Refrigeration valve rod size and appearance defect detection equipment based on CCD (Charge Coupled Device) vision

Abstract

The utility model discloses a refrigeration valve rod size and appearance defect detection device based on CCD vision, which comprises an arranging and feeding mechanism used for automatically arranging and feeding refrigeration valve rods to be detected; the visual detection mechanism is used for carrying out multi-directional appearance defect and size visual detection on the refrigeration valve rod; the sorting mechanism is used for automatically classifying and outputting good products and non-good products of the refrigeration valve rods subjected to visual detection; the stacking mechanism is used for automatically arranging and placing the refrigeration valve rods; the tray conveying mechanism is used for automatically feeding and positioning the split charging trays; and the grabbing manipulator mechanism is used for transferring the refrigeration valve rods into the split charging tray in groups. According to the utility model, continuous automatic feeding, placing and positioning, all-directional detection, classified discharging, automatic arrangement and stacking of good products, group grabbing and containing, and comprehensive coverage of appearance detection can be realized, the detection result is accurate and reliable, the detection period of a single product is short, a plurality of products are synchronously detected, and the detection efficiency is relatively high.

Description

TECHNICAL FIELD

[0001] The utility model relates to visual inspection equipment technical field, concretely is a kind of refrigeration valve stem size and appearance defect detection equipment based on CCD vision. BACKGROUND

[0002] Machine vision detection is to replace human eye detection by computer with CCD vision detection system, and unknown objects such as appearance defect inspection of product, material surface, migrant, precipitate, frost, discoloration, foreign matter, pollutants, unknown powder, unknown liquid, unknown particle and the like can be detected and judged;Appearance detection is the most used in the field of machine vision detection, and the detection efficiency is greatly improved through the matching visual inspection equipment, and most products need to be quality detected after production, and appearance detection belongs to one kind of quality detection, and many quality problems can also be directly displayed through appearance. Figure 1 As shown in the refrigeration valve stem, whether the appearance of such commonly used small parts directly affects its performance and the overall life of the refrigeration equipment using the refrigeration valve stem.

[0003] At present, the appearance detection of existing refrigeration valve stem products is still generally performed manually, but the traditional appearance detection is eye detection, and the detection results are uneven due to the influence of the experience level of the detection personnel, and the detection personnel's eyes are tired after long-time viewing of small objects, and it is easy to flow down the defective products, so that the overall quality of batch products cannot be guaranteed.

[0004] A kind of rectifier size and appearance defect detection equipment based on CCD vision developed by the author's research and development team (Chinese utility model patent has been applied, announcement number CN113714143A) adopts CCD vision technology, and realizes the continuous automatic feeding, placement, positioning, omnibearing detection and classified discharge of the detected rectifier product by cooperating with mechanical functional components, and the appearance detection is fully covered, the detection result is accurate and reliable, and the detection efficiency is higher. UTILITY MODEL CONTENTS

[0005] In view of the above defects and deficiencies, the refrigeration valve stem size and appearance defect detection equipment based on CCD vision provided by the utility model can realize continuous automatic feeding, placement positioning, omnibearing detection, classified discharge, automatic arrangement and code placement of good parts, and group grabbing and containing, the appearance detection is fully covered, the detection result is accurate and reliable, the single product detection cycle is short, and multiple products are detected synchronously, so the detection efficiency is higher.

[0006] To solve the above technical problems, one technical scheme of the utility model is

[0007] A refrigeration valve rod size and appearance defect detection equipment based on CCD vision, comprising

[0008] Arrangement feeding mechanism, fixedly arranged on the top of the feeding table, used for automatic arrangement and feeding of the refrigeration valve rod to be detected;

[0009] Visual inspection mechanism, fixedly arranged on the top of the detection table, used for multi-directional shape defect and size visual inspection of the refrigeration valve rod sent by the arrangement feeding mechanism one by one;

[0010] Sorting mechanism, fixedly arranged on the top of the detection table, used for automatic classification and output of good products and non-good products of the refrigeration valve rod after visual inspection;

[0011] Stacking mechanism, fixedly arranged on one side of the top of the conveying table, the good product output side of the sorting mechanism, used for automatic arrangement and placement of the refrigeration valve rod after detection;

[0012] Tray conveying mechanism, fixedly arranged on the top of the conveying table, on one side of the stacking mechanism, used for automatic feeding and positioning of the sub-packaging tray;

[0013] And the grabbing mechanical hand mechanism, fixedly arranged on the top of the conveying table, above the stacking mechanism and the tray conveying mechanism, used for transferring the refrigeration valve rod arranged and placed on the stacking mechanism into the sub-packaging tray in groups.

[0014] Further, the arrangement feeding mechanism comprises a fixedly arranged feeding tray support and vibrator support, a feeding tray fixedly connected to the top end of the feeding tray support, and a vibrator fixedly connected to the top end of the vibrator support and located above the feeding tray, the top surface of the feeding tray is fixedly provided with a guide plate on each side, a guide channel is arranged between the two guide plates, the end of the feeding tray is fixedly connected with an arrangement groove connected with the guide channel, and the end of the arrangement groove extends to the feeding position of the visual inspection mechanism.

