A visual inspection device and method for omnidirectional detection of the appearance of a steel ball

Abstract

The application discloses a kind of all-around detection's steel ball appearance visual inspection equipment and detection method, belong to steel ball detection technical field, including frame and appearance detection mechanism;The frame upper end is sequentially installed with each feeding mechanism, first fixed shaft type spin conveying mechanism and second fixed shaft type spin conveying mechanism along its length direction;First fixed shaft type spin conveying mechanism and second fixed shaft type spin conveying mechanism structure are same, the synchronous belt conveyor of double-row synchronous belt conveyor of two is same, and synchronous belt is perpendicular to the same direction of orientation.Through the above mode, steel ball can first rotate around diameter d1 for several times at preset angle, then rotate around diameter d2 for several times at preset angle, and appearance detection mechanism is carried out to steel ball when each steel ball is stationary, since diameter d1 and diameter d2 are perpendicular to each other, so that appearance detection mechanism realizes all-around, dead angle-free automatic appearance detection to steel ball by multiple shooting.

Description

Technical Field

[0001] This invention relates to the field of steel ball inspection technology, specifically to a comprehensive visual inspection device and method for steel ball appearance. Background Technology

[0002] Visual inspection of steel balls is a crucial step in ensuring their quality. Its main purpose is to identify and reject products with defects such as cracks and scratches on the surface. Common steel ball visual inspection equipment on the market falls into two main categories: 1. Fixed-point rotation detection: The steel ball is moved onto the rotating device, which controls the steel ball to rotate around several specific axes. During the rotation, the steel ball is photographed by a vision module. Each steel ball needs to stay on the rotating structure for a preset time, which has low detection efficiency. 2. Rolling and Rotation Detection: The steel ball is made to roll along a specific trajectory by a drive device or by its own weight. During the rolling process, the steel ball is photographed by a vision module. The rotation axis of the steel ball will change dynamically during the rolling process, and the steel ball will constantly adjust its posture. This will lead to inconsistencies in the appearance detection of different steel balls, and may even cause some parts of the steel ball to always be at the edge. The distortion in the content captured by the vision module will affect the detection accuracy.

[0003] Based on this, the present invention designs a holistic visual inspection device and method for steel ball appearance to solve the above problems. Summary of the Invention

[0004] In view of the above-mentioned shortcomings of the existing technology, the present invention provides a visual inspection device and method for all-round inspection of the appearance of steel balls.

[0005] To achieve the above objectives, the present invention provides the following technical solution: A comprehensive visual inspection device for the appearance of steel balls, comprising a frame and an appearance inspection mechanism; The upper end of the frame is sequentially equipped with a feeding mechanism, a first fixed-axis spin conveyor and a second fixed-axis spin conveyor along its length. The feeding mechanism is located at the feeding end of the first fixed-axis spin conveyor, and the first fixed-axis spin conveyor and the second fixed-axis spin conveyor are connected end to end. The first fixed-axis spin conveyor includes a double-row synchronous belt conveyor, a self-driven fixed-rotation shaft clamping assembly, a friction-type spin drive assembly, and a support frame. The support frame is fixedly installed on the upper end of the frame. Two double-row synchronous belt conveyors are provided and symmetrically installed on the support frame. The self-driven fixed-rotation shaft clamping assembly is installed on the synchronous belt of each of the two double-row synchronous belt conveyors. The friction-type spin drive assembly and the appearance inspection mechanism are arranged opposite to each other between the two double-row synchronous belt conveyors and are both connected to the frame of the double-row synchronous belt conveyors. The first fixed-axis spin conveyor mechanism and the second fixed-axis spin conveyor mechanism have the same structure, and the synchronous belts of the two double-row synchronous belt conveyors have the same flow direction and the synchronous belts are perpendicular.

[0006] Furthermore, the self-driven fixed-rotation shaft clamping assembly includes a fixed-rotation shaft clamping unit and a self-driving unit. Multiple fixed-rotation shaft clamping units are provided and are installed at equal intervals on the synchronous belt surface of the double-row synchronous belt conveyor. The self-driving unit is installed inside the frame of the double-row synchronous belt conveyor.

