping and fixing bidirectional cylinder 2352 and a cutting bidirectional cylinder 2353 are mounted. A cutting fixture clamp 2354 is mounted at the output end of the clamping and fixing bidirectional cylinder 2352 for clamping and fixing the defective cable before cutting. A cutting blade 2355 is mounted at the output end of the cutting bidirectional cylinder 2353 for cutting the defective cable. The cutting fixture clamp 2354 is positioned above the cutting blade 2355, forming a "clamp first, then cut" action sequence.

[0121] An inclined waste guide plate 2360 is provided between the two first cutting mounting plates 2310. The top of the waste guide plate 2360 is close to the cutting part 2350. A waste trough 2370 is provided on the main frame 210. The bottom of the waste guide plate 2360 is located above the waste trough 2370. The cut defective products slide down the waste guide plate 2360 into the waste trough 2370 for centralized collection.

[0122] Figure 29 This is a schematic diagram of the defective collection unit provided in an embodiment of the present invention. Figure 30 This is a schematic diagram of the sample fixing plate. Figure 2 , Figure 29 , Figure 30 As shown, the main frame 210 is also equipped with a defect collection unit 2500, which is used to directly collect the detected defective products on the circulating conveyor line 220. The defect collection unit 2500 includes two oppositely arranged defect collection mounting plates 2510, and a defect collection clamping cylinder 2520 is provided on the defect collection mounting plate 2510. A defect clamp 2530 is provided at the output end of the defect collection clamping cylinder 2520. A defect fixing plate 2540 is provided between the two defect clamps 2530, and two defect insert plates 2550 are connected to the defect fixing plate 2540. A defect slot 410 is opened on the sample fixing plate 400, and the defect insert plates 2550 can pass through the defect slot 410 one by one. When a defective product is detected on the sample fixing plate 400, the defective collection clamping cylinder 2520 drives the defective clamp 2530 to close, and the two defective insert plates 2550 are inserted into the defective slot 410 from below and move closer to each other, lifting the defective product from the sample fixing plate 400 and clamping it for collection.

[0123] The unloading mechanism 300 can have a similar structure to the loading mechanism 100 or use a conventional belt conveyor line to transport the inspected good cables and empty sample holders 400 to the next process or for recycling. Since the unloading mechanism 300 is similar to the loading mechanism 100, it will not be described in detail here.

[0124] The working process of the weld joint appearance inspection machine provided in this embodiment is as follows: First, the operator stacks sample fixing plates 400 containing multiple cable samples into the loading and pushing fixture 140, and places the loading and pushing fixture 140 on the loading and feeding section 120. The loading and feeding section 120 conveys the loading and pushing fixture 140 forward to the front end, where the fixture positioning section 160 positions and fixes it. The loading and pushing section 170 pushes the sample fixing plates 400 forward to the picking position. The robotic arm 510 of the picking device 500 drives the picking section 520 to move. The adsorption component 523 first adsorbs the sample fixing plate 400, causing it to elastically deform and detach from the fixture latch 145. Then, the picking clamping component 522 clamps the sample fixing plate 400, removes it from the loading and pushing fixture 140, and places it on the circulating fixture 240 located at the end of the right circulating slide rail 224.

[0125] Driven by the circulating conveyor line 220, the circulating fixture 240 begins to move in a circular motion. Specifically, the first circulating pusher 250 pushes the circulating fixture 240 from the right circulating slide rail 224 into the upper circulating slide rail 221, and the second circulating pusher 260 pushes the circulating fixture 240 forward on the upper circulating slide rail 221, passing sequentially through the cable straightening device 2200 and the camera inspection device 230. At the inspection station, the cable straightening device 2200 first straightens and shapes the cable, and then the first camera inspection module 231 and the second camera inspection module 232 take pictures of the odd-numbered and even-numbered cable solder joints from multiple angles, both vertically and obliquely.

