Automatic visual inspection screening equipment

Abstract

The utility model discloses an automatic visual inspection screening device which comprises a machine box, a workbench is installed on the machine box, and a feeding assembly line, a characteristic testing mechanism, a plane detection mechanism, a vertical detection mechanism and a discharging assembly line are sequentially arranged on the workbench from left to right. A stator linear module is installed on the upper rear portion of the workbench. A first transplanting mechanism, a second transplanting mechanism and a third transplanting mechanism are sequentially installed on the stator linear module from left to right in a sliding mode. The first transplanting mechanism is used for moving a to-be-tested product on the feeding assembly line into the characteristic testing mechanism for testing, and moving the tested product into the plane detection mechanism for detection; the second transplanting mechanism is used for moving the product detected by the plane detection mechanism into the vertical detection mechanism for detection; and the third transplanting mechanism is used for moving the product detected by the vertical detection mechanism to the discharging assembly line. The detection screening efficiency and accuracy can be remarkably improved, and meanwhile human input is reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of product detection and screening, and particularly relates to an automatic vision detection and screening device. Background Art

[0002] In recent years, with the rapid development of industrial automation technology, product quality inspection has become an essential and crucial link in the production of modern factories. The purpose of product detection and screening is to promptly discover and eliminate unqualified products generated during the production process, ensure the stability of product quality, and enhance the market competitiveness of enterprises. Currently, factories generally adopt the manual method, using molds and instruments to detect and screen products. However, this traditional detection and screening method has many deficiencies.

[0003] Firstly, manual inspection is easily affected by subjective factors such as the employee's own skill level, experience, and responsibility, making it difficult to ensure the objectivity and consistency of the inspection results. There are often differences in the judgment criteria among different employees, resulting in frequent situations of missed inspection and misjudgment. Some defective products flow into the next process, posing quality hazards. Secondly, manual inspection has low efficiency and is difficult to adapt to the rhythm of modern mass production. On the one hand, the actions of picking up, placing, and inspecting products are cumbersome and repetitive, consuming time and effort; on the other hand, employees are engaged in monotonous and repetitive work for a long time, easily getting tired and bored, further exacerbating the risk of misjudgment and restricting the improvement of production efficiency.

[0004] In addition, traditional product detection and screening also face problems such as high labor costs and large management difficulties. On the one hand, a large amount of capital investment is required for recruiting and training inspection personnel, and the employee turnover rate is high, making it difficult to inherit experience; on the other hand, manual inspection lacks quantitative indicators, and it is difficult to control quality. It is difficult for managers to grasp the dynamic quality of products in real time and respond passively to market quality feedback.

[0005] Therefore, it is particularly necessary and urgent to develop an automatic vision detection and screening device. Content of the Utility Model

[0006] The purpose of the utility model is to provide an automatic vision detection and screening device in view of the deficiencies of the prior art, which can effectively improve the detection accuracy, eliminate human misjudgment, ensure the stable and controllable product quality, and can significantly improve the detection and screening efficiency, reduce labor input, and lower production costs.

[0007] To achieve the above purpose, the utility model adopts the following technical solutions:

[0008] An automatic vision detection and screening device includes a chassis, a workbench is installed on the chassis, and an inlet assembly line, a characteristic testing mechanism, a planar detection mechanism, a vertical detection mechanism, and an outlet assembly line are sequentially arranged on the workbench from left to right;

[0009] A stator linear module is installed above the rear of the workbench. A first transfer mechanism, a second transfer mechanism, and a third transfer mechanism are slidably installed on the stator linear module from left to right. Among them, the first transfer mechanism is used to move the product to be tested on the feeding assembly line into the characteristic testing mechanism for testing, and move the tested product into the planar detection mechanism for detection; the second transfer mechanism is used to move the product detected by the planar detection mechanism into the vertical detection mechanism for detection; the third transfer mechanism is used to move the product detected by the vertical detection mechanism to the discharging assembly line.

[0010] Preferably, a material-in-place sensor is provided at the end of the feeding assembly line for sensing whether the product to be tested reaches a predetermined position. When the material-in-place sensor does not sense, the feeding assembly line starts to work, and stops working until the material sensor senses, which can avoid wasting electric energy.