[0007] Furthermore, the fixed-rotation shaft clamping unit includes a support plate, a mounting plate, a top block, a sliding sleeve, and a sliding rod. The support plate is fixedly installed on the surface of the synchronous belt of the double-row synchronous belt conveyor. The sliding sleeve is fixedly connected to the support plate, and the sliding rod is fixedly connected to the mounting plate. The sliding rod and the sliding sleeve are also connected in a limited sliding connection. The top block is rotatably installed on the inner side of the mounting plate, and an arc-shaped groove that matches the shape of the steel ball is provided on the side of the top block away from the mounting plate.

[0008] Furthermore, the fixed-rotation shaft clamping unit also includes an elastic element, a connecting plate, and a roller. The elastic element is sleeved on the outside of the slide rod, and the connecting plate is fixedly connected to the end of the slide rod away from the mounting plate. The two ends of the elastic element abut against the slide sleeve and the connecting plate, respectively. The roller is rotatably connected to the connecting plate through a bearing.

[0009] Furthermore, the self-driving unit includes a track, which is fixedly connected to the frame of the double-row synchronous belt conveyor and is rotatably connected to rollers. A guide slope is provided on the side of the track near the feed end of the double-row synchronous belt conveyor.

[0010] Furthermore, the friction-type spin drive assembly includes a friction layer and a drive plate. The drive plate is fixedly mounted on a support frame, and a friction layer for contacting the steel balls is fixedly mounted on the end face of the drive plate near the inner side of the two double-row synchronous belt conveyors.

[0011] Furthermore, the sequential feeding mechanism includes a material pipe, a top plate, and a blocking block. The top plate is fixedly installed on the upper end of the frame, the discharge end of the material pipe is located on the upper side of the top plate, and the blocking block is movably installed on the top plate. The cross-section of the top plate is "V" shaped, so that the steel balls can only flow in the same direction as the double-row synchronous belt conveyor within the top plate.

[0012] To better achieve the objectives of this invention, this invention also provides a detection method for a holistic visual inspection device for the appearance of steel balls, comprising the following steps: Step 1: The feeding mechanism transfers the steel balls one by one to the feeding end of the first fixed-axis spin conveyor mechanism; Step 2: The first fixed-axis spin conveyor drives the steel ball to move in a stepping motion, so that the steel ball rotates around the diameter d1 x times, each time rotating y degrees. Before and after each rotation of the steel ball, the appearance inspection mechanism performs an appearance inspection on the steel ball. Step 3: When the steel ball moves to the discharge end of the first fixed-axis spin conveyor, the second fixed-axis spin conveyor first clamps and fixes the steel ball, and then the first fixed-axis spin conveyor releases the steel ball. Step 4: The second fixed-axis spin conveyor drives the steel ball to move in a stepping motion, causing the steel ball to rotate x times around the diameter d2, with each rotation being y degrees. Before and after each rotation of the steel ball, the appearance inspection mechanism performs an appearance inspection on the steel ball. Step 5: When the steel ball moves to the discharge end of the second fixed-axis spin conveyor, the second fixed-axis spin conveyor automatically releases the steel ball.

[0013] Furthermore, the diameter d1 is perpendicular to the diameter d2, and the detection end of the appearance inspection mechanism on the first fixed-axis spin conveying mechanism is perpendicular to the diameter d1, while the detection end of the appearance inspection mechanism on the second fixed-axis spin conveying mechanism is perpendicular to the diameter d2.

[0014] Furthermore, given x≥2, y=360 / (x+1).

[0015] Compared with the prior art, the beneficial effects of this invention are as follows: through the stepping movement of the double-row synchronous belt conveyor of the first fixed-axis spin conveyor mechanism and the double-row synchronous belt conveyor of the second fixed-axis spin conveyor mechanism, the steel ball can first rotate around the diameter d1 by a preset angle several times, and then rotate around the diameter d2 by a preset angle several times. Each time the steel ball is stationary, the appearance inspection mechanism performs appearance inspection on the steel ball. Since the diameters d1 and d2 are perpendicular to each other, the appearance inspection mechanism can achieve full-range, blind-angle automated appearance inspection of the steel ball through multiple shots, which significantly improves the accuracy of appearance inspection of the steel ball and ensures the efficiency of appearance inspection of the steel ball. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are merely some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without any creative effort.

