Injection product quality on-line vision detection and sorting device

Abstract

The present application relates to injection molding product quality detection technical field, disclose a kind of injection molding product quality online visual detection sorting device, including feed conveying part, multidirectional visual detection part, universal shunt conveying part, overturning centering part, visual compensation mechanical repair part and reinspection backflow conveying part.Product is lifted by clamping lifting assembly from detection conveying mechanism, and mobile visual detection assembly cooperates with upper and lower light source to obtain defect information;After shunting and overturning centering, repairable product enters repair position, and defect position is re-determined by side and upper visual sensor, and is repaired by corresponding repair assembly.Two sets of alternate avoidance top pressure assembly utilizes two sets of reverse screw rod to drive two sets of reverse lifting of profiled pressing plate, so that one set of pressing product is lifted to avoid, and the area of shielding is exposed in turn by replacing pressing state.Product after repair is returned to detection by reinspection backflow conveying part, to realize online detection, sorting, positioning, unobstructed repair and reinspection.

Description

Technical Field

[0001] This invention relates to the field of injection molded product quality inspection and post-processing equipment technology, specifically, to an online visual inspection and sorting device for injection molded products. Background Technology

[0002] Existing online visual inspection equipment for injection molded products typically uses visual sensors positioned above or to the side of the conveyor to capture product images, identifying defects such as flash and residual sprue on the product surface. Based on the inspection results, the product is then conveyed to either the qualified or unqualified product path. For defects such as flash and residual sprue that can be eliminated through trimming, the product usually needs to be transferred from the inspection station to a separate mechanical trimming station.

[0003] During the process of transferring products from the inspection station to the mechanical trimming station, they need to undergo conveying, diversion, centering, or flipping. The position and orientation of the product relative to the equipment coordinate system will change, making it difficult to directly use the defect location obtained from the initial visual inspection as the working position of the trimming tool. If the actual position of the product's reference and defect location is not re-determined before mechanical trimming, the trimming tool is prone to deviating from the defect area, resulting in burrs or material residue, or even cutting into the main body of the product.

[0004] To prevent products from moving during mechanical trimming, trimming stations typically use clamping mechanisms to hold them in place. However, existing clamping mechanisms have relatively fixed clamping positions, and the clamping plate, upon contact with the product, obstructs the corresponding product area, making it difficult for vision sensors and trimming tools to detect and address defects covered by the clamping plate. If the clamping is released and the clamping position readjusted, the product may shift again, causing the previously obtained trimming position to become inaccurate, requiring re-clamping and repositioning.

[0005] Some trimming equipment uses vision sensors to position the product before trimming. However, the vision sensors, clamping mechanisms, and trimming tools usually operate independently, and the obstruction of the product inspection area and trimming path by the clamping mechanism is not effectively addressed. When multiple areas of the product have defects to be trimmed, operators often need to change the clamping position multiple times. It is difficult to open different trimming areas sequentially while maintaining the product's positioning, and it is also not conducive to the automatic return of the trimmed product to the inspection station for re-inspection. Summary of the Invention

[0006] This invention proposes an online visual inspection and sorting device for injection molded products, which solves the problems in the prior art where the initial inspection defect position is inaccurate after the injection molded products have been conveyed and the posture adjusted, and the defects are difficult to accurately and completely repair due to the product area being blocked by the fixed clamping structure.

[0007] The technical solution of the present invention is as follows: an online visual inspection and sorting device for injection molded products, comprising a feeding conveying section, a multi-directional visual inspection section and a universal diversion conveying section arranged sequentially along the conveying direction of the injection molded products; the multi-directional visual inspection section is provided with a preliminary visual sensor; and a trimming flipping centering section and a visual compensation mechanical trimming section are arranged sequentially on a trimming diversion path of the universal diversion conveying section. The visual compensation mechanical trimming part has a trimming position, and the double set of alternating avoidance top pressing components disposed above the trimming position have two sets of conformal pressing plates that are staggered around the trimming position. The two sets of conformal pressing plates can alternately be in the pressing position and the avoidance position. A side visual following positioning component and a side compensation trimming component are provided on the side of the trimming position, and an upper visual positioning sensor and a top compensation trimming component are provided above the trimming position. The initial inspection visual sensor is used to obtain the initial inspection information of the injection molded product, and the side visual following positioning component and the upper visual positioning sensor are used to obtain the trimming positioning information of the injection molded product in the pressing state.

[0008] As a preferred embodiment of the present invention, a detection conveying mechanism is provided between the feeding conveying section and the universal diversion conveying section, a movable vision detection component is provided above the detection conveying mechanism, and a clamping and lifting component is provided across the detection conveying mechanism. A lower detection light source is provided below the detection conveying mechanism. The clamping position of the clamping and lifting component corresponds vertically to the detection area of ​​the mobile visual detection component. A detection interval corresponding to the lower detection light source is left between the clamping position and the detection conveying mechanism.

[0009] As a preferred embodiment of the present invention, a detection moving guide rail extending along its conveying direction is provided above the detection conveying mechanism, and a vision moving slide is slidably provided on the detection moving guide rail. A visual attitude adjustment robotic arm is provided below the visual moving slide, and the initial inspection visual sensor is installed at the movable end of the visual attitude adjustment robotic arm. A follow-up upper detection light source, positioned facing the detection area of ​​the initial inspection vision sensor, is mounted on the vision moving slide.

[0010] As a preferred embodiment of the present invention, a lifting drive module and a lifting guide module are respectively provided on both sides of the detection conveying mechanism, and a lifting support plate spanning the detection conveying mechanism is connected to the lifting drive module and the lifting guide module respectively. The product clamping claws are arranged opposite each other below the lifting support plate. The product clamping claws are located above the detection and conveying mechanism and are vertically aligned with the lower detection light source.

[0011] As a preferred embodiment of the present invention, the different conveying sides of the universal diversion conveying unit are respectively connected to a qualified product output unit, a defective product output unit, and a product diversion unit for repair; The different output sides of the work-to-be-repaired flow section are respectively connected to the manual trimming station and the trimming flipping center section; The output side of the visual compensation mechanical trimming unit is connected to the re-inspection return conveying unit, and the output side of the re-inspection return conveying unit is connected to the input side of the multi-directional visual inspection unit.