[0011] Preferably, the discharging assembly line includes a qualified product assembly line and an unqualified product assembly line. The third transfer mechanism moves the qualified products detected by the vertical detection mechanism to the qualified product assembly line and moves the unqualified products detected to the unqualified product assembly line according to the detection results of the vertical detection mechanism.

[0012] Preferably, the equipment further includes a laser marking machine, which is installed above the qualified product assembly line for laser marking the product.

[0013] Preferably, the characteristic testing mechanism includes a positioning fixture for positioning the product to be tested and a characteristic testing device for performing characteristic testing on the product to be tested.

[0014] Preferably, the planar detection mechanism includes:

[0015] A positioning fixture for positioning the product to be tested;

[0016] A 3D camera for detecting the flatness of the product to be tested;

[0017] A flipping mechanism for flipping the product to be tested;

[0018] Among them, the flipping mechanism includes a flipping cylinder and an electromagnet arranged at the output end of the flipping cylinder.

[0019] Preferably, the vertical detection mechanism includes:

[0020] A vertical lifting mechanism installed on the workbench;

[0021] Light sources installed on the front and rear sides of the vertical lifting mechanism;

[0022] A 2D camera, located in the middle of the light source;

[0023] Wherein, the vertical lifting mechanism includes a lifting cylinder and a pneumatic gripper installed at the output end of the lifting cylinder.

[0024] Preferably, the first transplanting mechanism includes a first mounting plate slidably installed on the stator linear module. A first transplanting motor is installed at the top of the first mounting plate. A first lifting cylinder and a 3D camera are installed at the lower end of the first mounting plate. An electromagnet is installed at the output end of the first lifting cylinder.

[0025] Preferably, the second transplanting mechanism includes a second mounting plate slidably installed on the stator linear module. A second transplanting motor is installed at the top of the second mounting plate. A second lifting cylinder is installed at the lower end of the second mounting plate. A second gripper is installed at the output end of the second lifting cylinder.

[0026] Preferably, the third transplanting mechanism includes a third mounting plate slidably installed on the stator linear module. A third transplanting motor is installed at the top of the third mounting plate. A third lifting cylinder is installed at the lower end of the third mounting plate. A third gripper is installed at the output end of the third lifting cylinder.

[0027] The beneficial effects of the present utility model are as follows: An automated vision inspection and screening device of the present utility model includes a chassis. A workbench is installed on the chassis. An inlet conveyor line, a characteristic testing mechanism, a planar detection mechanism, a vertical detection mechanism, and an outlet conveyor line are sequentially arranged on the workbench from left to right. A stator linear module is installed above the rear of the workbench. A first transplanting mechanism, a second transplanting mechanism, and a third transplanting mechanism are sequentially slidably installed on the stator linear module from left to right. Among them, the first transplanting mechanism is used to move the product to be tested on the inlet conveyor line into the characteristic testing mechanism for testing, and move the tested product into the planar detection mechanism for detection; the second transplanting mechanism is used to move the product detected by the planar detection mechanism into the vertical detection mechanism for detection; the third transplanting mechanism is used to move the product detected by the vertical detection mechanism into the outlet conveyor line. Compared with the prior art, the present utility model realizes the automation of the product detection process by arranging an inlet conveyor line, a characteristic testing mechanism, a planar detection mechanism, a vertical detection mechanism, and an outlet conveyor line on the workbench and equipping three transplanting mechanisms, reduces manual participation, and improves the detection efficiency and accuracy. Description of the Drawings

[0028] Figure 1 It is a schematic structural diagram of the automated vision inspection and screening device of the present utility model.

[0029] In the figure: 1, chassis; 2, workbench; 3, feeding assembly line; 4, characteristic testing mechanism; 5, planar detection mechanism; 51, positioning fixture; 52, 3D camera; 53, flipping mechanism; 6, vertical detection mechanism; 61, vertical lifting mechanism; 62, light source; 63, 2D camera; 7, discharging assembly line; 71, qualified product assembly line; 72, unqualified product assembly line; 8, stator linear module; 81, first transplanting mechanism; 82, second transplanting mechanism; 83, third transplanting mechanism; 9, laser marking machine; 10, product to be tested. Specific embodiments

[0030] To make the technical solutions and advantages of the present utility model clearer, the present utility model and its beneficial effects will be further described in detail below in combination with specific embodiments and the accompanying drawings of the specification. However, the embodiments of the present utility model are not limited thereto.