[0017] Figure 1 The present invention provides a three-dimensional structure of a holistic visual inspection device for the appearance of steel balls. Figure 1 ; Figure 2 The present invention provides a three-dimensional structure of a holistic visual inspection device for the appearance of steel balls. Figure 2 ; Figure 3This is a front view of a holistic visual inspection device for steel ball appearance according to the present invention. Figure 4 The present invention provides a three-dimensional structure of a holistic visual inspection device for the appearance of steel balls. Figure 3 ; Figure 5 The present invention provides a three-dimensional structure of a holistic visual inspection device for the appearance of steel balls. Figure 4 ; Figure 6 for Figure 5 Enlarged view of point A in the middle; Figure 7 The present invention provides a three-dimensional structure of a holistic visual inspection device for the appearance of steel balls. Figure 5 ; Figure 8 The present invention provides a three-dimensional structure of a holistic visual inspection device for the appearance of steel balls. Figure 6 ; Figure 9 This is a schematic diagram of the steel ball's rotation axis and the shooting direction.

[0018] The labels in the diagram represent: 1. Frame; 2. Steel ball; 3. First fixed-axis spin conveyor mechanism; 31. Double-row synchronous belt conveyor; 32. Spacing adjustment assembly; 33. Self-driven fixed-rotation shaft clamping assembly; 331. Support plate; 332. Mounting plate; 333. Top block; 334. Sliding sleeve; 335. Sliding rod; 336. Elastic element; 337. Connecting plate; 338. Roller; 339. Track; 34. Friction-type spin drive assembly; 341. Friction layer; 342. Drive plate; 35. Support frame; 4. Second fixed-axis spin conveyor mechanism; 5. Appearance inspection mechanism; 51. Mounting frame; 52. Vision module; 6. Individual feeding mechanism; 61. Material pipe; 62. Top plate; 63. Blocking block. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0020] The terms "left," "right," "front," "back," "up," and "down" used in the following description refer to the orientation from the perspective of the front view.

[0021] In some embodiments, please refer to the accompanying drawings. Figures 1-9A comprehensive visual inspection device for the appearance of steel balls, comprising a frame 1 and an appearance inspection mechanism 5; The upper end of the frame 1 is sequentially equipped with a feeding mechanism 6, a first fixed-axis spin conveyor 3, and a second fixed-axis spin conveyor 4 along its length. The feeding mechanism 6 is located at the feeding end of the first fixed-axis spin conveyor 3, and the first fixed-axis spin conveyor 3 and the second fixed-axis spin conveyor 4 are connected end to end. The first fixed-axis spin conveyor 3 includes a double-row synchronous belt conveyor 31, a self-driven fixed-rotation shaft clamping assembly 33, a friction-type spin drive assembly 34, and a support frame 35. The support frame 35 is fixedly installed on the upper end of the frame 1. Two double-row synchronous belt conveyors 31 are provided and symmetrically installed on the support frame 35. The self-driven fixed-rotation shaft clamping assembly 33 is installed on the synchronous belt of each of the two double-row synchronous belt conveyors 31. The friction-type spin drive assembly 34 and the appearance inspection mechanism 5 are arranged opposite to each other between the two double-row synchronous belt conveyors 31 and are both connected to the frame of the double-row synchronous belt conveyor 31. The first fixed-axis spin conveyor 3 and the second fixed-axis spin conveyor 4 have the same structure, and the synchronous belts of their double-row synchronous belt conveyors 31 have the same flow direction and are perpendicular.