[0012] As a preferred embodiment of the present invention, a flipping support frame is rotatably provided between the product diversion section to be repaired and the visual compensation mechanical trimming section, and a flipping drive motor is provided on one side of the flipping support frame and is connected to it in a transmission. Two product centering clamps are arranged opposite each other inside the flipping support frame. The two product centering clamps are respectively connected to the corresponding clamp telescopic cylinder and guided by the flipping support frame through the centering guide sleeve and the clamp telescopic guide shaft. The flipping support frame is provided with a clamping drive cylinder that faces the clamping area between the two product centering plates.

[0013] As a preferred embodiment of the present invention, a side detection guide rail extending along the injection molding product conveying direction is provided on the side of the visual compensation mechanical trimming part, and a side detection slide is slidably provided on the side detection guide rail, and the side detection slide is connected to the detection movement drive motor. A sensor mounting bracket is provided on the side detection slide, and a side visual positioning sensor facing the side of the trimming position is mounted on the sensor mounting bracket. The upper visual positioning sensor is positioned above the trimming position, and the detection areas of the side visual positioning sensor and the upper visual positioning sensor correspond to the side clearance area and the upper clearance area formed between the two sets of conformal pressing plates, respectively.

[0014] As a preferred embodiment of the present invention, the side of the visual compensation mechanical trimming part is provided with a side trimming moving track extending in the same direction as the side detection guide rail, and a first trimming robot arm is movably disposed on the side trimming moving track. The first trimming robot arm has a first laser trimming head at its movable end. The trimming area of ​​the first laser trimming head corresponds to the detection area of ​​the side visual positioning sensor and intersects with the side avoidance area formed between the two sets of conformal pressing plates.

[0015] As a preferred embodiment of the present invention, an axial moving guide rail is provided above the visual compensation mechanical trimming part, and a radial moving guide rail is movably arranged on the axial moving guide rail and intersecting therewith. A second trimming robot is movably mounted on the radial moving guide rail, and a second laser trimming head is mounted on the movable end of the second trimming robot. The trimming area of ​​the second laser trimming head corresponds to the detection area of ​​the upper visual positioning sensor and intersects with the upper avoidance area formed between the two sets of conformal pressing plates.

[0016] As a preferred embodiment of the present invention, a top pressure support seat is provided above the trimming position, and a synchronous guide frame and a top pressure servo motor whose output end is connected to the active transmission gear are provided on the top pressure support seat. Multiple internally threaded driven gears arranged around the driving gear are respectively connected to the driving gear. The lifting transmission screws that pass through the multiple internally threaded driven gears are divided into a first screw group and a second screw group with opposite screw directions. The first screw group and the second screw group are respectively threadedly engaged with the internally threaded driven gears with corresponding screw directions. The upper end of the lifting transmission screw is connected to a lifting guide shaft that slides with the synchronous guide frame, and the lower end of the lifting transmission screw is connected to the corresponding conformal clamping plate through an elastic posture adjustment hinge shaft. The first screw group and the second screw group move in opposite directions with the synchronous rotation of the multiple internal thread driven gears, so that the two sets of conformal clamping plates are alternately in the clamping position and the avoidance position.

[0017] The working principle and beneficial effects of this invention are as follows: 1. This invention obtains the initial inspection information of injection molded products through a multi-directional visual inspection unit, and performs centering and posture adjustment on the product to be repaired through trimming and flipping. After the product enters the visual compensation mechanical trimming unit and is clamped, the actual position of the product and defective parts is re-determined by the side visual following positioning component and the upper visual positioning sensor, so that the side compensation trimming component or the top compensation trimming component can trim according to the actual position of the product in the trimming station, thereby compensating for the positional deviation caused by product conveying, diversion, flipping and clamping.

[0018] 2. This invention uses two sets of lifting transmission screws with opposite thread directions to drive two sets of conformal pressing plates to rise and fall in opposite directions. When one set of conformal pressing plates descends to press the product, the other set of conformal pressing plates rises to a clearance position. The reverse rotation of the top pressure servo motor replaces the pressing and clearance states of the two sets of conformal pressing plates. This maintains the product under pressure and positioning while exposing the areas corresponding to the obstruction of the two sets of conformal pressing plates in sequence, reducing the obstruction of the pressing structure on the visual inspection path and the laser trimming path.

[0019] 3. The present invention uses a universal diversion conveyor to transport the inspected products to the corresponding output or trimming path, and uses a re-inspection return conveyor to transport the trimmed products back to the multi-directional visual inspection unit, so that the products can complete the initial inspection, sorting, flipping and centering, secondary positioning, defect trimming and post-trimming re-inspection in the same equipment, forming an interconnected online inspection and trimming process. Attached Figure Description

[0020] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0021] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the structure of the universal diversion and conveying unit of the present invention; Figure 3 This is a schematic diagram of the first-view structure of the multi-directional visual detection unit of the present invention; Figure 4 This is a schematic diagram of the second perspective of the multi-directional visual detection unit of the present invention; Figure 5 This is a schematic diagram of the structure of the mobile vision inspection component of the present invention; Figure 6 This is a schematic diagram of the structure of the clamping and lifting component of the present invention; Figure 7 This is a schematic diagram of the trimming and re-inspection return path of the present invention; Figure 8 This is a schematic diagram of the first-view structure of the visual compensation mechanical trimming part of the present invention; Figure 9 This is a schematic diagram of the second perspective of the visual compensation mechanical trimming part of the present invention; Figure 10 This is a schematic diagram of the first view of the trimming and flipping structure of the present invention; Figure 11 This is a schematic diagram of the second perspective of the trimming and flipping structure of the present invention; Figure 12 This is a schematic diagram of the side visual following positioning component of the present invention; Figure 13 This is a schematic diagram of the side compensation trimming component of the present invention; Figure 14 This is a schematic diagram of the top compensation trimming component of the present invention; Figure 15 This is a schematic diagram of the overall structure of the dual-group alternating avoidance top pressure assembly of the present invention; Figure 16 This is a schematic diagram of the internal transmission structure of the dual-group alternating avoidance top pressure assembly of the present invention.