[0031] As Figure 1 shown, this embodiment provides an automated vision inspection and screening device, including a chassis 1 and a PLC controller. A workbench 2 is installed on the chassis 1. A feeding assembly line 3, a characteristic testing mechanism 4, a planar detection mechanism 5, a vertical detection mechanism 6, and a discharging assembly line 7 are sequentially arranged on the workbench 2 from left to right.

[0032] A stator linear module 8 is installed above the rear of the workbench 2. A first transplanting mechanism 81, a second transplanting mechanism 82, and a third transplanting mechanism 83 are sequentially and slidably installed on the stator linear module 8 from left to right. Among them, the first transplanting mechanism 81 is used to move the product 10 to be tested on the feeding assembly line 3 into the characteristic testing mechanism 4 for testing, and move the tested product into the planar detection mechanism 5 for detection; the second transplanting mechanism 82 is used to move the product detected by the planar detection mechanism 5 into the vertical detection mechanism 6 for detection; the third transplanting mechanism 83 is used to move the product detected by the vertical detection mechanism 6 to the discharging assembly line 7.

[0033] Among them, the PLC controller is used to control the operation of the entire device, including receiving feedback signals and controlling the actions of the feeding assembly line 3, the characteristic testing mechanism 4, the planar detection mechanism 5, the vertical detection mechanism 6, the discharging assembly line 7, the stator linear module 8, the first transplanting mechanism 81, the second transplanting mechanism 82, and the third transplanting mechanism 83 according to these signals.

[0034] In an embodiment according to the present application, both the feeding assembly line 3 and the discharging assembly line 7 include a conveyor belt, conveyor wheels arranged on the inner sides of both ends of the conveyor belt, and a driving motor for driving the conveyor wheels to rotate.

[0035] In an embodiment according to the present application, a material arrival sensor is provided at the end of the feeding pipeline 3, which is used to sense whether the product to be tested 10 reaches a predetermined position. When the product to be tested 10 enters the sensing range of the material arrival sensor along with the feeding pipeline 3, after the material arrival sensor senses that the product has arrived, it outputs a signal to the PLC controller, and the PLC controller issues a control instruction to start the first transplanting mechanism 81 to move the product to be tested 10 from the feeding pipeline 3 into the characteristic testing mechanism 4. By setting the material arrival sensor, it can accurately detect whether the product to be tested 10 reaches the predetermined material taking position, ensuring that the first transplanting mechanism 81 can accurately pick up the product and improving the stability and reliability of the equipment.

[0036] In an embodiment according to the present application, the discharging pipeline 7 includes a qualified product pipeline 71 and a unqualified product pipeline 72. The third transplanting mechanism 83 moves the products that pass the detection to the qualified product pipeline 71 and the products that fail the detection to the unqualified product pipeline 72 according to the detection results of the vertical detection mechanism 6, realizing the automatic sorting of products. By setting independent qualified product pipelines and unqualified product pipelines and automatically sorting them by the third transplanting mechanism 83 according to the detection results, it can effectively prevent the mixing of unqualified products, ensure the quality of the products leaving the factory, reduce the manual screening link, and improve the production efficiency.

[0037] In an embodiment according to the present application, the equipment further includes a laser marking machine 9, which is installed above the qualified product pipeline 71 and is used to perform laser marking on the products. When the product passes the detection, it is moved to the qualified product pipeline 71 by the third transplanting mechanism 83. When passing by the laser marking machine 9, the laser marking machine 9 automatically performs laser marking on the product, marking relevant information such as the qualified mark, production date, model, etc. of the product, which is convenient for subsequent management and traceability. By setting the laser marking machine 9 above the qualified product pipeline, the identification can be printed immediately after the product passes the detection, avoiding possible errors and omissions caused by subsequent manual identification, ensuring the traceability of the product, and improving the quality management level.