[0022] In this invention, the feeding mechanism 6 transfers steel balls to the feeding end of the first fixed-axis spin conveyor 3. The synchronous belts of the two double-row synchronous belt conveyors 31 of the first fixed-axis spin conveyor 3 will drive their respective self-driven fixed-rotation shaft clamping components 33 to move synchronously, so that the self-driven fixed-rotation shaft clamping components 33 on both sides cooperate to clamp and fix the steel balls 2 at the discharge end of the feeding mechanism 6. At this time, the clamped and fixed steel balls 2 can rotate around their specific diameter d1 and move synchronously with the synchronous belt of the double-row synchronous belt conveyor 31. The detection end of the appearance inspection mechanism 5 on the first fixed-axis spin conveyor 3 is perpendicular to the diameter d1 of the steel balls 2. The double-row synchronous belt conveyor 31 drives the steel ball 2 to continue moving, so that the friction-type spin drive component 34 comes into contact with the steel ball 2. During the movement of the steel ball 2, the friction between the friction-type spin drive component 34 and the steel ball 2 causes the steel ball 2 to rotate around the diameter d1. The double-row synchronous belt conveyor 31 moves a preset distance each time, so that the steel ball 2 rotates around the diameter d1 by a preset angle each time. When the steel ball 2 is stationary each time, the appearance inspection mechanism 5 performs appearance inspection on the steel ball 2. When the steel ball 2 moves to the discharge end of the first fixed-axis spin conveyor 3, the self-driven fixed-rotation shaft clamping assembly 33 of the second fixed-axis spin conveyor 4 first clamps and fixes the steel ball 2, and then releases the steel ball 2. The steel ball 2, which is clamped and fixed by the self-driven fixed-rotation shaft clamping assembly 33 of the second fixed-axis spin conveyor 4, can rotate around its specific diameter d2. The diameters d1 and d2 are perpendicular to each other, and the detection end of the appearance inspection mechanism 5 is perpendicular to d2. Under the stepping movement of the double-row synchronous belt conveyor 31 of the second fixed-axis spin conveyor 4, the friction-type spin drive assembly 34 makes the steel ball 2 rotate around the diameter d2 by a preset angle each time, and the appearance inspection mechanism 5 performs appearance inspection on the steel ball 2 each time the steel ball 2 is stationary.

[0023] In this invention, through the stepping movement of the double-row synchronous belt conveyor 31 of the first fixed-axis spin conveyor 3 and the double-row synchronous belt conveyor 31 of the second fixed-axis spin conveyor 4, the steel ball 2 can first rotate around the diameter d1 several times by a preset angle, and then rotate around the diameter d2 several times by a preset angle. Each time the steel ball 2 is stationary, the appearance inspection mechanism 5 performs appearance inspection on the steel ball 2. Since the diameter d1 and the diameter d2 are perpendicular to each other, the appearance inspection mechanism 5 can achieve all-round and blind-angle automated appearance inspection of the steel ball 2 by taking multiple pictures, which significantly improves the appearance inspection accuracy of the steel ball 2 and ensures the appearance inspection efficiency of the steel ball 2.

[0024] The self-driven fixed-rotation shaft clamping assembly 33 includes a fixed-rotation shaft clamping unit and a self-driven unit. Multiple fixed-rotation shaft clamping units are provided and are installed at equal intervals on the synchronous belt surface of the double-row synchronous belt conveyor 31. The self-driven unit is installed inside the frame of the double-row synchronous belt conveyor 31. The fixed-rotation shaft clamping unit includes a support plate 331, a mounting plate 332, a top block 333, a sliding sleeve 334, and a sliding rod 335. The support plate 331 is fixedly installed on the surface of the synchronous belt of the double-row synchronous belt conveyor 31. The sliding sleeve 334 is fixedly connected to the support plate 331. The sliding rod 335 is fixedly connected to the mounting plate 332, and the sliding rod 335 and the sliding sleeve 334 are in a limited sliding connection. The top block 333 is rotatably installed on the inner side of the mounting plate 332, and the side of the top block 333 away from the mounting plate 332 has an arc-shaped groove that matches the shape of the steel ball 2. The fixed-rotation shaft clamping unit also includes an elastic element 336, a connecting plate 337, and a roller 338. The elastic element 336 is sleeved on the outside of the slide rod 335. The connecting plate 337 is fixedly connected to the end of the slide rod 335 away from the mounting plate 332. The two ends of the elastic element 336 abut against the sliding sleeve 334 and the connecting plate 337 respectively. The roller 338 is rotatably connected to the connecting plate 337 through a bearing. The self-driving unit includes a track 339, which is fixedly connected to the frame of the double-row synchronous belt conveyor 31. The track 339 is rotatably connected to the roller 338. A guide slope is provided on the side of the track 339 near the feed end of the double-row synchronous belt conveyor 31.

[0025] The friction-type spin drive assembly 34 includes a friction layer 341 and a drive plate 342. The drive plate 342 is fixedly mounted on the support frame 35. The friction layer 341 for abutting against the steel ball 2 is fixedly mounted on the end face of the drive plate 342 near the inner side of the two double-row synchronous belt conveyors 31.