[0126] After the inspection is completed, the circulating fixture 240 continues to move forward to the left circulating slide rail 223. The release drive module 290 is activated, driving the fourth circulating push drive block 296 to engage with the first circulating push slot 2410 and lift upwards, causing the hook 248 to release the sample fixing plate 400. Another set of material handling devices 500 removes the sample fixing plate 400 from the circulating fixture 240 and transfers it to the corresponding station according to the inspection results: if all are qualified, they are directly sent to the unloading mechanism 300; if there are defective products, they are cut off by the cutting unit 2300, or transferred to the marking unit 2400 for marking, or directly collected by the defective collection unit 2500, according to the preset processing method.

[0127] After the sample fixing plate 400 is removed, the empty circulating jig 240, driven by the left circulating drive assembly 280, descends along the left circulating slide rail 223 to the same height as the lower circulating slide rail 222. Then, it is pushed by the third circulating pusher 270, passing sequentially through the left circulating slide rail 223, the lower circulating slide rail 222, and the right circulating slide rail 224, returning to its initial position, ready to receive the next sample fixing plate 400. At the same time, the empty feeding pusher jig 140 in the feeding mechanism 100 is transferred from the feeding feeder 120 to the feeding return section 130 by the empty material transfer section 150, and is then transported backward by the return belt for recycling, realizing the recycling of the jig.

[0128] Thus, the weld joint appearance inspection machine described in this embodiment completes a full work cycle.

[0129] Note that the above description is merely a preferred embodiment of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of the present invention, the scope of which is determined by the scope of the appended claims.

Claims

1. A weld joint appearance inspection machine, characterized in that, It includes a feeding mechanism, a main inspection mechanism, and a discharging mechanism; The main detection mechanism includes a main frame, on which a circulating conveyor line is provided. The circulating conveyor line includes an upper circulating slide rail, a lower circulating slide rail, a left circulating slide rail, and a right circulating slide rail extending along a first direction. The upper circulating slide rail is located above the lower circulating slide rail, and the left and right circulating slide rails are located on both sides of the upper circulating slide rail. The left and right circulating slide rails are configured to move up and down along a third direction. The upper, lower, left, and right circulating slide rails are all slidably equipped with circulating fixtures. The sample fixing plate to be tested is fixed on the circulating fixture. Several cables to be inspected for weld point appearance are arranged on the sample fixing plate. The circulating fixture slides cyclically on the upper, left, lower, and right circulating slide rails. Camera detection devices are also provided on both sides of the upper circulating slide rail along the second direction.

2. The weld joint appearance inspection machine according to claim 1, characterized in that, The camera detection device includes a first camera detection module and a second camera detection module, which are disposed on the line of the circulating conveyor line. The first camera detection module inspects the appearance of the solder joints of the odd-numbered cables arranged on the sample fixing plate, and the second camera detection module inspects the appearance of the solder joints of the even-numbered cables arranged on the sample fixing plate.

3. The weld joint appearance inspection machine according to claim 1, characterized in that, The circulating conveyor line also includes: The first circulating pusher is used to push the circulating fixtures on the right circulating slide rail into the upper circulating slide rail one by one. The back of the circulating fixture is provided with a first circulating pusher slot. The second circulating pusher is used to push the circulating fixtures on the upper circulating slide rail to move one by one along the positive direction of the first direction on the upper circulating slide rail, and to push the circulating fixtures from the upper circulating slide rail to the left circulating slide rail. The third circulating pusher is mounted on the main frame and is used to push the circulating fixture to move sequentially along the negative direction of the first direction on the left circulating slide rail, the lower circulating slide rail and the right circulating slide rail.