[0038] In an embodiment according to the present application, the characteristic testing mechanism includes a positioning jig 51 for positioning the product to be tested 10 and a characteristic testing device for performing characteristic testing on the product to be tested 10. The positioning jig 51 can adopt a concave block structure adapted to the shape of the product to ensure the stable position of the product during the testing process; the characteristic testing device can select corresponding measuring elements according to the testing requirements, such as electrical performance testing probes, pressure testing sensors, etc., to achieve accurate measurement of specific parameters of the product, providing a reliable basis for subsequent detection and improving the detection accuracy and reliability.

[0039] In an embodiment according to the present application, the planar detection mechanism 5 includes a positioning fixture 51, a 3D camera 52, and a flipping mechanism 53. Among them, the flipping mechanism 53 includes a flipping cylinder and an electromagnet arranged at the output end of the flipping cylinder. The positioning fixture 51 is used to fix the product and adjust it to an attitude suitable for imaging; the 3D camera 52 images the surface of the product to obtain three-dimensional topography data of the surface; the flipping mechanism 53 is used to cooperate with the shooting angle requirements of the 3D camera 52, and drives the electromagnet to flip the product through the flipping cylinder, so that all surfaces of the product can be captured by the camera, and comprehensive detection data can be obtained.

[0040] In an embodiment according to the present application, the vertical detection mechanism 6 includes a vertical lifting mechanism 61, a light source 62, and a 2D camera 63. The vertical lifting mechanism 61 is installed on the workbench 2 and includes a lifting cylinder and a pneumatic gripper installed at the output end of the lifting cylinder, and is used to lift the product to a suitable height; the light source 62 is installed on the front and back sides of the vertical lifting mechanism 61 to provide uniform background illumination; the 2D camera 63 is located in the middle of the light source 62 and images the side profile of the product to detect the perpendicularity and width of the product. Among them, the vertical detection mechanism 6 adopts a vertical lifting structure, which can conveniently adjust the height of the product. With the appropriate layout of the light source 62 and the imaging of the 2D camera 63, a clear side profile image of the product can be obtained, and the perpendicularity and width dimensions can be accurately measured.

[0041] In an embodiment according to the present application, the first transfer mechanism 81 includes a first mounting plate slidably installed on the stator linear module 8. A first transfer motor is installed on the top of the first mounting plate, a first lifting cylinder and a 3D camera 52 are installed at the lower end of the first mounting plate, and an electromagnet is installed at the output end of the first lifting cylinder. Among them, the first transfer motor drives the first transfer mechanism 81 to reciprocate along the stator linear module 8 to achieve rapid movement between the feeding production line 3, the characteristic testing mechanism 4, and the planar detection mechanism 5; the first lifting cylinder drives the electromagnet to move up and down, and cooperates with the energization and de-energization of the electromagnet to achieve reliable grasping and releasing of the product.

[0042] In an embodiment according to the present application, the second transfer mechanism 82 includes a second mounting plate slidably installed on the stator linear module 8. A second transfer motor is installed on the top of the second mounting plate, a second lifting cylinder is installed at the lower end of the second mounting plate, and a second gripper is installed at the output end of the second lifting cylinder. The second transfer motor drives the second transfer mechanism 82 to reciprocate between the planar detection mechanism 5 and the vertical detection mechanism 6; the second lifting cylinder drives the second gripper to move up and down, and cooperates with the opening and closing actions of the second gripper to achieve reliable clamping and releasing of the product.

[0043] In an embodiment according to the present application, the third transplanting mechanism 83 includes a third mounting plate slidably mounted on the stator linear module 8. A third transplanting motor is mounted on the top of the third mounting plate, and a third lifting cylinder is mounted at the lower end of the third mounting plate. The output end of the third lifting cylinder is mounted with a third jaw. The third transplanting motor drives the third transplanting mechanism 83 to reciprocate between the vertical detection mechanism 6 and the discharging assembly line 7; the third lifting cylinder drives the third jaw to move up and down, and in cooperation with the opening and closing action of the third jaw, realizes reliable clamping and releasing of the product, and sorts the product to the corresponding discharging assembly line 7 according to the detection result.

