Transformer appearance defect detection device

Abstract

The utility model relates to the technical field of transformer production equipment, in particular to a transformer appearance defect detection device. Comprising a machine table, a first positioning clamp, a second positioning clamp, a first rotating disc mechanism with at least three first positioning carriers, a second rotating disc mechanism with at least three second positioning carriers, a feeding conveying mechanism, a discharging conveying mechanism, a classification conveying mechanism, a defective product classification mechanical arm, a synchronous transfer mechanical arm and a front side visual inspection mechanism. The device comprises a rear side visual detection mechanism, a left side visual detection mechanism, a right side visual detection mechanism, a top surface visual detection mechanism, a bottom surface pin spacing visual detection mechanism and a bottom surface visual detection mechanism. Visual inspection of appearance flaws on the front side face, the rear side face, the left side face, the right side face, the top face and the bottom face of each transformer and visual inspection of the pin spacing are automatically completed in sequence, the transformers with the appearance flaws are subjected to classified output of different appearance flaws through the classified conveying mechanism, and the quality of the transformers is guaranteed.

Description

Technical Field

[0001] The utility model relates to the technical field of transformer production equipment, in particular to a transformer appearance defect detection device. Background Art

[0002] During the transformer production process, the appearance of the transformer needs to be inspected for defects to avoid defects in the transformer appearance that affect the production quality of the transformer. Common transformer multi-faceted inspection mechanisms require the transformer to be removed and positioned during the inspection process in order to complete the photographic inspection of each side of the transformer. The operation steps are cumbersome, causing unnecessary trouble for users and reducing the speed of transformer appearance inspection.

[0003] Among the existing patents, the Chinese patent document with application number 202310062439.6 discloses a multi-faceted detection structure for a six-faceted transformer appearance detection device. Although this patent document can realize automatic loading of transformers, its structure is complex, the movements are cumbersome, and the appearance detection efficiency is still not ideal. Moreover, it can only classify and output good and defective transformers, and cannot classify and output transformers with different appearance defects.

[0004] Therefore, the defects are very obvious and a solution is urgently needed. Utility Model Content

[0005] In order to solve the above technical problems, the purpose of the present utility model is to provide a transformer appearance defect detection device.

[0006] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0007] A transformer appearance defect detection device includes a machine and a first positioning fixture, a second positioning fixture, a first turntable mechanism, a second turntable mechanism, a feeding conveying mechanism, a discharging conveying mechanism, a classification conveying mechanism, a defective product classification robot and a synchronous transfer robot respectively installed on the machine. The turntable of the first turntable mechanism is equipped with at least three first positioning carriers, the turntable of the second turntable mechanism is equipped with at least three second positioning carriers, the first turntable mechanism is provided with a loading position, a top surface detection position and a bottom surface stitch detection position, the second turntable mechanism is provided with a bottom surface detection position and a defective product picking position, the feeding end of the feeding conveying mechanism, the first positioning fixture, the second positioning fixture, the loading position, the bottom surface stitch detection position, the bottom surface detection position and the feeding end of the discharging conveying mechanism On the same straight line, the front and rear sides of the first positioning fixture are provided with a front visual detection mechanism and a rear visual detection mechanism, the second positioning fixture can rotate the transformer 180°, the front and rear sides of the second positioning fixture are provided with a left visual detection mechanism and a right visual detection mechanism, a top surface visual detection mechanism is mounted above the top surface detection position, a bottom surface stitch spacing visual detection mechanism is provided below the bottom surface stitch detection position, a bottom surface visual detection mechanism is provided below the bottom surface detection position, the defective product classification robot is arranged between the classification conveying mechanism and the defective product picking position, and the synchronous transfer robot is arranged above the feed conveying mechanism, the first positioning fixture, the second positioning fixture, the first turntable mechanism, the second turntable mechanism, and the discharge conveying mechanism.

[0008] Furthermore, the front visual detection mechanism, the rear visual detection mechanism, the left visual detection mechanism, the right visual detection mechanism, the top surface visual detection mechanism, the bottom surface pin spacing visual detection mechanism or / and the bottom surface visual detection mechanism include a base mounted on the machine, a first track arranged on the base, a slide slidably connected to the first track, a visual detector arranged on the slide, a ring light source for supplementing light to the visual detector, and a focal length adjustment module for driving the slide close to or away from the ring light source.