[0022] In the diagram: 1. Feeding and conveying unit; 2. Multi-directional visual inspection unit; 21. Inspection and conveying mechanism; 22. Mobile visual inspection assembly; 221. Inspection moving guide rail; 222. Visual moving slide; 223. Visual posture adjustment robotic arm; 224. Initial inspection visual sensor; 225. Follow-up upper inspection light source; 23. Clamping and lifting assembly; 231. Lifting drive module; 232. Lifting guide module; 233. Lifting support plate; 234. Product clamping claw; 24. Lower detection light source; 3. Universal distribution and conveying unit; 4. Qualified product output section; 5. Unqualified product output section; 6. Repair-pending product sorting section; 7. Manual trimming station; 8. Re-inspection return conveyor section; 9. Trimming and flipping centering section; 91. Flipping support frame; 92. Flipping drive motor; 93. Clamping drive cylinder; 94. Product centering clamping plate; 95. Centering guide sleeve shaft; 96. Clamping plate telescopic cylinder; 97. Clamping plate telescopic guide shaft; 10. Visual compensation mechanical trimming unit; 101. Side visual following and positioning assembly; 1011. Side detection guide rail; 1012. Side detection slide; 1013. Detection movement drive motor; 1014. Sensor mounting bracket; 1015. Side visual positioning sensor; 102. Side compensation trimming assembly; 1021. Side trimming moving track; 1022. First trimming robot arm; 1023. First laser trimming head; 103. Top compensation trimming assembly; 1031. Axial moving guide rail; 1032. Radial moving guide rail; 1033. Second trimming robot arm; 1034. Second laser trimming head; 104. Dual-set alternating avoidance top pressure assembly; 1041. Top pressure support seat; 1042. Synchronous guide frame; 1043. Top pressure servo motor; 1044. Drive gear; 1045. Internal thread driven gear; 1046. Lifting transmission screw; 1047. Lifting guide shaft; 1048. Flexible attitude adjustment hinge shaft; 1049. Conformal clamping plate; 105. Upper visual positioning sensor. Detailed Implementation

[0023] The technical solutions of the present invention will be clearly and completely described below with reference to the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0024] Example The technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It should be noted that the directions such as above, below, side, axial, and radial mentioned below are all based on the equipment installation state shown in the accompanying drawings and the conveying direction of the injection molded product, and are only used to illustrate the relative positional relationship between the components.

[0025] like Figures 1 to 16 As shown, this embodiment provides an online visual inspection and sorting device for injection molded products, including a feeding conveyor 1, a multi-directional visual inspection unit 2, a universal diversion conveyor 3, a qualified product output unit 4, a non-qualified product output unit 5, a product diversion unit 6, a manual trimming station 7, a re-inspection return conveyor 8, a trimming flipping centering unit 9, and a visual compensation mechanical trimming unit 10. The feeding conveyor 1, the multi-directional visual inspection unit 2, and the universal diversion conveyor 3 are arranged sequentially along the conveying direction of the injection molded product. The universal diversion conveyor 3 is connected to the qualified product output unit 4, the unqualified product output unit 5, and the product diversion unit 6 to be repaired, respectively. The product diversion unit 6 to be repaired is connected to the manual trimming station 7 and the trimming flipping centering unit 9, respectively. The visual compensation mechanical trimming unit 10 is located on the output side of the trimming flipping centering unit 9. The visual compensation mechanical trimming unit 10 is connected to the input side of the multi-directional visual inspection unit 2 through the re-inspection return conveyor 8, thereby forming a conveying path for the injection molded product feeding, visual inspection, quality sorting, defect trimming, and re-inspection after trimming.

[0026] This device is equipped with a control system, which can employ a combination of an industrial computer and a programmable logic controller (PLC). The initial inspection vision sensor 224, the side vision positioning sensor 1015, and the upper vision positioning sensor 105 are each connected to the industrial computer. The detection movement drive mechanism, lifting drive module 231, tilting drive motor 92, clamping drive cylinder 93, clamping plate telescopic cylinder 96, detection movement drive motor 1013, first trimming robot 1022, second trimming robot 1033, top pressure servo motor 1043, and each conveying mechanism are connected to the PLC. The cylinders are connected to the air source via electromagnetic reversing valves, and the first laser trimming head 1023 and the second laser trimming head 1034 are respectively connected to their corresponding laser generators. The aforementioned control system, air source, laser generator, and electrical wiring are not shown separately in the accompanying drawings.

[0027] like Figure 3 and Figure 4As shown, the multi-directional vision inspection unit 2 is disposed between the feeding conveyor unit 1 and the universal diversion conveyor unit 3, and includes an inspection conveying mechanism 21, a movable vision inspection component 22, a clamping and lifting component 23, and a lower inspection light source 24. The conveying direction of the inspection conveying mechanism 21 corresponds to the output direction of the feeding conveyor unit 1, allowing the injection molded product to directly enter the inspection conveying mechanism 21 from the feeding conveyor unit 1. The movable vision inspection component 22 is disposed above the inspection conveying mechanism 21, the clamping and lifting component 23 is disposed across the inspection conveying mechanism 21, and the lower inspection light source 24 is disposed below the inspection conveying mechanism 21 and faces the clamping position of the clamping and lifting component 23.

[0028] The inspection conveying mechanism 21 can be a roller conveyor, a chain conveyor, or a conveyor belt with an inspection window. In this embodiment, a roller conveyor is preferred, with a gap between adjacent rollers to allow light from the lower inspection light source 24 to pass through. The inspection conveying mechanism 21 stops after conveying the injection molded product below the clamping and lifting assembly 23, keeping the injection molded product in the predetermined inspection position.

[0029] like Figure 5 As shown, the mobile vision inspection assembly 22 includes a detection moving guide rail 221, a vision moving slide 222, a vision attitude adjustment robotic arm 223, a preliminary inspection vision sensor 224, and a follow-up upper detection light source 225. The detection moving guide rail 221 is fixedly mounted on the upper frame of the multi-directional vision inspection unit 2 along the conveying direction of the detection conveying mechanism 21, and the vision moving slide 222 is slidably mounted on the detection moving guide rail 221. The detection moving guide rail 221 is internally equipped with a synchronous belt, rack and pinion, or lead screw transmission mechanism driven by a motor. The vision moving slide 222 is connected to this transmission mechanism, enabling the vision moving slide 222 to reciprocate along the conveying direction of the detection conveying mechanism 21.

[0030] A visual attitude adjustment robotic arm 223 is mounted below a visual motion slide 222, and a preliminary inspection visual sensor 224 is mounted at the movable end of the visual attitude adjustment robotic arm 223. The visual attitude adjustment robotic arm 223 can at least change the height, pitch angle, and horizontal orientation of the preliminary inspection visual sensor 224 relative to the injection-molded product, allowing the preliminary inspection visual sensor 224 to face the top, side, edge, and bottom oblique areas of the injection-molded product, respectively. The preliminary inspection visual sensor 224 can be an industrial area scan camera, a line scan camera, or a visual sensor with depth detection capabilities; in this embodiment, an industrial area scan camera is preferred.