[0015] Further, the arrangement groove comprises a groove bottom plate fixedly connected to the side surface of the end of the feeding tray, and clamping plates fixedly connected to the top of the groove bottom plate, a clamping channel connected with the guide channel is formed between the two clamping plates, clamping strips parallel to the top surface of the groove bottom plate are arranged on the opposite side surfaces of the two clamping plates, and the refrigeration valve rod in the clamping channel is movably clamped between the two clamping strips.

[0016] Further, the vibrator comprises a vibration cylinder and a friction impact block fixedly connected to the bottom of the output rod end of the vibration cylinder, the friction impact block is movably embedded in one of the guide plates, and the side surface of the friction impact block is connected with the inlet end of the guide channel.

[0017] Further, the visual detection mechanism comprises a glass rotating mechanism connected with the discharging end of the arrangement feeding mechanism, and the top surface of the detection table is sequentially provided with a guide assembly, a fiber detection assembly, a top normal light detection assembly, a bottom normal light detection assembly, a tangential normal light detection assembly and a radial normal light detection assembly from the discharging port of the arrangement feeding mechanism to the rotating direction of the glass rotating mechanism.

[0018] Further, the glass rotating mechanism comprises a rotating driving motor fixedly installed at the center of the bottom surface of the detection table, a rotating support table fixedly arranged at the center of the top surface of the detection table, a rotating support plate rotationally connected to the top end of the rotating support table and in transmission connection with the output shaft end of the rotating driving motor, and a glass disc fixedly installed at the top of the rotating support plate, wherein the glass disc is a transparent glass plate in annular structure.

[0019] Further, the guide assembly comprises a first horizontal vertical adjusting support fixedly arranged on the top surface of the detection table, a guide plate connecting frame connected to one side of the position adjusting end of the top of the first horizontal vertical adjusting support, and a guide plate fixedly connected to the bottom end of the guide plate connecting frame, wherein the distance between the end of the guide plate close to the arrangement feeding mechanism and the axis of the glass disc is less than the distance between the discharging end of the arrangement feeding mechanism and the axis of the glass disc.

[0020] Further, the fiber detection assembly comprises a second horizontal vertical adjusting support fixedly arranged on the top surface of the detection table, a sensor connecting frame connected to one side of the position adjusting end of the top of the second horizontal vertical adjusting support, and a photoelectric sensor and a reflector plate fixedly connected to the bottom ends of the guide plate connecting frame respectively and located above the glass disc.

[0021] Further, the top normal light detection assembly comprises a third horizontal vertical adjusting support fixedly arranged on the top surface of the detection table, a first CCD camera and a first annular light supplement lamp connected to one side of the position adjusting end of the top of the third horizontal vertical adjusting support respectively, wherein the first annular light supplement lamp is located directly below the first CCD camera and above the glass disc.

[0022] The bottom normal light detection assembly comprises a fourth horizontal vertical adjusting support fixedly arranged on the top surface of the detection table, a second CCD camera and a second annular light supplement lamp connected to one side of the position adjusting end of the bottom of the fourth horizontal vertical adjusting support respectively, wherein the second annular light supplement lamp is located directly above the second CCD camera and below the glass disc.

[0023] The tangential positive and negative light detection assembly comprises a fifth horizontal vertical adjusting support fixed on the top surface of the detection table, a first camera hanging plate connected to one side of the top position adjusting end of the fifth horizontal vertical adjusting support, and a third CCD camera and a fourth CCD camera oppositely connected to the bottom surface of the first camera hanging plate, wherein the connecting line of the third CCD camera and the fourth CCD camera is perpendicular to the radial direction of the glass disc at this position, and the bottom surface of the first camera hanging plate is connected with a first half-ring light supplement lamp and a second half-ring light supplement lamp oppositely located between the third CCD camera and the fourth CCD camera.

[0024] The radial positive and negative light detection assembly comprises a sixth horizontal vertical adjusting support fixed on the top surface of the detection table, a second camera hanging plate connected to one side of the top position adjusting end of the sixth horizontal vertical adjusting support, and a fifth CCD camera and a sixth CCD camera oppositely connected to the bottom surface of the second camera hanging plate, wherein the connecting line of the fifth CCD camera and the sixth CCD camera is parallel to the radial direction of the glass disc at this position, and the bottom surface of the second camera hanging plate is connected with a third half-ring light supplement lamp and a fourth half-ring light supplement lamp oppositely located between the fifth CCD camera and the sixth CCD camera.

[0025] Further, the sorting mechanism comprises an air nozzle support fixed on the top surface of the detection table, an air nozzle fixed on the top front end of the air nozzle support and located above the inner edge of the glass disc, a guide plate fixed on the top rear end of the air nozzle support and located above the glass disc, a waste hopper fixed on the top surface of the detection table and located outside the glass disc, and a waste box arranged below the waste hopper, wherein the top end side wall of the waste hopper is provided with an inlet port oppositely arranged with the air nozzle, and a discharging guide groove is fixed between the end of the guide plate and the feeding end of the stacking mechanism.