[0009] Furthermore, the slide seat is provided with a second track, the second track is connected to the adjustment seat in a lifting and sliding manner, the visual detector is installed on the adjustment seat, and the adjustment seat is locked on the second track via a locking piece.

[0010] Furthermore, the classification and conveying mechanism is provided with eight parallel classification and conveying areas, and the transformer appearance defect detection device also includes a control system. The defective product classification robot, the front side visual inspection mechanism, the rear side visual inspection mechanism, the left side visual inspection mechanism, the right side visual inspection mechanism, the top surface visual inspection mechanism, the bottom surface pin spacing visual inspection mechanism and the bottom surface visual inspection mechanism are all electrically connected to the control system. The defective product classification robot is used to pick up transformers with different defect problems at the defective product picking position and place them in the corresponding classification and conveying area.

[0011] Furthermore, the synchronous transfer manipulator includes a support frame, a first rotation driver, a rocker arm, a lifting rod, a linkage slider, a transfer seat and five material picking and unloading modules. The support frame is installed on the machine platform, the first rotation driver is installed on the outer wall of the support frame, one end of the rocker arm is drive-connected to the rotating end of the first rotation driver and is rotatably arranged on the support frame, the top inner side of the lifting rod is rotatably connected with a rolling element, the inner side wall of the support frame is provided with a transfer drive groove, the transfer drive groove is in the shape of a U-shaped opening facing downward, the rolling element is rotatably arranged in the transfer drive groove, the other end of the swing arm is provided with a slide groove, the slide groove extends along the length direction of the swing arm, the rolling element passes through the slide groove, and the rolling element rolls against the inner wall of the slide groove The middle part of the lifting rod is connected to the linkage slider for lifting and sliding, the linkage slider is connected to the support frame for translational sliding, the transfer seat is installed at the bottom end of the lifting rod, and five picking and placing modules are installed on the transfer seat in a straight line. The first picking and placing module moves back and forth between the discharge end of the feed conveying mechanism and the first positioning fixture, the second picking and placing module moves back and forth between the first positioning fixture and the second positioning fixture, the third picking and placing module moves back and forth between the second positioning fixture and the loading position, the fourth picking and placing module moves back and forth between the bottom pin detection position and the bottom detection position, and the fifth picking and placing module moves back and forth between the bottom detection position and the feed end of the discharge conveying mechanism.

[0012] Furthermore, the first positioning fixture and / or the second positioning fixture includes a bracket mounted on the machine, a second rotating driver mounted on the bracket, a turntable mounted on the rotating end of the second rotating driver, a carrier mounted on the turntable, a clamping driver mounted on the turntable and two clamping jaws respectively mounted on the two clamping ends of the clamping driver, the clamping driver is used to drive the two clamping jaws closer to or away from each other, and the two clamping jaws are movably arranged on both sides of the carrier.

[0013] Furthermore, an installation space is provided between the carrier and the turntable, and the installation space is used to accommodate the clamping driver.

[0014] Furthermore, the bracket is equipped with a pair of through-beam sensors, the carrier is located between the pair of through-beam sensors, and the clamping driver is electrically connected to the through-beam sensors.