[0031] The follow-up upper detection light source 225 is installed below the vision moving slide 222 and faces the detection area of ​​the initial inspection vision sensor 224. The follow-up upper detection light source 225 moves synchronously with the vision moving slide 222, so that when the initial inspection vision sensor 224 moves to different positions on the injection-molded product, the corresponding detection area can obtain stable upper illumination. The follow-up upper detection light source 225 can be a strip light source, a ring light source, or a surface light source. In actual use, the illumination form is selected according to the surface color, reflectivity, and defect type of the injection-molded product.

[0032] like Figure 6 As shown, the clamping and lifting assembly 23 includes a lifting drive module 231, a lifting guide module 232, a lifting support plate 233, and a product clamping claw 234. The lifting drive module 231 and the lifting guide module 232 are vertically arranged on both sides of the detection and conveying mechanism 21. The lifting support plate 233 is arranged across the detection and conveying mechanism 21. One side of the lifting support plate 233 is connected to the moving end of the lifting drive module 231, and the other side is connected to the guide slider of the lifting guide module 232. When the lifting drive module 231 drives the lifting support plate 233 to rise and fall, the lifting guide module 232 guides the other side of the lifting support plate 233, thereby preventing the lifting support plate 233 from tilting during the lifting process.

[0033] The product clamping claw 234 is a complete clamping claw assembly installed below the lifting support plate 233. The product clamping claw 234 may have relatively opening and closing gripping fingers, but the relatively opening and closing gripping fingers together form a product clamping claw 234. The clamping center of the product clamping claw 234 corresponds vertically to the predetermined detection position on the detection and conveying mechanism 21. After the product clamping claw 234 closes, it clamps the predetermined clamping part of the injection molded product. The lifting support plate 233 rises under the drive of the lifting drive module 231, causing the injection molded product to move upward and disengage from the detection and conveying mechanism 21.

[0034] After the injection-molded product is lifted, a detection interval is formed between its bottom surface and the detection conveyor mechanism 21. The light from the lower detection light source 24 passes through the interval on the detection conveyor mechanism 21 and illuminates the injection-molded product, forming backlighting for detecting the product's outer contour, holes, edge notches, and flash. The initial inspection vision sensor 224, in conjunction with the upper detection light source 225, can acquire a reflected image of the injection-molded product's surface, and in conjunction with the lower detection light source 24, can acquire a contour image of the injection-molded product. When it is necessary to inspect the bottom surface, the vision adjustment robotic arm 223 adjusts the initial inspection vision sensor 224 to a bottom oblique detection position, and the detection interval formed by the product lifting provides observation space for the initial inspection vision sensor 224.

[0035] During inspection, the initial inspection vision sensor 224 acquires the product outline, positioning holes, bosses, edges, gates, parting lines, and other structures that can serve as product reference features of the injection molded product. Simultaneously, it identifies defects such as flash, residual material, missing material, dents, cracks, deformation, burning, and surface damage. The control system establishes a product-specific coordinate system based on at least one product reference feature and records the surface where the defect is located and the position of the defect area relative to the product reference feature. This position can be represented as the coordinates of the defect center, the set of defect boundary coordinates, or a defect trajectory extending along the product edge.

[0036] After the inspection is completed, the lifting drive module 231 drives the lifting support plate 233 to descend, the product clamping claw 234 puts the injection molded product back into the inspection conveying mechanism 21, the product clamping claw 234 releases, and the inspection conveying mechanism 21 conveys the injection molded product that has completed the inspection to the universal diversion conveying section 3.

[0037] like Figure 1 and Figure 2 As shown, the universal distribution conveyor unit 3 consists of several interconnected universal conveyor platforms. Each platform has universal conveyor balls arranged on its upper surface to support the injection-molded product. Below the universal conveyor balls are a lateral drive mechanism and a longitudinal drive mechanism, which can drive the universal conveyor balls to rotate in different directions. By controlling the conveying direction of each universal conveyor platform, the injection-molded product can move along the main conveying direction or turn towards different output sides.

[0038] The qualified product output section 4, the unqualified product output section 5, and the repair-ready product diversion section 6 are respectively connected to different output sides of the universal diversion conveyor section 3. Injection molded products that are deemed qualified by the multi-directional visual inspection section 2 enter the qualified product output section 4, injection molded products with irreparable defects enter the unqualified product output section 5, and injection molded products with defects that can be eliminated by mechanical or manual trimming enter the repair-ready product diversion section 6.

[0039] The product sorting section 6 connects with the manual trimming station 7 and the trimming and reversing centering section 9. Injection molded products with irregular defects, defects exceeding the mechanical trimming range, or requiring operator confirmation enter the manual trimming station 7. Injection molded products that can be processed by the first laser trimming head 1023 or the second laser trimming head 1034 enter the trimming and reversing centering section 9. Products that have been manually trimmed can be placed into the re-inspection return conveyor section 8 for re-inspection by the operator.

[0040] To ensure that the initial inspection results are consistent with the corresponding products, this embodiment tracks the injection-molded products according to the conveying rhythm. Product arrival sensors can be installed at the entrances of the inspection conveying mechanism 21, the universal diversion conveying section 3, the product diversion section 6, and the visual compensation mechanical trimming section 10. The control system establishes a product conveying queue according to the triggering sequence of each product arrival sensor, and ensures that the defect records obtained from the initial inspection are always associated with the corresponding injection-molded products.

[0041] like Figure 10 and Figure 11 As shown, the trimming and flipping centering part 9 includes a flipping support frame 91, a flipping drive motor 92, a clamping drive cylinder 93, a product centering clamping plate 94, a centering guide sleeve shaft 95, a clamping plate telescopic cylinder 96, and a clamping plate telescopic guide shaft 97.

[0042] The flip support frame 91 is rotatably mounted between the workpiece diversion section 6 and the visual compensation mechanical trimming section 10, and the rotation axis of the flip support frame 91 is set in the horizontal direction. The flip drive motor 92 is mounted on one side of the flip support frame 91, and the flip drive motor 92 is connected to the rotating shaft of the flip support frame 91 through a reduction mechanism, thereby driving the flip support frame 91 to rotate around the horizontal axis.

[0043] Two product centering clamps 94 are positioned opposite each other within the tilting support frame 91, and each product centering clamp 94 is connected to a corresponding clamp telescopic cylinder 96. A centering guide sleeve 95 is positioned between the product centering clamp 94 and the tilting support frame 91, and a clamp telescopic guide shaft 97 is connected to the product centering clamp 94 and slides in engagement with the tilting support frame 91. When the clamp telescopic cylinder 96 pushes the product centering clamp 94 to move, the centering guide sleeve 95 and the clamp telescopic guide shaft 97 together restrict the direction of movement of the product centering clamp 94, allowing the two product centering clamps 94 to move closer together or further apart.