4. A weld joint appearance inspection machine according to claim 3, characterized in that, The first circulating pusher unit includes a first circulating pusher drive module one, and a first circulating pusher drive module two is provided at the output end of the first circulating pusher drive module one. The first circulating pusher drive module one can drive the first circulating pusher drive module two to move along a first direction. A first circulating pusher block is provided at the output end of the first circulating pusher drive module two. The first circulating pusher drive module two can drive the first circulating pusher block to move along a second direction and be inserted into the first circulating pusher slot. The output end of the first circulating pusher drive module two is also provided with a first circulating pusher mounting plate. The first circulating pusher mounting plate is provided with a first circulating pusher drive module three and a first circulating pusher fixing block. The first circulating pusher fixing block is provided with a first circulating pusher slide groove. The first circulating pusher block is slidably disposed on the first circulating pusher slide groove. The first circulating pusher drive module three can drive the first circulating pusher block to move along a third direction on the first circulating pusher slide groove.

5. A weld joint appearance inspection machine according to claim 4, characterized in that, The circulating fixture includes a circulating fixture mounting plate. A circulating fixture slot is provided at the bottom of the front side of the circulating fixture mounting plate. A first circulating fixture slider is provided on the back side of the circulating fixture mounting plate. A first circulating fixture groove is provided on the first circulating fixture slider, and the first circulating fixture groove extends along a first direction.

6. A weld joint appearance inspection machine according to claim 5, characterized in that, The back of the circulating jig mounting plate is also provided with a second circulating jig slide rail, which extends in a third direction. A second circulating jig slide plate is slidably mounted on the second circulating jig slide rail. A circulating jig connecting plate is provided on the top of the second circulating jig slide plate. A plurality of hooks are provided on the top of the circulating jig connecting plate. The hooks extend to the top of the front of the circulating jig mounting plate. Two spaced circulating jig positioning plates are also connected to the bottom of the middle part of the circulating jig connecting plate. The two circulating jig positioning plates and the circulating jig connecting plate surround and form the first circulating pusher groove.

7. A weld joint appearance inspection machine according to claim 5, characterized in that, The bottom of the back side of the circulating fixture mounting plate is also provided with a second circulating pusher slot. The second circulating pusher unit includes a second circulating pusher drive module one, and a second circulating pusher drive module two is provided at the output end of the second circulating pusher drive module one. The second circulating pusher drive module one can drive the second circulating pusher drive module two to move along the first direction. The second circulating material pushing drive module includes a second circulating material pushing drive slide rail, on which a second circulating material pushing drive slide plate is slidably disposed. The output end of the second circulating material pushing drive module is connected to the second circulating material pushing drive slide plate. The second circulating material pushing drive slide plate is provided with a second circulating material pushing drive motor and a plurality of second circulating material pushing drive fixing plates. A second circulating material pushing drive rotating rod is rotatably disposed on the second circulating material pushing drive fixing plates. The output end of the second circulating material pushing drive motor is connected to the second circulating material pushing drive rotating rod. A plurality of second circulating material pushing drive locking blocks are spaced apart on the second circulating material pushing drive rotating rod. The second circulating material pushing drive locking blocks can be locked into the second circulating material pushing slot.

8. A weld joint appearance inspection machine according to claim 7, characterized in that, The main frame is also equipped with a left circulation drive assembly, which includes a left circulation drive fixing plate. The left circulation drive fixing plate is equipped with a left circulation drive slide rail and a left circulation drive cylinder. The left circulation drive slide rail extends along a third direction, and a left circulation slide plate is slidably mounted on the left circulation drive slide rail. The left circulation slide rail is mounted on the left circulation slide plate. The left circulation drive fixing plate is also equipped with an upper left sensor switch and a lower left sensor switch. The upper left sensor switch is on the same horizontal line as the upper circulation slide rail, and the lower left sensor switch is on the same horizontal line as the lower circulation slide rail.