[0015] The beneficial effects of the present invention are as follows: in actual application, the feeding conveying mechanism conveys the transformer to a preset position (the discharge end of the feeding conveying mechanism). At the same time, the front side visual inspection mechanism and the rear side visual inspection mechanism respectively perform visual inspection of appearance defects on the front side and the rear side of the transformer clamped and positioned by the first positioning fixture. After the second positioning fixture rotates the clamped and positioned transformer 180 degrees, the left side visual inspection mechanism and the right side visual inspection mechanism respectively perform visual inspection of appearance defects on the left side and the right side of the transformer after the 180-degree rotation. The top surface visual inspection mechanism performs visual inspection of appearance defects on the first side of the top surface inspection position. The top surface of the transformer carried by the positioning carrier is inspected for appearance defects, the bottom surface pin spacing visual inspection mechanism inspects the pin spacing of the transformer carried by the first positioning carrier at the bottom surface pin inspection position, the bottom surface visual inspection mechanism inspects the bottom surface of the transformer carried by the second positioning carrier at the bottom surface inspection position for appearance defects, the defective product classification robot picks up the transformer with appearance defects carried by the second positioning carrier at the defective product picking position to the corresponding position of the classification conveying mechanism, and the classification conveying mechanism classifies and outputs the transformers with different appearance defects; wherein, after each inspection is completed, the synchronous rotation The five transfer ends of the transfer robot respectively pick up the transformer to be inspected at the discharge end of the feeding conveying mechanism, the transformer after visual inspection of the front and rear side appearance defects, the transformer after visual inspection of the left and right side appearance defects, the transformer after visual inspection of the pin spacing, and the transformer after visual inspection of the bottom appearance defects, and then lift them up and then move them horizontally for a preset distance, so that the transformer to be inspected is placed on the first positioning fixture, the transformer after visual inspection of the front and rear side appearance defects is placed on the second positioning fixture, the transformer after visual inspection of the left and right side appearance defects is placed on the first positioning carrier at the loading position, and the transformer after visual inspection of the pin spacing is placed on the first positioning carrier at the loading position. The transformer is placed on the second positioning carrier at the bottom surface inspection position, and the transformer without any appearance defects after the bottom surface appearance defect visual inspection is placed on the discharge conveyor mechanism, and the qualified transformer is output through the discharge conveyor mechanism; wherein, the turntable of the first turntable mechanism drives multiple first positioning carriers to rotate intermittently from the top surface inspection position to the bottom surface pin inspection position to realize the position conversion of the transformer on the turntable of the first turntable mechanism, and the turntable of the second turntable mechanism drives multiple second positioning carriers to rotate intermittently from the bottom surface inspection position to the defective product picking position to realize the position conversion of the transformer on the turntable of the second turntable mechanism. The utility model automatically completes the front and rear side appearance defect visual inspection, left and right side appearance defect visual inspection, top surface appearance defect visual inspection, pin spacing visual inspection and bottom surface appearance defect visual inspection for each transformer in sequence, has high efficiency in detecting appearance defects of the transformer, and classifies the transformers with appearance defects into different appearance defects through the classification conveyor mechanism, thereby ensuring the quality of the transformer and facilitating the classification management of transformers with different appearance defects. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the three-dimensional structure of the utility model.

[0017] Figure 2 It is a schematic diagram of the three-dimensional structure of the front side visual detection mechanism, rear side visual detection mechanism, left side visual detection mechanism, right side visual detection mechanism, top surface visual detection mechanism, bottom surface stitch spacing visual detection mechanism or bottom surface visual detection mechanism of the present invention.

[0018] Figure 3 It is a schematic diagram of the three-dimensional structure of the first positioning fixture or the second positioning fixture of the present utility model.

[0019] Figure 4 It is a schematic diagram of the three-dimensional structure of the synchronous transfer manipulator of the present utility model.

[0020] Figure 5 It is a schematic diagram of the three-dimensional structure of the classification and conveying mechanism of the present invention.

[0021] Description of reference numerals:

[0022] 1. Machine; 2. First positioning fixture; 3. Second positioning fixture; 4. First turntable mechanism; 5. Second turntable mechanism; 6. Feed conveyor mechanism; 7. Discharge conveyor mechanism; 8. Sorting conveyor mechanism; 9. Defective product sorting robot; 10. Synchronous transfer robot; 11. First positioning carrier; 12. Second positioning carrier; 18. Front side visual inspection mechanism; 19. Rear side visual inspection mechanism; 20. Left side visual inspection mechanism; 21. Right side visual inspection mechanism; 22. Top surface visual inspection mechanism; 23. Bottom surface pin spacing visual inspection mechanism; 24. Bottom surface visual inspection mechanism ; 25. Base body; 26. First track; 27. Slide; 28. Visual detector; 29. ​​Ring light source; 30. Focus adjustment module; 31. Second track; 32. Adjustment seat; 33. Classification and conveying area; 34. Support frame; 35. First rotation drive; 36. Rocker arm; 37. Lifting rod; 38. Linkage slider; 39. Transfer seat; 40. Material loading and unloading module; 41. Transfer drive slot; 42. Bracket; 43. Second rotation drive; 44. Turntable; 45. Carrier; 46. Clamping drive; 47. Clamp; 48. Installation space; 49. Through-beam sensor. DETAILED DESCRIPTION

[0023] In order to facilitate understanding by those skilled in the art, the present invention is further described below with reference to embodiments and drawings. The contents mentioned in the embodiments are not intended to limit the present invention.