[0044] Among them, the working process of the present utility model is as follows:

[0045] First, click the reset button on the device touch screen, and each mechanism of the device resets. After the reset is completed, the touch screen displays the device status. Press the start button outside the chassis 1, and the device starts.

[0046] Put the product 10 to be tested into the feeding assembly line 3, and the product moves with the feeding assembly line 3 to the sensing range of the material-in place sensor; after the material-in place sensor detects that the product is in place, it sends a signal to the PLC controller; the PLC controller issues a control instruction, and the first transplanting mechanism 81 starts and moves to the material-taking position of the feeding assembly line 3; after the first transplanting motor drives the first transplanting mechanism 81 to move in place, the PLC controller issues a material-taking instruction, the first lifting cylinder drives the electromagnet to descend, the electromagnet is energized to adsorb the product, and moves the product to the positioning fixture 51 in the characteristic testing mechanism 4 to complete product positioning.

[0047] The characteristic testing device tests the characteristic parameters of the product. After the test is completed, the PLC controller issues an instruction, and the first transplanting mechanism 81 sucks the product from the characteristic testing mechanism 4 and moves it to the flipping mechanism 53 of the planar detection mechanism 5. The flipping cylinder drives the electromagnet to adjust the product to a horizontal state, and the 3D camera 52 scans and images the surface of the product to obtain three-dimensional data of the surface topography of the product. Then, the flipping cylinder starts again, flips the product to a vertical state, and the 3D camera 52 scans and images again to complete the all-round planar detection; after the planar detection is completed, the 3D camera 52 sends the detection data to the PLC controller.

[0048] The PLC controller issues an instruction, the second transplanting mechanism 82 starts and moves to the planar detection mechanism 5. The second lifting cylinder drives the second jaw to descend, clamps the product, moves to above the lifting cylinder of the vertical detection mechanism 6, and the second jaw releases the product. The product falls into the pneumatic jaw, and the second transplanting mechanism 82 returns to its original position; the vertical lifting mechanism 61 starts, and the lifting cylinder drives the pneumatic jaw to rise, lifts the product to a suitable position, and in cooperation with the illumination of the light source 62, the 2D camera 63 images the side of the product to measure the perpendicularity and width of the product.

[0049] After the vertical inspection is completed, the third transplanting mechanism 83 is activated and moves to the vertical inspection mechanism 6. The third lifting cylinder drives the third clamping jaw to descend to clamp the product. The PLC controller judges whether the product is qualified according to the detection data of each mechanism and issues a sorting instruction. The third transplanting mechanism 83 moves the qualified products to the qualified product assembly line and the unqualified products to the unqualified product assembly line according to the instruction to complete the sorting. For the qualified products, when passing through the laser marking machine 9, the qualified mark will also be automatically printed.

[0050] Thus, a product inspection and screening cycle is completed. Repeating the above process can achieve continuous and automated product inspection and screening.

[0051] In summary, the automated vision inspection and screening equipment provided by the present utility model, through the reasonable layout of each functional mechanism, the introduction of a variety of advanced vision inspection means, and the use of precise and reliable mechanical transmission and pneumatic components, preferably solves the problems of low efficiency and poor accuracy of the existing manual inspection, realizes the rapid and accurate detection of product defects and automatic sorting, can significantly improve the product quality control level and production efficiency, reduce the labor cost, and has a good market application prospect.

[0052] In the description of the present utility model, it should be understood that the orientation or positional relationship indicated by the terms "center", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation of the present utility model. In addition, the features defined as "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present utility model, unless otherwise specified, the meaning of "a plurality" is two or more.

[0053] In the description of the present utility model, unless otherwise clearly defined and limited, the terms "installation", "connection", "connection", "fixation" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal communication of two components or the interaction relationship between two components. For those of ordinary skill in the art, the specific meaning of the above terms in the present utility model can be understood according to specific circumstances.

[0054] All the standard parts used in the present utility model can be purchased from the market. The special-shaped parts can be customized according to the description in the specification and the drawings. The specific connection methods of each part all adopt conventional means such as bolts, rivets, welding, etc. that are mature in the prior art. The machinery, parts and equipment all adopt conventional models in the prior art. In addition, the circuit connection adopts the conventional connection method in the prior art, which will not be elaborated here.