9. A weld joint appearance inspection machine according to claim 8, characterized in that, The top of the left-circulation drive fixing plate is also provided with a release drive module. The release drive module includes a first release cylinder. The output end of the first release cylinder is provided with a release fixing plate. The first release cylinder can drive the release fixing plate to move along a second direction. The release fixing plate is provided with a second release cylinder and a release fixing block. The release fixing block is provided with a release groove. A fourth circulation push material drive block is slidably provided on the release groove. The second release cylinder can drive the fourth circulation push material drive block to move along a third direction. The fourth circulation push material drive block can be engaged into the first circulation push material drive groove.

10. A weld joint appearance inspection machine according to claim 9, characterized in that, The third circulating pusher is located below the lower circulating slide rail; The third circulating material pushing unit includes a third circulating material pushing drive motor and a third circulating material pushing slide rail extending along a first direction. A third circulating material pushing slider is slidably disposed on the third circulating material pushing slide rail. A third circulating material pushing drive block is disposed above the third circulating material pushing slider. A third circulating material pushing drive wheel and a third circulating material pushing follower wheel are respectively disposed on both sides of the third circulating material pushing slide rail. A third circulating material pushing belt is sleeved between the third circulating material pushing drive wheel and the third circulating material pushing follower wheel. The third circulating material pushing belt is connected to the third circulating material pushing slider. The output end of the third circulating material pushing drive motor is connected to the third circulating material pushing drive wheel. The third circulating material pushing drive block can be engaged into the second circulating material pushing slot.

11. A weld joint appearance inspection machine according to claim 10, characterized in that, The main frame is also equipped with a right circulation drive assembly, which includes a right circulation drive fixing plate. The right circulation drive fixing plate is equipped with a right circulation drive slide rail and a right circulation drive cylinder. The right circulation drive slide rail extends in a third direction, and a right circulation slide plate is slidably mounted on the right circulation drive slide rail. The right circulation slide rail is mounted on the right circulation slide plate. The right circulation drive fixing plate is also equipped with an upper right sensor switch and a lower right sensor switch. The upper right sensor switch is on the same horizontal line as the upper circulation slide rail, and the lower right sensor switch is on the same horizontal line as the lower circulation slide rail.

12. A weld joint appearance inspection machine according to claim 1, characterized in that, The main frame is also equipped with two sets of material handling devices; One set of material handling devices is located between the feeding mechanism and the circulating conveyor line, and is used to transfer the sample fixing plate from the feeding mechanism to the circulating conveyor line; Another set of material handling devices is set between the unloading mechanism and the circulating conveyor line to transfer the sample fixing plate from the circulating conveyor line to the unloading mechanism.

13. A weld joint appearance inspection machine according to claim 12, characterized in that, The material handling device includes: The robotic arm has a material handling unit at its output end; The material handling unit includes a material handling mounting plate, on which two sets of material handling clamping components and adsorption components are provided. The material handling clamping components are located on both sides of the material handling mounting plate, and the adsorption components are located between the two material handling clamping components. During material handling, the material handling adsorption component first adsorbs the sample fixing plate located on the jig of the feeding mechanism, causing the sample fixing plate to deform. Then, the material handling clamping component clamps the deformed sample fixing plate.

14. A weld joint appearance inspection machine according to claim 13, characterized in that, The material picking and adsorption assembly includes a material picking and adsorption driving cylinder, and the output end of the material picking and adsorption driving cylinder is provided with at least one set of material picking vacuum adsorption nozzles, which are connected to an external vacuum adsorption device. The output end of the material picking and adsorption driving cylinder is provided with a material picking and adsorption fixing plate, and the material picking vacuum adsorption nozzle is disposed on the material picking and adsorption fixing plate.

15. A weld joint appearance inspection machine according to claim 13 or 14, characterized in that, The material handling clamping assembly includes a bidirectional material handling clamping cylinder, and the two output ends of the bidirectional material handling clamping cylinder are respectively provided with material handling clamping plates one-to-one. The material handling clamping plate is provided with a material handling clamping slot; The material handling device also includes a material handling connecting plate, which is connected to the rear side of the material handling mounting plate; The material handling connecting plate is provided with a material handling connector on the side away from the material handling mounting plate, and the material handling connector is connected to the output end of the robotic arm.