[0024] like Figures 1 to 5As shown, the utility model provides a transformer appearance defect detection device, which includes a machine 1 and a first positioning fixture 2, a second positioning fixture 3, a first turntable mechanism 4, a second turntable mechanism 5, a feeding conveying mechanism 6, a discharging conveying mechanism 7, a classification conveying mechanism 8, a defective product classification robot 9 and a synchronous transfer robot 10 respectively installed on the machine 1. The turntable of the first turntable mechanism 4 is equipped with at least three first positioning carriers 11 at equal angles, and the turntable of the second turntable mechanism 5 is equipped with at least three second positioning carriers 12 at equal angles. The first turntable mechanism 4 is provided with a loading position, a top surface detection position and a bottom surface stitch detection position, the second turntable mechanism 5 is provided with a bottom surface detection position and a defective product picking position, the feeding end of the feeding conveying mechanism 6, the first positioning fixture 2, the second positioning fixture 3, the loading position, the bottom surface stitch detection position, the bottom surface detection position and the discharging conveying mechanism The feeding end of the feeding mechanism 7 is on the same straight line, and the front and rear sides of the first positioning fixture 2 are provided with a front visual detection mechanism 18 and a rear visual detection mechanism 19. The second positioning fixture 3 can rotate the transformer 180°. The front and rear sides of the second positioning fixture 3 are provided with a left visual detection mechanism 20 and a right visual detection mechanism 21. A top surface visual detection mechanism 22 is arranged above the top surface detection position, a bottom surface stitch spacing visual detection mechanism 23 is arranged below the bottom surface stitch detection position, and a bottom surface visual detection mechanism 24 is arranged below the bottom surface detection position. The defective product classification robot 9 is movably arranged between the classification conveying mechanism 8 and the defective product picking position, and the synchronous transfer robot 10 is movably arranged above the feed conveying mechanism 6, the first positioning fixture 2, the second positioning fixture 3, the first turntable mechanism 4, the second turntable mechanism 5, and the discharge conveying mechanism 7. The appearance defects of the transformer are as follows: front side appearance defects, rear side appearance defects, left side appearance defects, right side appearance defects, top surface appearance defects, pin spacing deviation defects and bottom surface appearance defects.

[0025] In actual application, the feeding and conveying mechanism 6 conveys the transformer to a preset position (the discharge end of the feeding and conveying mechanism 6). At the same time, the front side visual inspection mechanism 18 and the rear side visual inspection mechanism 19 respectively perform visual inspection of the front side and the rear side of the transformer clamped and positioned by the first positioning fixture 2 for appearance defects. After the second positioning fixture 3 rotates the clamped and positioned transformer 180°, the left side visual inspection mechanism 20 and the right side visual inspection mechanism 21 respectively perform visual inspection of the appearance defects on the left side and the right side of the transformer after the 180° rotation. The top surface visual inspection mechanism 22 performs visual inspection of the first positioning carrier 11 at the top surface inspection position. The top surface of the transformer carried by it is inspected for appearance defects, the bottom surface pin spacing visual inspection mechanism 23 detects the pin spacing of the transformer carried by the first positioning carrier 11 at the bottom surface pin detection position, and the bottom surface visual inspection mechanism 24 performs appearance defect visual inspection on the bottom surface of the transformer carried by the second positioning carrier 12 at the bottom surface detection position. The defective product classification robot 9 picks up the transformer with appearance defects carried by the second positioning carrier 12 at the defective product picking position to the corresponding position of the classification conveying mechanism 8, and the classification conveying mechanism 8 classifies and outputs the transformers with different appearance defects; wherein, after each inspection is completed, the transformers are synchronously transferred. The five transfer ends of the manipulator 10 respectively pick up the transformer to be inspected at the discharge end of the feeding conveying mechanism 6, the transformer after visual inspection of the front and rear side appearance defects, the transformer after visual inspection of the left and right side appearance defects, the transformer after visual inspection of the pin spacing, and the transformer after visual inspection of the bottom appearance defects, and then lift them up and then move them horizontally for a preset distance, so that the transformer to be inspected is placed on the first positioning fixture 2, the transformer after visual inspection of the front and rear side appearance defects is placed on the second positioning fixture 3, the transformer after visual inspection of the left and right side appearance defects is placed on the first positioning carrier 11 at the loading position, and the transformer after visual inspection of the pin spacing is placed on the The transformers without any appearance defects are placed on the second positioning carrier 12 placed at the bottom surface inspection position after visual inspection of the bottom surface appearance defects, and are placed on the discharging conveyor mechanism 7, and the qualified transformers are outputted by the discharging conveyor mechanism 7; wherein, the turntable of the first turntable mechanism 4 drives the multiple first positioning carriers 11 to rotate intermittently from the top surface inspection position to the bottom surface pin inspection position to realize the position conversion of the transformers on the turntable of the first turntable mechanism 4, and the turntable of the second turntable mechanism 5 drives the multiple second positioning carriers 12 to rotate intermittently from the bottom surface inspection position to the defective product picking position to realize the position conversion of the transformers on the turntable of the second turntable mechanism 5. The utility model automatically completes the visual inspection of the front and rear side appearance defects, the left and right side appearance defects, the top surface appearance defects, the pin spacing visual inspection and the bottom surface appearance defects visual inspection for each transformer in sequence, and outputs the transformers with appearance defects according to different appearance defects through the classification conveyor mechanism 8, thereby ensuring the quality of the transformers and facilitating the classification management of transformers with different appearance defects.