[0026] In this embodiment, the drive plate 342 adopts a trapezoidal shape that facilitates the adhesion between the steel ball 2 and the friction layer 341.

[0027] In some embodiments, the top block 333 is made of rubber.

[0028] In some embodiments, the friction layer 341 is made of textured rubber.

[0029] In some embodiments, the elastic element 336 is a compression spring.

[0030] In this invention, the synchronous belt of the double-row synchronous belt conveyor 31 drives the support plate 331 to flow. When the roller 338 moves onto the track 339, the roller 338 drives the slide bar 335 to move inward to the two double-row synchronous belt conveyors 31 through the connecting plate 337 under the limiting action of the sliding sleeve 334. Then, the mounting plate 332 drives the top block 333 to move inward to the two double-row synchronous belt conveyors 31, so that the corresponding top blocks 333 on the two double-row synchronous belt conveyors 31 cooperate to automatically clamp and fix the steel ball 2. The elastic element 336 is compressed. At this time, the steel ball 2 moves synchronously with the synchronous belt of the double-row synchronous belt conveyor 31, and the steel ball 2 can rotate around the axis of the top block 333. When the roller 338 leaves the track 339, the elastic element 336 drives the connecting plate 337 to reset, and finally the corresponding top blocks 333 on the two double-row synchronous belt conveyors 31 cooperate to automatically release the steel ball 2.

[0031] Since the synchronous belts of the double-row synchronous belt conveyors 31 of the first fixed-axis spin conveyor 3 and the second fixed-axis spin conveyor 4 are perpendicular, the axes of their top blocks 333 are also perpendicular, so the steel ball 2 can rotate in a perpendicular direction when it is on the first fixed-axis spin conveyor 3 and the second fixed-axis spin conveyor 4.

[0032] In some embodiments, a spacing adjustment component 32 is also fixedly installed on the support frame 35. The output end of the spacing adjustment component 32 is fixedly connected to the two double-row synchronous belt conveyors 31 of the first fixed-axis spin conveyor 3. The spacing adjustment component 32 can control the two double-row synchronous belt conveyors 31 to move synchronously in opposite directions to change the spacing between the two double-row synchronous belt conveyors 31. In this embodiment, the spacing adjustment component 32 adopts a manual double-slider forward and reverse screw module. A rubber ring is fixedly installed at the end of the top block 333, so that the top block 333 can fit against the surface of steel balls 2 of different diameters.

[0033] By cooperating with the spacing adjustment component 32 and the top block 333, this equipment can meet the testing requirements for steel balls 2 of different sizes.

[0034] The appearance inspection mechanism 5 includes a mounting frame 51 and vision modules 52. The mounting frame 51 is fixedly installed on the frame of the double-row synchronous belt conveyor 31. Multiple vision modules 52 are fixedly installed on the mounting frame 51 at equal intervals. The spacing between adjacent vision modules 52 is the same as the displacement of each step of the double-row synchronous belt conveyor 31.

[0035] In this embodiment, the number of vision modules 52 is set to three. The steel ball 2 rotates twice on the double-row synchronous belt conveyor 31 of the first fixed-axis spin conveyor 3 and the second fixed-axis spin conveyor 4, each time rotating 120 degrees. The three vision modules 52 take pictures of the steel ball 2 before it rotates, during the first rotation of the steel ball 2, and during the second rotation of the steel ball 2, respectively, so as to achieve full inspection of the steel ball 2 and avoid the edge of the steel ball 2 being distorted in the content captured by the vision modules 52, which would affect the detection accuracy.

[0036] The sequential feeding mechanism 6 includes a material pipe 61, a top plate 62, and a blocking block 63. The top plate 62 is fixedly installed on the upper end of the frame 1, the discharge end of the material pipe 61 is located on the upper side of the top plate 62, and the blocking block 63 is movably installed on the top plate 62. The cross-section of the top plate 62 is "V" shaped, so that the steel balls 2 can only flow in the same direction as the double-row synchronous belt conveyor 31 within the top plate 62.

[0037] In this embodiment, the blocking block 63 is mounted on the top plate 62 via a spring-floating structure.

[0038] In this invention, steel balls 2 are fed one by one onto the top plate 62 through the feed pipe 61. The steel balls 2 are blocked by the blocking block 63. When the top block 333 clamps and fixes the steel balls 2 and drives the steel balls 2 to move, it will press the blocking block 63 to the lower side of the top plate 62, and the steel balls 2 at the bottom of the feed pipe 61 will automatically fall down to replenish, thus realizing the feeding of steel balls 2 one by one.