[0055] For those skilled in the art, it is obvious that the present utility model is not limited to the details of the above-mentioned exemplary embodiments, and can be implemented in other specific forms without departing from the spirit or basic characteristics of the present utility model. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-limiting. The scope of the present utility model is defined by the appended claims rather than the above description. Therefore, all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be embraced within the present utility model. Any reference signs in the claims should not be construed as limiting the claimed rights.

[0056] In addition, it should be understood that although this specification is described according to the embodiments, not every embodiment only contains an independent technical solution. This narrative way of the specification is only for clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. An automated visual inspection and screening device, characterized in that: It comprises a chassis, on which a workbench is installed, on which a feeding assembly line, a characteristic testing mechanism, a plane detection mechanism, a vertical detection mechanism and a discharging assembly line are arranged in sequence from left to right; A stator linear module is installed at the upper rear of the workbench, and a first transplanting mechanism, a second transplanting mechanism and a third transplanting mechanism are slidably installed on the stator linear module from left to right in sequence; wherein, the first transplanting mechanism is used to move the product to be tested on the feeding assembly line to the characteristic testing mechanism for testing, and move the tested product to the plane detection mechanism for testing; the second transplanting mechanism is used to move the product that has been tested by the plane detection mechanism to the vertical detection mechanism for testing; and the third transplanting mechanism is used to move the product that has been tested by the vertical detection mechanism to the discharging assembly line.

2. The automated visual inspection and screening equipment according to claim 1, characterized in that: A material arrival sensor is arranged at the end of the feeding assembly line to sense whether the product to be tested has reached a predetermined position.

3. The automated visual inspection and screening equipment according to claim 1, characterized in that: The discharging line includes a qualified product line and an unqualified product line. The third transplanting mechanism moves qualified products to the qualified product line and unqualified products to the unqualified product line according to the detection results of the vertical detection mechanism.

4. The automated visual inspection and screening equipment according to claim 3, characterized in that: It also includes a laser marking machine, which is installed above the qualified product assembly line and is used to perform laser marking on the products.

5. The automated visual inspection and screening equipment according to claim 1, characterized in that: The characteristic testing mechanism includes a positioning fixture for positioning the product to be tested and a characteristic testing device for performing a characteristic test on the product to be tested.

6. The automated visual inspection and screening equipment according to claim 1, characterized in that: The plane detection mechanism comprises: Positioning fixture, used to position the product to be tested; 3D camera, used to detect the flatness of the product to be tested; Flipping mechanism, used to flip the product to be tested; Wherein, the flipping mechanism includes a flipping cylinder and an electromagnet arranged at the output end of the flipping cylinder.

7. The automated visual inspection and screening equipment according to claim 1, characterized in that: The vertical detection mechanism comprises: A vertical lifting mechanism is installed on the workbench; A light source is installed on both sides of the vertical lifting mechanism; A 2D camera, located in the middle of the light source; Wherein, the vertical lifting mechanism includes a lifting cylinder and a pneumatic clamp installed at the output end of the lifting cylinder.

8. The automated visual inspection and screening equipment according to claim 1 or 6, characterized in that: The first transplanting mechanism includes a first mounting plate slidably mounted on the stator linear module, a first transplanting motor is mounted on the top of the first mounting plate, a first lifting cylinder and a 3D camera are mounted on the lower end of the first mounting plate, and an electromagnet is mounted on the output end of the first lifting cylinder.

9. The automated visual inspection and screening equipment according to claim 1, characterized in that: The second transplanting mechanism includes a second mounting plate slidably mounted on the stator linear module, a second transplanting motor is mounted on the top of the second mounting plate, a second lifting cylinder is mounted on the lower end of the second mounting plate, and a second clamp is mounted on the output end of the second lifting cylinder.

10. The automated visual inspection and screening equipment according to claim 1, characterized in that: The third transplanting mechanism includes a third mounting plate slidably mounted on the stator linear module, a third transplanting motor is mounted on the top of the third mounting plate, a third lifting cylinder is mounted on the lower end of the third mounting plate, and a third clamp is mounted on the output end of the third lifting cylinder.

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