[0026] In this embodiment, the front visual detection mechanism 18, the rear visual detection mechanism 19, the left visual detection mechanism 20, the right visual detection mechanism 21, the top surface visual detection mechanism 22, the bottom surface stitch spacing visual detection mechanism 23 or / and the bottom surface visual detection mechanism 24 include a base 25 installed on the machine 1, a first track 26 set on the base 25, a slide 27 slidably connected to the first track 26, a visual detector 28 set on the slide 27, an annular light source 29 for supplementing light to the visual detector 28 and a focal length adjustment module 30 for driving the slide 27 close to or away from the annular light source 29; specifically, the visual detector 28 includes a CCD camera.

[0027] In actual application, the light from the annular light source 29 is irradiated on the transformer to provide fill light for the transformer, and the visual detector 28 photographs the transformer to detect appearance defects of the transformer; when the focal length of the visual detector 28 needs to be adjusted, the focal length adjustment module 30 drives the slide 27 and the visual detector 28 to move back and forth to adjust the shooting (visual detection) focal length of the visual detector 28, which can not only detect transformers with different focal lengths, but also perform visual inspection on transformers of different specifications.

[0028] In this embodiment, the slide 27 is provided with a second track 31, which is connected to an adjustment base 32 for sliding movement. The visual detector 28 is mounted on the adjustment base 32 and secured to the second track 31 via a locking member. The first track 26 is arranged perpendicular to the second track 31. Specifically, the locking member is a bolt. When the height of the visual detector 28 needs to be adjusted, the locking member is loosened, allowing the adjustment base 32 to move up and down on the second track 31, thereby adjusting the height of the visual detector 28. After adjusting to the desired height, the locking member is tightened to secure the adjustment base 32 to the second track 31.

[0029] Specifically, the annular light source 29 is slidably connected to the first track 26 via an adjustment block. This structural design facilitates adjustment of the distance between the annular light source 29 and the transformer and the distance between the annular light source 29 and the visual detector 28 .

[0030] Specifically, the height position of the annular light source 29 on the adjustment block is adjustable to ensure that the annular light source 29 and the visual detector 28 can be used in normal coordination.

[0031] In this embodiment, the classification and conveying mechanism 8 is provided with eight parallel classification and conveying areas 33. The transformer appearance defect detection device also includes a control system. The defective product classification robot 9, the front side visual inspection mechanism 18, the rear side visual inspection mechanism 19, the left side visual inspection mechanism 20, the right side visual inspection mechanism 21, the top surface visual inspection mechanism 22, the bottom surface stitch spacing visual inspection mechanism 23 and the bottom surface visual inspection mechanism 24 are all electrically connected to the control system. The defective product classification robot 9 is used to pick up transformers with different defect problems at the defective product picking position to the corresponding classification and conveying area 33.