[0044] The clamping drive cylinder 93 is mounted on the flip support frame 91 and faces the product clamping area between the two product centering clamps 94. The output end of the clamping drive cylinder 93 is provided with a clamping part for contacting the product. After the product is centered, the clamping drive cylinder 93 is activated and fixes the injection molded product in the flip support frame 91, preventing the injection molded product from moving relative to the flip support frame 91 during the flipping process.

[0045] During operation, the product to be repaired enters the flip support frame 91. Two clamping plate telescopic cylinders 96 drive the corresponding product centering clamps 94 to move towards each other, so that the center position of the product coincides with the predetermined center position of the flip support frame 91. After centering is completed, the clamping drive cylinder 93 fixes the injection-molded product, and the flip drive motor 92 drives the flip support frame 91 to rotate according to the surface where the defect is located as determined by the initial inspection. When the defect is located on the side, the corresponding side is adjusted to the working side of the side compensation trimming component 102; when the defect is located on the bottom, the product is flipped so that the original bottom surface faces the top compensation trimming component 103; when the defect is located on the top, it can maintain its original posture or be adjusted to a predetermined posture that facilitates top trimming.

[0046] After the flipping is completed, the flipping support frame 91 corresponds to the conveying direction of the visual compensation mechanical trimming section 10, the clamping drive cylinder 93 releases the clamp, the product centering clamp 94 moves outward, and the injection molded product enters the visual compensation mechanical trimming section 10.

[0047] like Figures 7 to 9 As shown, the vision compensation mechanical trimming section 10 is provided with a trimming position for supporting the injection molded product. The side vision following positioning component 101 and the side compensation trimming component 102 are provided to the side of the trimming position, the top compensation trimming component 103 and the upper vision positioning sensor 105 are provided above the trimming position, and the double set of alternating avoidance top pressure components 104 are provided above the trimming position and face the injection molded product.

[0048] After the injection-molded product enters the trimming position, its bottom surface is supported by the conveying mechanism of the vision compensation mechanical trimming unit 10. The double-set alternating avoidance top pressure assembly 104 applies a clamping force to the product from above, keeping the injection-molded product in the trimming position. The side vision following positioning assembly 101 is used to identify the side reference features and side defect locations of the product, and the upper vision positioning sensor 105 is used to identify the top reference features, planar position, and horizontal angle of the product.

[0049] like Figure 12 As shown, the side vision tracking and positioning assembly 101 includes a side detection guide rail 1011, a side detection slide 1012, a detection movement drive motor 1013, a sensor mounting bracket 1014, and a side vision positioning sensor 1015.

[0050] The side inspection guide rail 1011 is installed on the side of the vision compensation mechanical trimming section 10 along the conveying direction of the injection molded product, and the side inspection slide 1012 is slidably installed on the side inspection guide rail 1011. The inspection movement drive motor 1013 is connected to the side inspection slide 1012 through a synchronous belt, rack and pinion or lead screw transmission mechanism, so that the side inspection slide 1012 can reciprocate along the side inspection guide rail 1011.

[0051] The sensor mounting bracket 1014 is mounted on the side detection slide 1012, and the side visual positioning sensor 1015 is mounted on the sensor mounting bracket 1014 and faces the trimming position. The detection direction of the side visual positioning sensor 1015 corresponds to the side of the injection molded product. By moving the side detection slide 1012, the side visual positioning sensor 1015 can sequentially detect the side contour, parting line, side gate, and side flash at different length positions of the product.

[0052] The upper visual positioning sensor 105 is mounted on the upper frame of the visual compensation mechanical trimming unit 10 and faces the trimming position. The detection area of ​​the upper visual positioning sensor 105 covers the top contour and top reference features of the injection molded product and corresponds to the trimming area of ​​the top compensation trimming assembly 103.

[0053] During equipment debugging, a calibration plate is placed at the trimming position to determine the coordinate relationships of the side visual positioning sensor 1015, the upper visual positioning sensor 105, the first trimming robot 1022, and the second trimming robot 1033 relative to the trimming position. During actual trimming, the side visual positioning sensor 1015 and the upper visual positioning sensor 105 identify the product reference features used during the initial inspection and determine the actual coordinates of these product reference features at the trimming position.

[0054] The initial inspection vision sensor 224 records the position of the defect relative to the product's reference feature, while the side vision positioning sensor 1015 and the upper vision positioning sensor 105 acquire the current position of the product's reference feature in the trimming position. Therefore, the control system can convert the defect position to the coordinate system of the vision compensation mechanical trimming unit 10. The upper vision positioning sensor 105 mainly determines the product's lateral position, longitudinal position, and horizontal rotation angle, while the side vision positioning sensor 1015 mainly determines the product's height, side contour, and side defect position.

[0055] like Figure 13 As shown, the side-compensation trimming assembly 102 includes a side-trimming moving track 1021, a first trimming robot 1022, and a first laser trimming head 1023. The side-trimming moving track 1021 is disposed along the side of the visual compensation mechanical trimming unit 10 and extends in the same direction as the side detection guide rail 1011. The base of the first trimming robot 1022 is movably mounted on the side-trimming moving track 1021, and the first laser trimming head 1023 is mounted on the movable end of the first trimming robot 1022.

[0056] The side trimming moving track 1021 is used to expand the working range of the first trimming robot 1022 along the length of the product. The first trimming robot 1022 is used to adjust the distance, angle, and height of the first laser trimming head 1023 relative to the side of the product. The trimming area of ​​the first laser trimming head 1023 corresponds to the detection area of ​​the side visual positioning sensor 1015, so that after the side visual positioning sensor 1015 determines the location of the side defect, the first trimming robot 1022 can drive the first laser trimming head 1023 to the corresponding position.

[0057] The first laser trimming head 1023 is mainly used to remove parting line flash, side gates, sidewall burrs, and other excess material from the side of the product. During trimming, the first trimming robot 1022 moves the first laser trimming head 1023 according to the actual contour of the product and the defect boundary determined by the side visual positioning sensor 1015, so that the laser action position is located on the side of the defective material and maintains a predetermined safe distance from the main body of the product.