16. A weld joint appearance inspection machine according to claim 1, characterized in that, The feeding mechanism includes: The feeding rack is equipped with a feeding and return section; A feeding and pushing fixture is used to transport materials on the feeding and feeding return sections, wherein the feeding and feeding section transports the feeding and pushing fixture in the positive direction of the first direction, and the feeding and feeding return section transports the feeding and pushing fixture in the negative direction of the first direction. An empty material transfer unit is provided on the loading rack and is used to transfer the empty loading pusher from the loading feed unit to the loading return unit; A fixture positioning part is disposed on the feeding part and located near the front end of the feeding part, for positioning and fixing the feeding and pushing fixture located at the front end of the feeding part.

17. A weld joint appearance inspection machine according to claim 16, characterized in that, The feeding unit includes two symmetrically arranged feeding modules; The feeding module includes a feeding mounting plate extending along a first direction. A feeding drive wheel and a feeding follower wheel are rotatably mounted at the front and rear ends of the feeding mounting plate, respectively. A feeding belt is fitted between the feeding drive wheel and the feeding follower wheel. A feeding drive mechanism is also mounted on the feeding mounting plate, with its output end connected to the feeding drive wheel. A feeding stabilizing block is also mounted on the feeding belt, and a feeding stabilizing slot is formed on the feeding stabilizing block. The bottom corner of the feeding pusher fixture can be engaged in the feeding stabilizing slot.

18. A weld joint appearance inspection machine according to claim 16, characterized in that, The feeding and returning section includes a feeding and returning drive mechanism and two symmetrically arranged feeding and returning modules; The feeding and returning module includes a feeding and returning mounting plate, which extends along a first direction. A feeding and returning drive wheel and a feeding and returning follower wheel are rotatably mounted at the front and rear ends of the feeding and returning mounting plate, respectively. A feeding and returning belt is sleeved between the feeding and returning drive wheel and the feeding and returning follower wheel. A feeding and returning drive shaft is coaxially connected between the two feeding and returning drive wheels, and a feeding and returning follower shaft is coaxially connected between the two feeding and returning follower wheels. The output end of the feeding and returning drive mechanism is connected to one of the feeding and returning drive wheels; The feeding and returning conveyor belt is equipped with a feeding and returning stabilizing block, and the feeding and returning stabilizing block is provided with a feeding and returning stabilizing slot. The bottom corner of the feeding and pushing fixture can be locked in the feeding and returning stabilizing slot.

19. A weld joint appearance inspection machine according to any one of claims 16 to 18, characterized in that, The feeding and receiving section and the feeding and receiving section are arranged side by side, and the empty material transfer section is located above the feeding and receiving section and the feeding and receiving section; The empty material transfer unit includes an empty material transfer mounting frame, on which a first empty material transfer moving module is provided. A second empty material transfer moving module is provided at the output end of the first empty material transfer moving module. The first empty material transfer moving module can drive the second empty material transfer moving module to move along a second direction. An empty material transfer clamping unit is provided at the output end of the second empty material transfer moving module. The second empty material transfer moving module can drive the empty material transfer clamping unit to move along a third direction.

20. A weld joint appearance inspection machine according to claim 19, characterized in that, The empty material transfer clamping unit includes an empty material transfer clamping mounting plate. An empty material clamping bidirectional drive cylinder is provided at the center of the bottom of the empty material transfer clamping mounting plate. Empty material clamping slide rails are provided on both sides of the empty material clamping bidirectional drive cylinder. Empty material clamping sliders are slidably arranged on the empty material clamping slide rails. The empty material clamping sliders are connected to empty material clamping plates one-to-one. The two output ends of the empty material clamping bidirectional drive cylinder are respectively connected to the empty material clamping plates one-to-one.