[0032] In actual application, among the eight classification conveying areas 33, seven classification conveying areas 33 classify and output transformers with front side appearance defects, rear side appearance defects, left side appearance defects, right side appearance defects, top surface appearance defects, stitch spacing deviation defects and bottom surface appearance defects respectively, and the remaining classification conveying area 33 outputs transformers containing at least two of the above defects; the front side visual inspection mechanism 18, the rear side visual inspection mechanism 19, the left side visual inspection mechanism 20, the right side visual inspection mechanism 21, the top surface visual inspection mechanism 22, the bottom surface stitch spacing visual inspection mechanism 23 and the bottom surface visual inspection mechanism 24 respectively feed back the inspection results to the control system, and the defective classification robot 9 picks up the transformers with different defects to the corresponding classification conveying area 33 according to the control system.

[0033] In this embodiment, the synchronous transfer robot 10 includes a support frame 34, a first rotation driver 35, a rocker arm 36, a lifting rod 37, a linkage slider 38, a transfer seat 39 and five material taking and placing modules 40. The support frame 34 is installed on the machine 1, and the first rotation driver 35 is installed on the outer wall of the support frame 34. One end of the rocker arm 36 is driven and connected to the rotating end of the first rotation driver 35 and is rotatably set on the support frame 34. The top inner side of the lifting rod 37 is rotatably connected with a rolling element (not shown in the figure). The inner side wall of the support frame 34 is provided with a transfer drive groove 41. The transfer drive groove 41 is in the shape of a U-shaped opening facing downward. The rolling element is rotatably set in the transfer drive groove 41. The other end of the swing arm is provided with a slide groove (not shown in the figure). The slide groove extends along the length direction of the swing arm. The rolling element passes through the slide groove. The rolling element rolls against the inner wall of the slide groove. The lifting rod 37 The middle part is connected to the linkage slider 38 for lifting and sliding, the linkage slider 38 is connected to the support frame 34 for translational sliding, the transfer seat 39 is installed at the bottom end of the lifting rod 37, and five picking and unloading modules 40 are installed on the transfer seat 39 in a straight line. The first picking and unloading module 40 moves back and forth between the discharge end of the feeding and conveying mechanism 6 and the first positioning fixture 2, the second picking and unloading module 40 moves back and forth between the first positioning fixture 2 and the second positioning fixture 3, the third picking and unloading module 40 moves back and forth between the second positioning fixture 3 and the loading position, the fourth picking and unloading module 40 moves back and forth between the bottom pin detection position and the bottom detection position, and the fifth picking and unloading module 40 moves back and forth between the bottom detection position and the feeding end of the discharging and conveying mechanism 7; specifically, the first rotation driver 35 can be a motor, and the rolling element can be a roller, a ball or a bearing.

[0034] In actual application, the first rotary driver 35 drives the rocker arm 36 to swing back and forth, and the slide groove of the reciprocating rocker arm 36 will resist the rolling element, so that the rolling element can roll along the inner wall of the slide groove, thereby enabling the rolling element to roll along the trajectory path of the U-shaped transfer drive groove 41 with the opening facing downward. Under the coordinated action of the lifting and sliding of the lifting rod 37 and the linkage slider 38 and the translational sliding of the support frame 34 and the linkage slider 38, the lifting rod 37 can be lifted and translated according to the trajectory path of the transfer drive groove 41, thereby enabling the transfer seat 39 to drive the five material picking and placing modules 40 to perform lifting and translation actions, so that the five material picking and placing modules 40 can synchronously complete the actions of picking up the transformer, lifting, translating, putting down the transformer, and resetting in reverse, thereby realizing progressive transfer and transportation of the transformer.

[0035] In this embodiment, the first positioning fixture 2 and / or the second positioning fixture 3 include a bracket 42 mounted on the machine 1, a second rotation driver 43 mounted on the bracket 42, a turntable 44 mounted on the rotating end of the second rotation driver 43, a carrier 45 mounted on the turntable 44, a clamping driver 46 mounted on the turntable 44 and two clamping claws 47 respectively mounted on the two clamping ends of the clamping driver 46, the clamping driver 46 is used to drive the two clamping claws 47 to move closer to or away from each other, and the two clamping claws 47 are respectively movably arranged on both sides of the carrier 45; specifically, the clamping driver 46 can adopt a finger cylinder, and the second rotation driver 43 can adopt a motor.