[0026] Further, the stacking mechanism comprises a chain plate conveying assembly fixedly connected to the side surface of the conveying table, and a shelf plate fixedly arranged above one end of the chain plate conveying assembly, wherein the chain plate of the chain plate conveying assembly is fixedly connected with a stacking groove, the side surface of the shelf plate is provided with a pose adjusting hole which is connected with the discharging end of the sorting mechanism and penetrates through the bottom, the top side of the shelf plate is fixedly provided with a push cylinder, and the output rod end of the push cylinder is fixedly connected with a sealing plate 409 movably sealed below the pose adjusting hole.

[0027] Further, the tray conveying mechanism comprises a first chain conveying line and a second chain conveying line arranged side by side and conveying in opposite directions, wherein one end of the first chain conveying line and the second chain conveying line close to the stacking mechanism is fixedly provided with a tray feeding mechanism for transferring the empty sub-packaging tray from the first chain conveying line to the second chain conveying line, and one end of the first chain conveying line and the second chain conveying line away from the stacking mechanism is fixedly provided with a tray discharging mechanism for transferring the sub-packaging tray containing the refrigeration valve stem from the second chain conveying line to the first chain conveying line.

[0028] Further, the tray feeding mechanism and the tray discharging mechanism each comprise a magnetic couple type rodless air cylinder fixed horizontally above the end of the first chain conveying line and the second chain conveying line, guide rails are arranged in parallel on the two sides of the magnetic couple type rodless air cylinder, a cylinder support is fixedly connected to the power output end of the magnetic couple type rodless air cylinder, one side surface of the cylinder support is slidably connected with the guide rail, and the other side surface top is fixedly connected with a cylinder mounting plate, a first lifting cylinder is fixedly installed on the bottom surface of the cylinder mounting plate, and a supporting plate that can be immersed into the first chain conveying line / second chain conveying line is fixedly connected to the bottom output shaft end of the first lifting cylinder.

[0029] Further, the second chain conveying line is internally provided with a first limiting mechanism and a second limiting mechanism located on the side of the stacking mechanism at one end close to the tray feeding mechanism, and is internally provided with a third limiting mechanism and a fourth limiting mechanism located on the side of the stacking mechanism at one end close to the tray discharging mechanism.

[0030] Further, the grabbing mechanical arm mechanism comprises a gantry, a linear module fixedly arranged horizontally on one side of the top of the gantry, a second lifting cylinder fixedly arranged on the side surface of the power output end of the linear module, and a pneumatic finger connected to the bottom output rod end of the second lifting cylinder, wherein the pneumatic finger is in parallel jaw type.

[0031] Compared with the prior art, the utility model has the beneficial effects as follows:

[0032] 1. The arrangement feeding assembly is adopted to realize the vibration propulsion feeding of multiple products to be detected, the guide assembly arranged on one side of the top of the glass rotating mechanism can position and place the products to be detected on the glass rotating mechanism one by one, so that the subsequent continuous detection is completed, automatic continuous feeding and positioning are realized, and the working efficiency is high.

[0033] 2. The top normal light detection assembly, the bottom normal light detection assembly, the tangential normal and reverse light detection assembly and the radial normal and reverse light detection assembly are sequentially arranged on the periphery of the glass rotating mechanism, the products to be detected pass through each detection station in turn through the glass rotating mechanism, the CCD camera on each detection assembly takes the image of the surface appearance of each view angle of the product, and then the image recognition software is used for comparison and analysis, so that the omnibearing detection of each area of the surface is realized, the detection result is more accurate and comprehensive, the arrangement feeding mechanism can continuously feed the placed products to be detected through the glass rotating mechanism, the synchronous detection of multiple products to be detected is realized, the unnecessary interval time is effectively reduced, and the working efficiency is greatly improved.

[0034] 3. The utility model discloses a plurality of CCD detection camera is detected to the appearance defect situation of different parts of the product to be detected, and the surface appearance defect is comprehensively evaluated, and the appearance defect is classified and counted, and the distribution of the defect and the yield of good products are convenient for analysis, and accurate guidance direction is provided for process improvement, the good product and the poor product are separated automatically through the sorting mechanism of air nozzle blow selection, and the classification collection of product is convenient,

[0035] 4. The utility model discloses a two -way conveying's tray conveying mechanism can realize the automatic feeding of empty sub -packaging tray and the automatic sending of full sub -packaging tray after full loading, through setting tray feeding mechanism and tray unloading mechanism at the both ends of the conveying line, can realize the position conversion of sub -packaging tray on two conveying lines, can realize the automatic feeding and positioning of sub -packaging tray, has saved a large amount of manpower, improved work efficiency,

[0036] 5. The utility model discloses a setting mechanism realizes the automatic arrangement of good product and places, and through the automatic completion of the group placement of the refrigeration valve stem in the sub -packaging tray after detection of the grabbing mechanical hand mechanism, the subsequent packing and packaging are convenient, and the production efficiency is greatly improved. DRAWINGS

[0037] Figure 1 It is the stereoscopic structure schematic diagram of refrigeration valve stem that appearance defect detection equipment of the utility model detects;

[0038] Figure 2 It is the stereoscopic structure schematic diagram of refrigeration valve stem appearance defect detection equipment of the utility model;