[0039] In some embodiments, such as Figures 1-9As shown, in a preferred embodiment of the present invention, a method for omnidirectional visual inspection of the appearance of a steel ball includes the following steps: Step 1: The feeding mechanism 6 transfers the steel balls one by one to the feeding end of the first fixed-axis spin conveyor 3; Step 2: The first fixed-axis self-rotating conveying mechanism 3 drives the steel ball 2 to move step by step, so that the steel ball 2 rotates around the diameter d1 x times, each time rotating y degrees. Before each rotation of the steel ball 2 and after each rotation of the steel ball 2, the appearance inspection mechanism 5 performs appearance inspection on the steel ball 2. Step 3: When the steel ball 2 moves to the discharge end of the first fixed-axis spin conveyor 3, the second fixed-axis spin conveyor 4 first clamps and fixes the steel ball 2, and then the first fixed-axis spin conveyor 3 releases the steel ball 2. Step 4: The second fixed-axis spin conveying mechanism 4 drives the steel ball 2 to move in a stepping motion, so that the steel ball 2 rotates around the diameter d2 x times, each time rotating y degrees. Before and after each rotation of the steel ball 2, the appearance inspection mechanism 5 performs appearance inspection on the steel ball 2. Step 5: When the steel ball 2 moves to the discharge end of the second fixed-axis spin conveyor 4, the second fixed-axis spin conveyor 4 automatically releases the steel ball 2.

[0040] In this embodiment, the diameter d1 is perpendicular to the diameter d2, and the detection end of the appearance inspection mechanism 5 on the first fixed-axis spin conveying mechanism 3 is perpendicular to the diameter d1, while the detection end of the appearance inspection mechanism 5 on the second fixed-axis spin conveying mechanism 4 is perpendicular to the diameter d2.

[0041] In this embodiment, x≥2, y=360 / (x+1). For example, if the steel ball 2 rotates twice on the double-row synchronous belt conveyor 31, the steel ball 2 rotates 120 degrees each time. The appearance inspection mechanism 5 takes multiple pictures to achieve an all-round, blind-angle automated appearance inspection of the steel ball 2, which significantly improves the appearance inspection accuracy of the steel ball 2 and ensures the appearance inspection efficiency of the steel ball 2.

[0042] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions will not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A holistic visual inspection device for steel ball appearance, comprising a frame (1) and an appearance inspection mechanism (5), characterized in that: The upper end of the frame (1) is sequentially equipped with a feeding mechanism (6), a first fixed-axis spin conveyor (3), and a second fixed-axis spin conveyor (4) along its length. The feeding mechanism (6) is located at the feeding end of the first fixed-axis spin conveyor (3), and the first fixed-axis spin conveyor (3) and the second fixed-axis spin conveyor (4) are connected end to end. The first fixed-axis spin conveyor (3) includes a double-row synchronous belt conveyor (31), a self-driven fixed-rotation shaft clamping assembly (33), a friction-type spin drive assembly (34), and a support frame (35). The support frame (35) is fixedly installed on the upper end of the frame (1). Two double-row synchronous belt conveyors (31) are provided and symmetrically installed on the support frame (35). The self-driven fixed-rotation shaft clamping assembly (33) is installed on the synchronous belt of each of the two double-row synchronous belt conveyors (31). The friction-type spin drive assembly (34) and the appearance inspection mechanism (5) are arranged opposite to each other between the two double-row synchronous belt conveyors (31) and are both connected to the frame of the double-row synchronous belt conveyor (31). The first fixed-axis spin conveyor (3) and the second fixed-axis spin conveyor (4) have the same structure. The synchronous belts of the two double-row synchronous belt conveyors (31) have the same flow direction and the synchronous belts are perpendicular. The self-driven fixed-rotation shaft clamping assembly (33) includes a fixed-rotation shaft clamping unit and a self-driven unit. The fixed-rotation shaft clamping unit is provided in multiple units and is installed at equal intervals on the synchronous belt surface of the double-row synchronous belt conveyor (31). The self-driven unit is installed inside the frame of the double-row synchronous belt conveyor (31). The fixed-rotation shaft clamping unit includes a support plate (331), a mounting plate (332), a top block (333), a sliding sleeve (334), and a sliding rod (335). The support plate (331) is fixedly installed on the surface of the synchronous belt of the double-row synchronous belt conveyor (31). The sliding sleeve (334) is fixedly connected to the support plate (331). The sliding rod (335) is fixedly connected to the mounting plate (332), and the sliding rod (335) is limited to the sliding sleeve (334). The top block (333) is rotatably installed on the inner side of the mounting plate (332), and the side of the top block (333) away from the mounting plate (332) has an arc-shaped groove that matches the shape of the steel ball (2). The friction-type spin drive assembly (34) includes a friction layer (341) and a drive plate (342). The drive plate (342) is fixedly mounted on the support frame (35). The drive plate (342) has a friction layer (341) fixedly mounted on the end face of the drive plate (342) near the inner side of the two double-row synchronous belt conveyors (31) for abutting against the steel ball (2).