[0058] like Figure 14 As shown, the top compensation trimming assembly 103 includes an axial moving guide rail 1031, a radial moving guide rail 1032, a second trimming robot 1033, and a second laser trimming head 1034. The axial moving guide rail 1031 is mounted above the visual compensation mechanical trimming unit 10. The radial moving guide rail 1032 is arranged intersecting with the axial moving guide rail 1031 and is movably mounted on the axial moving guide rail 1031. The second trimming robot 1033 is movably mounted on the radial moving guide rail 1032. The second laser trimming head 1034 is mounted on the movable end of the second trimming robot 1033.

[0059] The axial moving guide rail 1031 and the radial moving guide rail 1032 together form a two-dimensional moving area covering the trimming position. The second trimming robot 1033 is used to further adjust the height and angle of the second laser trimming head 1034. The trimming area of ​​the second laser trimming head 1034 corresponds to the detection area of ​​the upper visual positioning sensor 105, enabling the second laser trimming head 1034 to reach the top defect position determined by the upper visual positioning sensor 105.

[0060] The top compensation trimming assembly 103 is mainly used to remove defects such as top gates, top flash, top protrusions, and original bottom surface defects facing upwards after the product is flipped. For trimming areas located on curved or inclined surfaces, the second trimming robot 1033 adjusts the light output direction of the second laser trimming head 1034 so that the laser direction maintains a predetermined angle with the local surface of the trimming area.

[0061] like Figure 15 and Figure 16As shown, the dual-set alternating avoidance top pressure assembly 104 includes a top pressure support seat 1041, a synchronous guide frame 1042, a top pressure servo motor 1043, a drive transmission gear 1044, an internal thread driven gear 1045, a lifting transmission screw 1046, a lifting guide shaft 1047, an elastic attitude adjustment hinge shaft 1048, and a conformal clamping plate 1049.

[0062] The top pressure support 1041 is mounted on the upper frame of the vision compensation mechanical trimming unit 10 and located above the trimming position. The synchronous guide frame 1042 is located above the top pressure support 1041. The top pressure servo motor 1043 is fixedly mounted on the top pressure support 1041, and the output shaft of the top pressure servo motor 1043 is connected to the drive transmission gear 1044.

[0063] Multiple internally threaded driven gears 1045 are arranged around the driving gear 1044 and are rotatably mounted on the pressure support 1041 via bearings, allowing the internally threaded driven gears 1045 to rotate relative to the pressure support 1041 but preventing axial movement. The multiple internally threaded driven gears 1045 are respectively connected to the driving gear 1044 for transmission. When the pressure servo motor 1043 drives the driving gear 1044 to rotate, the multiple internally threaded driven gears 1045 rotate synchronously and in the same direction.

[0064] This embodiment uses four lifting transmission screws 1046, each of which passes through a corresponding internally threaded driven gear 1045 and engages with the internal thread of the corresponding internally threaded driven gear 1045. The four lifting transmission screws 1046 are divided into a first screw group and a second screw group. The lifting transmission screws 1046 in the first screw group use a first-direction thread, while the lifting transmission screws 1046 in the second screw group use a second-direction thread with the opposite direction of the first direction. The internally threaded driven gear 1045 engaging with the first screw group has a first-direction internal thread, and the internally threaded driven gear 1045 engaging with the second screw group has a second-direction internal thread.

[0065] To ensure a more even distribution of clamping force, this embodiment preferably divides the two diagonally positioned lifting transmission screws 1046 into the same screw group, with the first and second screw groups staggered around the trimming position. Each lifting transmission screw 1046 has a lifting guide shaft 1047 connected to its upper end, which slides through a corresponding guide hole on the synchronous guide frame 1042. An anti-rotation fit structure is provided between the lifting guide shaft 1047 and the corresponding guide hole. This anti-rotation fit structure can employ a non-circular cross-section fit, a guide key fit, or an axial plane to restrict the rotation of the lifting transmission screw 1046 with the internal thread driven gear 1045, thus converting the rotation of the internal thread driven gear 1045 into axial movement of the lifting transmission screw 1046.

[0066] The lower end of each lifting drive screw 1046 is connected to a conformal clamping plate 1049 via a flexible adjustment hinge shaft 1048. The flexible adjustment hinge shaft 1048 allows the conformal clamping plate 1049 to deflect at a certain angle relative to the lifting drive screw 1046, enabling the conformal clamping plate 1049 to adapt to the local tilt of the contact area of ​​the injection molded product. An elastic anti-slip layer can be provided on the lower surface of the conformal clamping plate 1049 to reduce damage to the product surface during clamping and improve frictional stability.

[0067] Because the threads of the first and second lead screw groups rotate in opposite directions, when the multiple internal thread driven gears 1045 rotate synchronously in the same direction, the first and second lead screw groups move in opposite directions. When the top pressure servo motor 1043 rotates in the first direction, the first lead screw group descends and drives the first set of conformal clamping plates 1049 to clamp the product, while the second lead screw group rises simultaneously and drives the second set of conformal clamping plates 1049 away from the product surface, exposing the product area that was originally located below the second set of conformal clamping plates 1049.

[0068] With the first set of conformal clamping plates 1049 clamping the product, the side visual positioning sensor 1015 and the upper visual positioning sensor 105 locate the area exposed after the second set of conformal clamping plates 1049 avoids it. The first laser trimming head 1023 or the second laser trimming head 1034 trims the defects in the exposed area. The first set of conformal clamping plates 1049 maintains the product position during the trimming process, while the second set of conformal clamping plates 1049 is in a position away from the product, not obstructing the visual inspection path and the laser trimming path.

[0069] After the area corresponding to the second set of conformal clamping plates 1049 is trimmed, the top pressure servo motor 1043 rotates in the opposite direction, the second lead screw group descends and drives the second set of conformal clamping plates 1049 to clamp the product, and the first lead screw group rises at the same time and drives the first set of conformal clamping plates 1049 away from the product surface, exposing the area originally located below the first set of conformal clamping plates 1049. The side visual positioning sensor 1015 and the upper visual positioning sensor 105 obtain the actual position of the product again, and then the first laser trimming head 1023 or the second laser trimming head 1034 trims the area exposed after the first set of conformal clamping plates 1049 avoids it.

[0070] By alternating between the two states described above, each set of conformal clamping plates 1049 clamps the product in one state and leaves the product in the other, thereby sequentially opening up the areas originally covered by the two sets of conformal clamping plates 1049. Visual positioning and laser trimming are performed when the corresponding conformal clamping plates 1049 are in the avoidance position, thus enabling the zonal trimming of the product's trimming area to be covered while maintaining the product under clamping and positioning.