[0039] Figure 3 It is the stereoscopic structure schematic diagram of refrigeration valve stem appearance defect detection equipment of the utility model;

[0040] Figure 4 It is the overhead structure schematic diagram of refrigeration valve stem appearance defect detection equipment of the utility model;

[0041] Figure 5 It is the stereoscopic structure schematic diagram of the arrangement feeding structure;

[0042] Figure 6 It is the structure schematic diagram of the friction impact block and the feed guide plate group state;

[0043] Figure 7 It is Figure 6 The enlarged structure schematic diagram of A part in;

[0044] Figure 8 It is the stereoscopic structure schematic diagram of visual detection mechanism;

[0045] Figure 9 It is the stereoscopic structure schematic diagram of glass rotation mechanism;

[0046] Figure 10 is a schematic diagram of the three-dimensional structure of the material guide assembly;

[0047] Figure 11 is a schematic diagram of the three-dimensional structure of the optical fiber detection component;

[0048] Figure 12 is a schematic diagram of the three-dimensional structure of the top positive light detection component;

[0049] Figure 13 is a schematic diagram of the three-dimensional structure of the bottom positive light detection component;

[0050] Figure 14 Schematic diagram of the three-dimensional structure of the tangential positive and negative light detection component;

[0051] Figure 15 Schematic diagram of the three-dimensional structure of the radial positive and negative light detection component;

[0052] Figure 16 It is one of the three-dimensional structural schematic diagrams of the sorting mechanism;

[0053] Figure 17 The second schematic diagram of the three-dimensional structure of the sorting mechanism;

[0054] Figure 18 This is one of the three-dimensional structural diagrams of the stacking mechanism;

[0055] Figure 19 The second schematic diagram of the three-dimensional structure of the stacking mechanism;

[0056] Figure 20 Schematic diagram of the three-dimensional structure of the tray conveying mechanism;

[0057] Figure 21 Schematic diagram of the three-dimensional structure of the tray loading mechanism;

[0058] Figure 22 for Figure 3 A schematic diagram of the enlarged structure of the middle part B;

[0059] Figure 23 It is a schematic diagram of the three-dimensional structure of the grasping robot mechanism.

[0060] In the figure: 1, arrangement feeding mechanism; 101, feeding disc support; 102, vibrator support; 103, feeding disc; 104, vibrator; 1041, vibration cylinder; 1042, friction impact block; 105, feeding guide plate; 106, guide channel; 107, arrangement channel; 1071, channel bottom plate; 1072, clamping plate; 1073, clamping strip; 2, visual inspection mechanism; 201, glass rotating mechanism; 2011, rotating drive motor; 2012, rotating support table; 2013, rotating support plate; 2014, glass disc; 202, guide assembly; 2021, first horizontal and vertical adjustment support; 2022, guide plate connecting frame; 2023, guide plate; 203, optical fiber detection assembly; 2031, second horizontal and vertical adjustment support; 2032, sensor connecting frame; 2033, photoelectric sensor; 2034, reflector plate; 204, top normal light detection assembly; 2041, third horizontal and vertical adjustment support; 2042, first CCD camera; 2043, first annular light supplement lamp; 205, bottom normal light detection assembly; 2051, fourth horizontal and vertical adjustment support; 2052, second CCD camera; 2053, second annular light supplement lamp; 206, tangential normal and reverse light detection assembly; 2061, fifth horizontal and vertical adjustment support; 2062, first camera hanging plate; 2063, third CCD camera; 2064, fourth CCD camera; 2065, first half-annular light supplement lamp; 2066, second half-annular light supplement lamp; 207, radial normal and reverse light detection assembly; 2071, sixth horizontal and vertical adjustment support; 2072, second camera hanging plate; 2073, fifth CCD camera; 2074, sixth CCD camera; 2075, third half-annular light supplement lamp; 2076, fourth half-annular light supplement lamp; 3, sorting mechanism; 301, air nozzle support; 302, air nozzle; 303, discharge guide plate; 304, waste hopper; 305, waste box placing frame; 306, waste box; 307, discharging guide groove; 308, stand column; 309, hopper support; 3010, rubber hose; 3011, discharge cylinder; 3012, discharge push block; 4, stacking mechanism; 401, chain plate conveying assembly; 402, shelf plate; 403, stacking groove; 404, pose adjustment hole; 405, push cylinder; 406, mounting seat; 407, gear reducer; 408, stacking drive motor; 409, sealing plate; 5, tray conveying mechanism; 501, first chain conveying line; 502, second chain conveying line; 503, tray feeding mechanism; 5031, magnetic couple type rodless cylinder; 5032, guide rail; 5033, cylinder support; 5034, cylinder mounting plate; 5035, first lifting cylinder; 5036, support plate; 504, tray discharging mechanism; 505, first limiting mechanism; 506, second limiting mechanism; 6, sub-packaging tray; 7, grabbing mechanical hand mechanism; 701, gantry; 702, linear module; 703, second lifting cylinder; 704, pneumatic finger; 10, feeding table;20, detection table; 30, conveying table; 100, refrigeration valve stem. DETAILED DESCRIPTION

[0061] The advantages and features of the present application will be more readily understood from the detailed description that follows, with reference to the accompanying drawings, in which preferred embodiments of the present application are shown and described. It is to be understood that both the foregoing information and the following detailed description are merely illustrative examples of embodiments of the application and are intended to provide an overview or framework for understanding the nature and character of the application as it is claimed.