[0036] In actual application, initially, the two grippers 47 are open, and the synchronous transfer robot 10 picks up the transformer and places it on the carrier 45, with the transformer positioned between the two grippers 47. The clamping driver 46 then drives the two grippers 47 toward each other until the two grippers 47 clamp the transformer on the carrier 45. To ensure the transformer's positional accuracy and stability, the synchronous transfer robot 10 releases the transformer after the two grippers 47 clamp both sides of the transformer. When the transformer's angle needs to be adjusted, the second rotation driver 43 drives the turntable 44, along with the carrier 45 and the clamped transformer, to the desired angle to adjust the transformer's visual inspection angle, allowing for visual inspection of appearance defects at different angular positions of the transformer.

[0037] In this embodiment, an installation space 48 is provided between the carrier 45 and the turntable 44 to accommodate the clamping driver 46. This structural design makes the carrier 45, the clamping driver 46, and the turntable 44 compact, making it easier for the two clamping claws 47 to clamp the transformer on the carrier 45.

[0038] In this embodiment, the bracket 42 is equipped with a pair of beamforming sensors 49. The platform 45 is positioned between the beamforming sensors 49. The clamping actuator 46 is electrically connected to the beamforming sensors 49. When the beamforming sensors 49 sense the presence of a transformer on the platform 45, they provide feedback to the clamping actuator 46, causing it to activate the two clamping jaws 47 to clamp the transformer.

[0039] All technical features in this embodiment can be freely combined according to actual needs.

[0040] The above embodiments are preferred implementation schemes of the present invention. In addition, the present invention can also be implemented in other ways. Any obvious replacement without departing from the concept of the present technical solution is within the scope of protection of the present invention.

Claims

1. A transformer appearance defect detection device, characterized by: The invention comprises a machine (1) and a first positioning fixture (2), a second positioning fixture (3), a first turntable mechanism (4), a second turntable mechanism (5), a feeding conveying mechanism (6), a discharging conveying mechanism (7), a classification conveying mechanism (8), a defective product classification robot (9) and a synchronous transfer robot (10) respectively installed on the machine (1); the turntable of the first turntable mechanism (4) is equipped with at least three first positioning carriers (11); the turntable of the second turntable mechanism (5) is equipped with at least three second positioning carriers (12); the first turntable mechanism (4) is provided with a loading position, a top surface detection position and a bottom surface stitch detection position; the second turntable mechanism (5) is provided with a bottom surface detection position and a defective product picking position; the feeding end of the feeding conveying mechanism (6), the first positioning fixture (2), the second positioning fixture (3), the loading position, the bottom surface stitch detection position, the bottom surface detection position and the feeding end of the discharging conveying mechanism (7) are on the same straight line; The front and rear sides of the first positioning fixture (2) are provided with a front visual detection mechanism (18) and a rear visual detection mechanism (19); the second positioning fixture (3) can rotate the transformer 180 degrees; the front and rear sides of the second positioning fixture (3) are provided with a left visual detection mechanism (20) and a right visual detection mechanism (21); a top surface visual detection mechanism (22) is arranged above the top surface detection position; a bottom surface stitch spacing visual detection mechanism (23) is arranged below the bottom surface stitch detection position; a bottom surface visual detection mechanism (24) is arranged below the bottom surface detection position; a defective product classification manipulator (9) is movably arranged between the classification conveying mechanism (8) and the defective product picking position; and a synchronous transfer manipulator (10) is movably arranged above the feeding conveying mechanism (6), the first positioning fixture (2), the second positioning fixture (3), the first turntable mechanism (4), the second turntable mechanism (5), and the discharging conveying mechanism (7).

2. The transformer appearance defect detection device according to claim 1, characterized in that: The front visual detection mechanism (18), the rear visual detection mechanism (19), the left visual detection mechanism (20), the right visual detection mechanism (21), the top visual detection mechanism (22), the bottom pin spacing visual detection mechanism (23) or / and the bottom visual detection mechanism (24) comprise a base (25) mounted on the machine (1), a first track (26) arranged on the base (25), a slide (27) slidably connected to the first track (26), a visual detector (28) arranged on the slide (27), an annular light source (29) for supplementing light to the visual detector (28), and a focus adjustment module (30) for driving the slide (27) to approach or move away from the annular light source (29).