[0071] Visual positioning and trimming compensation process After initial inspection in the multi-directional visual inspection unit 2, the injection-molded product will pass through the universal diversion conveyor unit 3, the product diversion unit 6, and the trimming and flipping centering unit 9. The position and orientation of the product relative to the equipment coordinate system will change. Therefore, the defect position obtained by the initial inspection visual sensor 224 cannot be directly used as the motion coordinate of the first trimming robot 1022 or the second trimming robot 1033.

[0072] In this embodiment, the product's own positioning holes, positioning edges, or positioning bosses are used as product reference features. The initial inspection vision sensor 224 determines the position of the defect relative to the product reference feature. After the product enters the vision compensation mechanical trimming section 10 and is pressed by a set of conformal clamping plates 1049, the side vision positioning sensor 1015 and the upper vision positioning sensor 105 re-identify the same product reference feature and determine the actual coordinates and orientation of the product reference feature in the trimming position.

[0073] The control system determines the translational deviation, rotational deviation, and height deviation of the product based on the correspondence between the product's reference features in the initial inspection coordinate system and the trimming coordinate system, and converts the defect positions obtained from the initial inspection into the actual trimming positions in the visual compensation mechanical trimming unit 10. The actual trimming positions of side defects are sent to the first trimming robot 1022, and the positions of top defects or defects that are flipped upwards are sent to the second trimming robot 1033.

[0074] After the clamping states of the two sets of conformal clamping plates 1049 are replaced, the product may undergo a slight positional change. Therefore, the side visual positioning sensor 1015 and the upper visual positioning sensor 105 re-identify the product's reference features and correct the subsequent trimming trajectory according to the new actual position, thereby avoiding directly using the positioning results before the replacement.

[0075] After the side trimming and top trimming are completed, the double-set alternating avoidance top pressure assembly 104 releases the pressure on the product, and the visual compensation mechanical trimming unit 10 transports the product to the re-inspection return conveyor unit 8. The re-inspection return conveyor unit 8 re-transports the product to the multi-directional visual inspection unit 2, and the control system retrieves the defect record of the product before trimming according to the product conveying queue.

[0076] During re-inspection, the initial inspection vision sensor 224 prioritizes image acquisition of the original defect location and its surrounding area, checking whether burrs, excess material, or other debris have been removed, and detecting whether the product body has been overcut, burned, melted, or has new surface damage. Products that meet the trimming requirements enter the qualified product output section 4 through the universal diversion conveyor section 3; products that still meet the conditions for further trimming re-enter the repair-needed product diversion section 6; products requiring manual processing enter the manual trimming station 7; and products that do not meet the conditions for repair enter the non-conforming product output section 5.

[0077] Complete work process When this device is in operation, the injection-molded product first enters the multi-directional vision inspection unit 2 through the feeding conveyor 1, and is then conveyed by the inspection conveyor mechanism 21 to the area below the clamping and lifting assembly 23. A product clamping claw 234 clamps the injection-molded product, and the lifting drive module 231 drives the lifting support plate 233 and the product clamping claw 234 to rise, causing the product to detach from the inspection conveyor mechanism 21. The vision moving slide 222 drives the vision attitude adjustment robotic arm 223, the initial inspection vision sensor 224, and the follow-up upper inspection light source 225 to move along the inspection moving guide rail 221. The vision attitude adjustment robotic arm 223 adjusts the detection angle of the initial inspection vision sensor 224, and the lower inspection light source 24 provides contour illumination from below the product, thereby completing the visual inspection of multiple surfaces of the product.

[0078] After the inspection is completed, the product gripper 234 returns the product to the inspection conveyor 21, which then transports the product to the universal diversion conveyor 3. Based on the inspection results, the universal diversion conveyor 3 transports qualified products to the qualified product output section 4, unrepairable products to the unqualified product output section 5, and repairable products to the repair-ready product diversion section 6.

[0079] Products capable of automatic trimming enter the trimming and flipping centering section 9. Two product centering clamps 94 center the products, and the clamping drive cylinder 93 fixes the products. The flipping drive motor 92 drives the flipping support frame 91 to rotate, so that the surface with defects faces the corresponding trimming component. After flipping is completed, the products enter the vision compensation mechanical trimming section 10.

[0080] The top-pressure servo motor 1043 first drives the first lead screw assembly to descend and then drives the second lead screw assembly to rise. The first set of conformal clamping plates 1049 clamps the product, while the second set of conformal clamping plates 1049 avoids it. The side visual positioning sensor 1015 and the upper visual positioning sensor 105 locate the area exposed after the second set of conformal clamping plates 1049 avoids it, and the first laser trimming head 1023 or the second laser trimming head 1034 completes the trimming of the corresponding area.

[0081] Subsequently, the top pressure servo motor 1043 rotates in the reverse direction, the second lead screw assembly descends and drives the first lead screw assembly to rise, the second set of conformal clamping plates 1049 clamps the product, and the first set of conformal clamping plates 1049 avoids it. The side visual positioning sensor 1015 and the upper visual positioning sensor 105 re-determine the product position, and the first laser trimming head 1023 or the second laser trimming head 1034 completes the trimming of the exposed area after the first set of conformal clamping plates 1049 avoids it.

[0082] After all areas to be trimmed have been processed, the product is re-entered into the multi-directional visual inspection department 2 via the re-inspection return conveyor 8 for re-inspection. Based on the re-inspection results, it enters the qualified product output department 4, the product diversion department 6, the manual trimming station 7, or the unqualified product output department 5, thus completing the online visual inspection, quality sorting, defect trimming, and post-trimming re-inspection process of an injection molded product.

[0083] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An online visual inspection and sorting device for injection molded products, comprising a feeding conveyor (1), a multi-directional visual inspection unit (2), and a universal diversion conveyor (3) arranged sequentially along the injection molded product conveying direction, characterized in that: The multi-directional visual inspection unit (2) is equipped with a preliminary visual sensor (224), and the trimming and turning centering unit (9) and the visual compensation mechanical trimming unit (10) are sequentially arranged on one trimming and diversion path of the universal diversion conveying unit (3). The visual compensation mechanical trimming part (10) has a trimming position, and the double set of alternating avoidance top pressing assembly (104) disposed above the trimming position has two sets of conformal pressing plates (1049) staggered around the trimming position. The two sets of conformal pressing plates (1049) can alternately be in the pressing position and the avoidance position. A side visual following positioning component (101) and a side compensation trimming component (102) are provided on the side of the trimming position, and an upper visual positioning sensor (105) and a top compensation trimming component (103) are provided above the trimming position. The initial inspection visual sensor (224) is used to obtain the initial inspection information of the injection molded product, and the side visual following positioning component (101) and the upper visual positioning sensor (105) are used to obtain the trimming positioning information of the injection molded product in the pressing state.