2. The all-around visual inspection equipment for steel ball appearance according to claim 1, characterized in that, The fixed-rotation shaft clamping unit also includes an elastic element (336), a connecting plate (337), and a roller (338). The elastic element (336) is sleeved on the outside of the slide rod (335). The connecting plate (337) is fixedly connected to the end of the slide rod (335) away from the mounting plate (332). The two ends of the elastic element (336) abut against the sliding sleeve (334) and the connecting plate (337) respectively. The roller (338) is rotatably connected to the connecting plate (337) through a bearing.

3. The all-around visual inspection equipment for steel ball appearance according to claim 2, characterized in that, The self-driving unit includes a track (339), which is fixedly connected to the frame of the double-row synchronous belt conveyor (31). The track (339) is tumblingly connected to the roller (338). A guide slope is provided on the side of the track (339) near the feed end of the double-row synchronous belt conveyor (31).

4. The all-around visual inspection equipment for steel ball appearance according to claim 3, characterized in that, The feeding mechanism (6) includes a feed pipe (61), a top plate (62) and a blocking block (63). The top plate (62) is fixedly installed on the upper end of the frame (1). The discharge end of the feed pipe (61) is located on the upper side of the top plate (62). The blocking block (63) is movably installed on the top plate (62). The cross-section of the top plate (62) is "V" shaped, so that the steel ball (2) can only flow in the same direction as the double-row synchronous belt conveyor (31) in the top plate (62).

5. A detection method, utilizing the all-around visual inspection equipment for steel ball appearance as described in claim 4, characterized in that, Includes the following steps: Step 1: The feeding mechanism (6) transfers the steel balls one by one to the feeding end of the first fixed-axis spin conveyor (3); Step 2: The first fixed-axis spin conveying mechanism (3) drives the steel ball (2) to move step by step, so that the steel ball (2) rotates around the diameter d1 x times, each time rotating y degrees, and before each rotation of the steel ball (2) and after each rotation of the steel ball (2), the appearance inspection mechanism (5) performs appearance inspection on the steel ball (2); Step 3: When the steel ball (2) moves to the discharge end of the first fixed-axis spin conveyor (3), the second fixed-axis spin conveyor (4) first clamps and fixes the steel ball (2), and then the first fixed-axis spin conveyor (3) releases the steel ball (2). Step 4: The second fixed-axis spin conveying mechanism (4) drives the steel ball (2) to move step by step, so that the steel ball (2) rotates around the diameter d2 x times, each time rotating y degrees, and before each rotation of the steel ball (2) and after each rotation of the steel ball (2), the appearance inspection mechanism (5) performs appearance inspection on the steel ball (2); Step 5: When the steel ball (2) moves to the discharge end of the second fixed-axis spin conveyor (4), the second fixed-axis spin conveyor (4) automatically releases the steel ball (2).

6. The detection method according to claim 5, characterized in that, The diameter d1 is perpendicular to the diameter d2, and the detection end of the appearance inspection mechanism (5) on the first fixed-axis spin conveying mechanism (3) is perpendicular to the diameter d1, and the detection end of the appearance inspection mechanism (5) on the second fixed-axis spin conveying mechanism (4) is perpendicular to the diameter d2.

7. The detection method according to claim 5, characterized in that, Given x≥2, y=360 / (x+1).

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