[0062] It should be noted that when an element or layer is referred to as being "on" another element or substrate, it can be directly on the other element or substrate or intervening elements can also be present. In contrast, when an element is referred to as being "directly on" another element or substrate, there are no intervening elements present. It will be understood that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled or intervening elements can be present. In contrast, when an element is referred to as being "fixed" to another element, it can be directly fixed or coupled or intervening elements can be present.

[0063] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description of the application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. All publications, patent applications, patents, and other references mentioned herein are incorporated by reference in their entirety.

[0064] Referring to Figures 2 to 4 The present application provides a refrigeration valve stem size and appearance defect detection equipment based on CCD vision, including arrangement feeding mechanism 1, fixedly arranged on the top of feeding table 10, used for automatic arrangement and feeding of refrigeration valve stem 100 to be detected; visual detection mechanism 2, fixedly arranged on the top of detection table 20, used for multi-directional shape defect and size visual detection of refrigeration valve stem 100 sent by arrangement feeding mechanism 1 one by one; sorting mechanism 3, fixedly arranged on the top of detection table 20, used for automatic classification and output of good and non-good refrigeration valve stems 100 after visual detection; stacking mechanism 4, fixedly arranged on one side of the top of conveying table 30, good output side of sorting mechanism 3, used for automatic arrangement and placement of qualified refrigeration valve stem 100; tray conveying mechanism 5, fixedly arranged on one side of stacking mechanism 4 on the top of conveying table 30, used for automatic feeding and positioning of sub-packaging tray 6; and grabbing mechanical hand mechanism 7, fixedly arranged on the top of conveying table 30, located above stacking mechanism 4 and tray conveying mechanism 5, used for transferring refrigeration valve stem 100 arranged and placed on stacking mechanism 4 into sub-packaging tray 6 in groups.

[0065] The utility model discloses a kind of visual detection systems, including detection table 20, visual detection mechanism 2 and the control system of detection table 20, visual detection mechanism 2 and control system are as follows: detection table 20 includes detection table top 201 and detection table bottom 202, detection table top 201 is fixedly connected with the upper end of detection table bottom 202, and detection table bottom 202 is fixedly connected with the lower end of detection table bottom 202.

[0066] As shown in Figure 5 Arrangement feeding mechanism 1 includes fixedly arranged on the top surface of feeding table 10 feeding disc support 101 and vibrator support 102, fixedly connected with the top end of feeding disc support 101 feeding disc 103, fixedly connected with the top end of vibrator support 102 and located above feeding disc 103 vibrator 104, the end of feeding disc 103 is fixedly connected with the arrangement groove 107 of the link of guide channel 106, the end of arrangement groove 107 extends to the feeding position of visual detection mechanism 2. The top surface left and right sides of feeding disc 103 are respectively fixedly provided with feeding guide plate 105, and guide channel 106 is arranged between the two feeding guide plates 105, the front part of guide channel 106 is in the shape of triangle from big to small, and the rear part is in the shape of straight strip, so that multiple refrigeration valve rods 100 can be placed on feeding disc 103 simultaneously, and only single column refrigeration valve rod 100 is allowed to pass through guide channel 106 and is sent out one by one. In actual use, the operator needs to manually place the refrigeration valve rod 100 with the tip end position upward, so that the refrigeration valve rod 100 can smoothly complete the subsequent feeding, detection and discharging process.

[0067] In this embodiment, the vibrator 104 includes a vibrating cylinder 1041 and a friction impact block 1042 fixedly connected to the bottom of the output rod end of the vibrating cylinder 1041. The friction impact block 1042 is movably embedded in one of the feed guide plates 105, and the side of the friction impact block 1042 is connected to the inlet end of the material guide channel 106. Specifically, a horizontal mounting plate is fixedly provided on the top of the vibrator bracket 102, and the end of the mounting plate is suspended directly above the feed guide plate 105 on the right and fixedly connected to the cylinder mounting seat; the vibrating cylinder 1041 is horizontally fixedly connected to the bottom surface of the cylinder mounting seat, and the extension and retraction direction of its output rod is consistent with the feeding direction of the material guide channel 106. The output shaft end of the vibrating cylinder 1041 is fixedly connected to a connecting block, the bottom of the connecting block is fixedly connected to a connecting plate, and the friction impact block 1042 is fixedly connected to the bottom surface of the connecting plate. As Figure 6 From the perspective shown, a strip-shaped notch is provided on the left side wall of the right feed guide plate 5, and the friction impact block 1042 is located in the notch. A guide bar is provided on the upper side wall of the notch. A guide groove is provided on the top side of the friction impact block 1042 to match the guide bar, and the guide bar is movably inserted into the guide groove. In this way, when the vibration cylinder 1041 drives the friction impact block 1042 to move back and forth, the side surface of the friction impact block 1042 and the circumferential surface of the refrigeration valve stem 100 on the loading tray 103 generate friction, pushing the refrigeration valve stem 100 forward gradually; the vibration generated by the collision between the friction impact block 1042 and the feed guide plate 5 allows the refrigeration valve stem entering the arrangement groove 107 to move smoothly downward gradually and be sent to the visual inspection mechanism for inspection.