2. The online visual inspection and sorting device for injection molded products according to claim 1, characterized in that: A detection conveying mechanism (21) is provided between the feeding conveying section (1) and the universal diversion conveying section (3). A mobile vision detection component (22) is provided above the detection conveying mechanism (21), and a clamping and lifting component (23) is provided across the detection conveying mechanism (21). A lower detection light source (24) is provided below the detection conveying mechanism (21). The clamping position of the clamping and lifting component (23) corresponds vertically to the detection area of ​​the mobile visual detection component (22). A detection interval corresponding to the lower detection light source (24) is left between the clamping position and the detection conveying mechanism (21).

3. The online visual inspection and sorting device for injection molded products according to claim 2, characterized in that: The detection conveying mechanism (21) is provided with a detection moving guide rail (221) extending along its conveying direction above it, and a vision moving slide (222) is slidably provided on the detection moving guide rail (221). A visual attitude adjustment robot arm (223) is provided below the visual motion slide (222), and the initial inspection visual sensor (224) is installed at the movable end of the visual attitude adjustment robot arm (223); A follow-up upper detection light source (225) facing the detection area of ​​the initial detection vision sensor (224) is mounted on the vision moving slide (222).

4. The online visual inspection and sorting device for injection molded products according to claim 2, characterized in that: The detection conveying mechanism (21) is provided with a lifting drive module (231) and a lifting guide module (232) on both sides respectively. The lifting support plate (233) spanning the detection conveying mechanism (21) is connected to the lifting drive module (231) and the lifting guide module (232) respectively. The product clamping claw (234) is arranged opposite to the lower part of the lifting support plate (233). The product clamping claw (234) is located above the detection conveying mechanism (21) and corresponds vertically to the lower detection light source (24).

5. The online visual inspection and sorting device for injection molded products according to claim 1, characterized in that: The universal diversion conveying unit (3) is connected to the qualified product output unit (4), the unqualified product output unit (5) and the product diversion unit (6) on different conveying sides respectively. The different output sides of the product diversion section (6) are respectively connected to the manual trimming station (7) and the trimming flipping centering section (9). The output side of the visual compensation mechanical trimming unit (10) is connected to the re-inspection return conveying unit (8), and the output side of the re-inspection return conveying unit (8) is connected to the input side of the multi-directional visual inspection unit (2).

6. The online visual inspection and sorting device for injection molded products according to claim 5, characterized in that: A flip support frame (91) is rotatably provided between the product diversion section (6) and the visual compensation mechanical trimming section (10), and a flip drive motor (92) is provided on one side of the flip support frame (91) and is connected to it in a transmission. The flip support frame (91) has two product centering clamps (94) arranged opposite to each other. The two product centering clamps (94) are respectively connected to the corresponding clamp telescopic cylinders (96) and are guided and cooperated with the flip support frame (91) through the centering guide sleeve shaft (95) and the clamp telescopic guide shaft (97). The flip support frame (91) is provided with a clamping drive cylinder (93) that faces the clamping area between the two product centering clamps (94).

7. The online visual inspection and sorting device for injection molded products according to claim 6, characterized in that: The visual compensation mechanical trimming part (10) is provided with a side detection guide rail (1011) extending along the injection molding product conveying direction. A side detection slide (1012) is slidably provided on the side detection guide rail (1011). The side detection slide (1012) is connected to the detection movement drive motor (1013). A sensor mounting bracket (1014) is provided on the side detection slide (1012), and a side visual positioning sensor (1015) facing the side of the trimming position is mounted on the sensor mounting bracket (1014); The upper visual positioning sensor (105) is disposed above the trimming position, and the detection areas of the side visual positioning sensor (1015) and the upper visual positioning sensor (105) correspond to the side avoidance area and the upper avoidance area formed between the two sets of conformal pressing plates (1049), respectively.

8. The online visual inspection and sorting device for injection molded products according to claim 7, characterized in that: The visual compensation mechanical trimming part (10) is provided with a side trimming moving track (1021) extending in the same direction as the side detection guide rail (1011) on its side, and a first trimming robot (1022) is movably mounted on the side trimming moving track (1021). The first trimming robot (1022) is provided with a first laser trimming head (1023) at its movable end. The trimming area of ​​the first laser trimming head (1023) corresponds to the detection area of ​​the side visual positioning sensor (1015) and intersects with the side avoidance area formed between the two sets of conformal pressing plates (1049).

9. The online visual inspection and sorting device for injection molded products according to claim 7, characterized in that: An axial moving guide rail (1031) is provided above the visual compensation mechanical trimming part (10), and a radial moving guide rail (1032) is movably arranged on the axial moving guide rail (1031) and intersecting therewith. A second trimming robot (1033) is movably mounted on the radial moving guide rail (1032), and a second laser trimming head (1034) is mounted on the movable end of the second trimming robot (1033). The trimming area of ​​the second laser trimming head (1034) corresponds to the detection area of ​​the upper visual positioning sensor (105) and intersects with the upper avoidance area formed between the two sets of conformal pressing plates (1049).

10. The online visual inspection and sorting device for injection molded products according to claim 7, characterized in that: A top pressure support seat (1041) is provided above the trimming position. A synchronous guide frame (1042) and a top pressure servo motor (1043) whose output end is connected to the active transmission gear (1044) are provided on the top pressure support seat (1041). Multiple internally threaded driven gears (1045) arranged around the driving gear (1044) are respectively connected to the driving gear (1044) for transmission. The lifting transmission screws (1046) that are respectively inserted in the multiple internally threaded driven gears (1045) are divided into a first screw group and a second screw group with opposite screw directions. The first screw group and the second screw group are respectively threaded with the internally threaded driven gears (1045) with corresponding screw directions. The upper end of the lifting transmission screw (1046) is connected to a lifting guide shaft (1047) that slides with the synchronous guide frame (1042). The lower end of the lifting transmission screw (1046) is connected to the corresponding conformal clamping plate (1049) through an elastic posture adjustment hinge shaft (1048). The first screw group and the second screw group move in opposite directions with the synchronous rotation of the multiple internal thread driven gears (1045), so that the two sets of conformal clamping plates (1049) are alternately in the clamping position and the avoidance position.

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