21. A weld joint appearance inspection machine according to claim 16, characterized in that, Several sample fixing plates are stacked on the feeding and pushing fixture along the first direction. A feeding and pushing block is also slidably disposed on the feeding and pushing fixture, and a feeding and pushing slot is provided on the pushing block. The feeding and pushing fixture includes a fixture frame, the front side of which is an open structure, the rear side of which is a closed structure, fixture slides are provided on both sides of the fixture frame, and the middle of the fixture frame is an open structure. The sample fixing plate slides one-to-one in the fixture groove on both sides, and the pusher block slides one-to-one in the fixture groove on both sides. The sample fixing plate is located in front of the pusher block. The front end of the fixture slide is provided with a fixture buckle, and the fixing plate is located on the rear side of the fixture buckle; The fixture buckle has an inclined surface on the side away from the fixing plate, and the inclined surface extends towards the center of the fixing plate.

22. A weld joint appearance inspection machine according to claim 21, characterized in that, The jig frame is also provided with jig clamping holes and jig positioning holes on both sides.

23. A weld joint appearance inspection machine according to claim 22, characterized in that, The fixture positioning part includes a fixture positioning cylinder, and the output end of the fixture positioning cylinder is provided with a fixture positioning rod, which can be engaged into the fixture positioning hole.

24. A weld joint appearance inspection machine according to claim 21, characterized in that, The feeding rack is also equipped with a feeding and pushing part; The feeding and pushing section includes a first feeding and pushing drive module and a second feeding and pushing drive module; The output end of the first feeding and pushing drive module is connected to the second feeding and pushing drive module to drive the second feeding and pushing drive module to move along the first direction; The output end of the second feeding and pushing drive module is connected to a feeding and pushing rod, which can be engaged in the feeding and pushing slot, and the second feeding and pushing drive module can drive the feeding and pushing rod to move in a third direction; When a sample fixing plate stacked at the front end of the feeding and pushing fixture is removed, the pushing rod of the feeding and pushing part can push several sample fixing plates to move one position to the front end through the feeding and pushing block.

25. A weld joint appearance inspection machine according to claim 16, characterized in that, The feeding mechanism and the unloading mechanism have the same structure.

26. A weld joint appearance inspection machine according to claim 1, characterized in that, The main frame is also equipped with a cable straightening device, which includes: A cable straightening mounting bracket, on which a cable straightening section is provided; The cable straightening section includes a first cable straightening drive module, a second cable straightening drive module, a first cable straightening slide rail, a second cable straightening slide rail, a first cable straightening clamp, and a second cable straightening clamp; the first cable straightening slide rail and the second cable straightening slide rail extend in a third direction; The output end of the first winding drive module is connected to the first winding slide rail and the second winding slide rail to drive the first winding slide rail and the second winding slide rail to move closer to or further away from each other along the second direction; The output end of the second winding drive module is connected to the first winding slide rail and the second winding slide rail to drive the first winding slide rail and the second winding slide rail to move up and down along a third direction; The bottom of the first winding slide rail is connected to the first winding clamp, and the bottom of the second winding slide rail is connected to the second winding clamp.

27. A weld joint appearance inspection machine according to claim 1, characterized in that, The main frame is also provided with a cutting unit and an marking unit, which are located on both sides of the circulating conveyor line and downstream of the circulating conveyor line, respectively. The cutting unit is used to cut off products that fail the inspection. The marking unit is used to mark products that fail the inspection.

28. A weld joint appearance inspection machine according to claim 1, characterized in that, The main frame is also equipped with a defect collection unit; The defect collection unit includes two oppositely arranged defect collection mounting plates, each equipped with a defect collection clamping cylinder, and the output end of the defect collection clamping cylinder is equipped with a defect clamp. A defect fixing plate is provided between the two defective clamps, and two defective insert plates are connected to the defect fixing plate; The sample fixing plate has a defective slot, and the defective insert passes through the defective slot one by one.

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