[0068] like Figure 7 As shown, the arrangement channel 107 includes a groove bottom plate 1071 fixedly connected to the side surface of the end of the loading tray 103, and a material clamping plate 1072 fixedly connected to both sides of the top of the groove bottom plate 1071. A material clamping channel connected to the material guide channel 106 is formed between the two material clamping plates 1072. The top surface of the groove bottom plate 1071 is a smooth curved surface inclined downward, so that under the action of vibration, the refrigeration valve stem 100 entering the arrangement channel 107 from the material guide channel 106 can be smoothly and continuously delivered. Among them, the opposite sides of the two material clamping plates 1072 are each provided with a material clamping strip 1073 arranged parallel to the top surface of the groove bottom plate 1071. The two sides (annular groove position) of the refrigeration valve stem 100 located in the material clamping channel are movably clamped between the two material clamping strips 1073 to ensure that the refrigeration valve stem 100 remains upright during the feeding process and does not fall over.

[0069] like Figure 8As shown, the visual inspection mechanism 2 comprises a glass rotating mechanism 201 connected with the discharging end of the arrangement feeding mechanism 1. The top surface of the detection table 20 is provided with, in sequence from the discharging port of the arrangement feeding mechanism 1 along the rotating direction (counterclockwise in this embodiment) of the glass rotating mechanism 201, a guide assembly 202 outside the glass rotating mechanism 201, a fiber detection assembly 203, a top normal light detection assembly 204, a bottom normal light detection assembly 205, a tangential normal and reverse light detection assembly 206, and a radial normal and reverse light detection assembly 207.

[0070] Specifically, as shown in the figure, Figure 9 The glass rotating mechanism 201 comprises a rotating drive motor 2011 fixedly installed at the center of the bottom surface of the detection table 20, a rotating support table 2012 fixedly arranged at the center of the top surface of the detection table 20, a rotating support plate 2013 rotationally connected to the top end of the rotating support table 2012 and transmissionally connected with the output shaft end of the rotating drive motor 2011, and a glass disc 2014 fixedly installed at the top of the rotating support plate 2013. The glass disc 2014 is a transparent glass plate with annular structure. The rotating drive motor 2011 is a servo deceleration motor, which can conveniently adjust the rotating speed to adjust the detection efficiency. The bottom end of the rotating support plate 2013 is rotationally connected to the top surface of the rotating support table 2012 through a thrust bearing, and the bottom surface center thereof is fixedly arranged with a transmission shaft, the bottom end of the rotating shaft is insertedly matched with the top output shaft end of the rotating drive motor 2011 to realize transmission connection. In order to conveniently adjust the vertical height of the glass disc 2014 and the assembly therebetween, the top surface edge of the rotating support plate 2013 is connected with a plurality of uniformly distributed connecting columns through screws, the top end of each connecting column is fixedly connected with an annular assembly plate through a screw, and the glass disc 2014 is fixedly connected to the top surface of the assembly plate through a screw.

[0071] The bottom end of the groove bottom plate 1071 is slidingly overlapped on the top surface of the glass disc 2014, the output direction thereof is consistent with the rotating direction of the glass disc 2014, and the tail of the clamping plate 1072 exceeds the tail of the groove bottom plate 1071 by a small distance. After the refrigeration valve rod 100 reaches the end of the arrangement groove 107 under the vibration, the surface of the glass disc 2014 pushes the refrigeration valve rod 100 out of the arrangement groove 107 and leaves on the surface of the glass disc 2014 during the rotating process of the glass disc 2014, and the refrigeration valve rod 100 is synchronously rotated and fed forward with the glass disc 2014.

[0072] As shown in the figure, Figure 10As shown, the material guiding assembly 202 includes a first horizontal and vertical adjusting support 2021 fixedly arranged on the top surface of the detection table 20, a material guiding plate connecting frame 2022 connected to one side of the position adjusting end of the top of the first horizontal and vertical adjusting support 2021, and a material guiding plate 2023 fixedly connected to the bottom end of the material guiding plate connecting frame 2022. Specifically, the first horizontal and vertical adjusting support 2021 includes a horizontal sliding rail, a horizontal positioning block slidingly mounted on the top of the horizontal sliding rail, a vertical sliding rail fixedly connected to the top surface of the horizontal positioning block, and a vertical positioning block slidingly mounted on the side surface of the vertical sliding rail, and the material guiding plate connecting frame 2022 is fixedly connected to the side surface of the vertical positioning block. A gear rack is fixedly embedded in the top surface of the horizontal sliding rail, a gear wheel meshing with the gear rack is rotatably mounted in the interior of the horizontal positioning block, and a knob is coaxially and fixedly connected to the gear wheel and rotatably arranged on the exterior of the horizontal positioning block. By twisting the knob, the horizontal positioning block can be driven to move horizontally under the meshing action of the gear wheel and the gear rack, so as to realize displacement adjustment of the vertical sliding rail in the horizontal direction; the assembly mode between the vertical positioning block and the vertical sliding rail is the same as the assembly mode between the horizontal positioning block and the horizontal sliding rail, so that displacement adjustment of the vertical positioning block and the material guiding plate 2023 connected thereto in the vertical direction can be realized by twisting the corresponding knob.