3. The transformer appearance defect detection device according to claim 2, characterized in that: The slide seat (27) is provided with a second track (31), the second track (31) is connected to the adjustment seat (32) in a lifting and sliding manner, the visual detector (28) is installed on the adjustment seat (32), and the adjustment seat (32) is locked on the second track (31) via a locking piece.

4. The transformer appearance defect detection device according to claim 1, characterized in that: The classification conveying mechanism (8) is provided with eight classification conveying areas (33) arranged in parallel. The transformer appearance defect detection device also includes a control system. The defective product classification robot (9), the front side visual detection mechanism (18), the rear side visual detection mechanism (19), the left side visual detection mechanism (20), the right side visual detection mechanism (21), the top surface visual detection mechanism (22), the bottom surface stitch spacing visual detection mechanism (23) and the bottom surface visual detection mechanism (24) are all electrically connected to the control system. The defective product classification robot (9) is used to pick up transformers with different defect problems at the defective product picking position and place them on the corresponding classification conveying area (33).

5. The transformer appearance defect detection device according to claim 1, characterized in that: The synchronous transfer manipulator (10) comprises a support frame (34), a first rotation driver (35), a swing arm (36), a lifting rod (37), a linkage slider (38), a transfer seat (39) and five material taking and placing modules (40). The support frame (34) is mounted on the machine platform (1). The first rotation driver (35) is mounted on the outer wall of the support frame (34). One end of the swing arm (36) is connected to the rotating end of the first rotation driver (35) and is rotatably mounted on the support frame (34). The top inner side of the lifting rod (37) is rotatably connected with a rolling element. The inner side wall of the support frame (34) is provided with a transfer drive groove (41). The transfer drive groove (41) is in the shape of a U-shaped opening facing downward. The rolling element is rotatably mounted in the transfer drive groove (41). The other end of the swing arm is provided with a slide groove. The slide groove extends along the length direction of the swing arm. The rolling element passes through the slide groove. The rolling element rolls with the inner wall of the slide groove. The lifting rod (37) is connected to the linkage slider (38) in a lifting and sliding manner, and the linkage slider (38) is connected to the support frame (34) in a translational and sliding manner. The transfer seat (39) is installed at the bottom end of the lifting rod (37). Five material taking and putting modules (40) are installed on the transfer seat (39) in a straight line arrangement. The first material taking and putting module (40) moves back and forth between the discharge end of the feeding and conveying mechanism (6) and the first positioning fixture (2). The second material taking and putting module (40) moves back and forth between the first positioning fixture (2) and the second positioning fixture (3). The third material taking and putting module (40) moves back and forth between the second positioning fixture (3) and the loading position. The fourth material taking and putting module (40) moves back and forth between the bottom pin detection position and the bottom detection position. The fifth material taking and putting module (40) moves back and forth between the bottom detection position and the feeding end of the discharging and conveying mechanism (7).

6. The transformer appearance defect detection device according to claim 1, characterized in that: The first positioning fixture (2) or / and the second positioning fixture (3) comprises a bracket (42) mounted on the machine (1), a second rotation driver (43) mounted on the bracket (42), a turntable (44) mounted on the rotation end of the second rotation driver (43), a carrier (45) mounted on the turntable (44), a clamping driver (46) mounted on the turntable (44), and two clamping claws (47) respectively mounted on the two clamping ends of the clamping driver (46), wherein the clamping driver (46) is used for driving the two clamping claws (47) to move closer to or away from each other, and the two clamping claws (47) are respectively movably arranged on both sides of the carrier (45).

7. The transformer appearance defect detection device according to claim 6, characterized in that: An installation space (48) is provided between the carrier (45) and the turntable (44), and the installation space (48) is used for accommodating the clamping driver (46).

8. The transformer appearance defect detection device according to claim 6, characterized in that: The bracket (42) is equipped with a pair of beam sensors (49), the carrier (45) is located between the pair of beam sensors (49), and the clamping driver (46) is electrically connected to the beam sensors (49).

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