[0073] An arc-shaped waist-shaped groove is formed in the material guiding plate connecting frame 2022, and the top end of the material guiding plate 2023 is fixedly connected to the bottom of the material guiding plate connecting frame 2022 by a locking screw located in the waist-shaped groove. By adjusting the connection position of the locking screw in the waist-shaped groove, the position and angle at which the material guiding plate 2023 is fixedly suspended above the glass disc 2014 can be adjusted. The end of the material guiding plate 203 close to the arrangement and feeding mechanism 1 is arranged to be inclined outward in the direction of rotation of the glass disc 2014, and the distance between the end of the material guiding plate 203 and the axis of the glass disc 2014 is less than the distance between the discharge end of the arrangement and feeding mechanism 1 and the axis of the glass disc 2014. In this way, when the refrigeration valve rod 100 is discharged from the arrangement groove 107 and left on the glass disc 2014, in the process of synchronous rotation with the glass disc 2014, the refrigeration valve rod 100 will continue to advance along the side surface of the material guiding plate 2023 until it separates from the material guiding plate 2023 and stops on the fixed circular line on the surface of the glass disc 2014, so as to ensure that the detection positions of the refrigeration valve rods 100 are the same.

[0074] The horizontal and vertical adjusting supports used in the remaining functional components of the visual detection mechanism 2 are basically the same in structure and use process as the first horizontal and vertical adjusting support 2021, and the only difference is that the number of vertical positioning blocks arranged on the vertical sliding rail is different.

[0075] As Figure 11As shown, the optical fiber detection assembly 203 includes a second horizontal vertical adjustment support 2031 fixedly arranged on the top surface of the detection table 20, a sensor connecting frame 2032 connected to one side of the position adjustment end of the top of the second horizontal vertical adjustment support 2031, and a photoelectric sensor 2033 and a reflector 2034 fixedly connected to the bottom surface of the sensor connecting frame 2032 at both ends and located above the glass disc 2014. Specifically, the sensor connecting frame 2032 is fixedly connected to the side surface of the vertical positioning block, and the bottom surface of the sensor connecting frame 2032 is fixedly connected with a sensor mounting frame located above the top surface of the glass disc 2014, the photoelectric sensor 2033 is fixedly installed at the bottom of the sensor mounting frame, and the reflector 2034 is fixedly connected to the bottom surface of the sensor connecting frame 2032 by a locking screw, and is located above the center of the glass disc 2014, so that the signal detection direction of the sensor is arranged along the radial direction of the glass disc 2014. Preferably, a waist-shaped slot is formed in the sensor connecting frame 2032, and the locking screw at the top of the reflector 2034 is located in the waist-shaped slot, and by adjusting the locking position of the locking screw in the waist-shaped slot, the distance between the reflector and the photoelectric sensor 2033 can be adjusted to adjust the working performance of the sensor.

[0076] After the refrigeration valve rod 100 is separated from the guide plate 2023 and continues to rotate forward with the glass disc 2014 to the detection position of the optical fiber detection assembly 203, the photoelectric sensor 2033 detects whether the refrigeration valve rod 100 passes through the glass disc 2014, if so, the system counts the total number of parts by 1, and numbers the refrigeration valve rod 100 through the control system, and starts the subsequent detection function assembly according to the detection frequency corresponding to the set rotation speed and step cycle of the glass disc 2014, and completes a series of appearance detection of the corresponding numbered refrigeration valve rod 100. If it is detected that the outer surface or contour size of a refrigeration valve rod 100 with a certain number has an appearance defect, the part count corresponding to the defect type is increased by 1.

[0077] As Figure 12As shown, the top normal light detection assembly 204 includes a third horizontal vertical adjustment support 2041 fixedly arranged on the top surface of the detection table 20, a first CCD camera 2042 and a first annular light supplement lamp 2043 connected to one side of the top position adjustment end of the third horizontal vertical adjustment support 2041 respectively, and the first annular light supplement lamp 2043 is located directly below the first CCD camera 2042 and above the glass disc 2014. Two vertical positioning blocks are arranged on the vertical sliding rail of the third horizontal vertical adjustment support 2041, a camera mounting bracket is fixedly connected to the side surface of the upper vertical positioning block, the first CCD camera 2042 is fixedly connected to the end of the camera mounting bracket, and the lens is vertically downward toward the top surface of the glass disc 2014. A light supplement lamp mounting bracket is fixedly connected to the side surface of the lower vertical positioning block, and the first annular light supplement lamp 2043 is fixedly mounted at the bottom of the end of the light supplement lamp mounting bracket and located directly below the lens of the first CCD camera 2042. By adjusting the fixed positions of the first CCD camera 2042 and the first annular light supplement lamp 2043 in the horizontal direction and the fixed positions of the two in the vertical direction, the photographing area of the first CCD camera 2042 and the light supplement area of the first annular light supplement lamp 2043 can be adjusted to obtain the best photographing effect.

[0078] When the refrigeration valve rod 100 is rotated to be directly below the first CCD camera 2042 synchronously with the detection position of the glass disc 2014 by the light detection assembly 203, the first CCD camera 2042 adopts the top normal light lighting mode to capture the top view appearance pattern of the outer surface of the refrigeration valve rod 100, and then performs graphic comparison with the standard sample preset in the system to detect the material shortage, scratch defect and copper residue in the hole of the top surface. If the detection result of the refrigeration valve rod 100 is unqualified, the part count of the corresponding defect type is increased by 1.

[0079] As shown in Figure 13 The bottom normal light detection assembly 205 includes a fourth horizontal vertical adjustment support 2051 fixedly arranged on the top surface of the detection table 20, a second CCD camera 2052 and a second annular light supplement lamp 2053 connected to one side of the bottom position adjustment end of the fourth horizontal vertical adjustment support 2051 respectively, and the second annular light supplement lamp 2053 is located directly above the second CCD camera 2052 and below the glass disc 2014. The installation and position adjustment mode of the second CCD camera 2052 and the second annular light supplement lamp 2053 on the fourth horizontal vertical adjustment support 2051 is basically the same as that of the first CCD camera 2042 and the first annular light supplement lamp 2043 on the third horizontal vertical adjustment support 2041, and the only difference is that the lens of the second CCD camera 2052 is vertically upward toward the bottom surface of the glass disc 604.

[0080] After the outer surface appearance pattern of the refrigeration valve rod 100 at the top view is captured and recognized by the first CCD camera 2042, the refrigeration valve rod 100 continues to rotate with the glass disc 2014 to reach the position directly above the second CCD camera 2052. The second CCD camera 2052 adopts the lighting mode of the bottom normal light to capture the outer surface appearance pattern of the refrigeration valve rod 100 at the top view, and then compares the pattern with the standard sample preset in the system to detect the material shortage, scratch defect and copper residue in the hole of the bottom surface. If the detection result of the refrigeration valve rod 100 is unqualified, the part count corresponding to the defect type is increased by 1.

[0081] As shown in Figure 14 The tangential positive and negative light detection assembly 206 includes a fifth horizontal vertical adjusting support 2061 fixedly arranged on the top surface of the detection table 20, a first camera hanging plate 2062 connected to one side of the top position adjusting end of the fifth horizontal vertical adjusting support 2061, and a third CCD camera 2063 and a fourth CCD camera 2064 oppositely connected to the bottom surface of the first camera hanging plate 2062 at both ends, respectively. The connecting line of the third CCD camera 2063 and the fourth CCD camera 2064 is perpendicular to the radius direction of the glass disc 2014 at this position. The bottom surface of the first camera hanging plate 2062 is connected with a first half-ring light supplement lamp 2065 and a second half-ring light supplement lamp 2066 oppositely located between the third CCD camera 2063 and the fourth CCD camera 2064. The lens direction of the third CCD camera 2063 is consistent with the rotation direction of the glass disc 2014, while the lens direction of the fourth CCD camera 2064 is opposite to the rotation direction of the glass disc 2014. Both the third CCD camera 2063 and the fourth CCD camera 2064 are located above the top surface outer edge of the glass disc 2014.

[0082] Specifically, the side surface of the vertical positioning block of the fifth horizontal vertical adjusting support 2061 is fixedly connected with a cross beam plate, the bottom surface of the end of the cross beam plate is fixedly connected with an adapter plate through locking screws, the bottom surface of the adapter plate is fixedly connected with two horizontal mounting plates symmetrically at both ends, and the two horizontal mounting plates and the adapter plate constitute the first camera hanging plate 2062. The bottom surface outer side end of each horizontal mounting plate is connected with a camera mounting bracket through locking screws, the third CCD camera 2063 and the fourth CCD camera 2064 are fixedly installed on the two camera mounting brackets, respectively, and the lens direction of the third CCD camera 2063 is consistent with the rotation direction of the glass disc 2014, while the lens direction of the fourth CCD camera 2064 is opposite to the rotation direction of the glass disc 2014. The bottom surface of the horizontal mounting plate is fixedly connected with a light supplement lamp adjusting mounting bracket located inside the camera mounting bracket, and the first half-ring light supplement lamp 2065 and the second half-ring light supplement lamp 2066 are fixedly installed on the ends of the corresponding light supplement lamp adjusting mounting brackets, respectively.

[0083] The light supplementing lamp adjusting mount is a three-link structure, two intersections are connected by damping rotation, the spatial pose of the first half-ring light supplementing lamp 2065 and the second half-ring light supplementing lamp 2066 can be adjusted by adjusting the landing pose of the two links at the bottom, so as to adjust the light supplementing direction. The ends of the cross beam plate are provided with a plurality of arc-shaped waist-shaped grooves, the locking screws connected between the cross beam plate and the adapter plate are located in the waist-shaped grooves, the first camera hanging plate 2062 can be horizontally rotated by adjusting the locking positions of the locking screws in the respective corresponding waist-shaped grooves, so as to adjust the horizontal pose. The horizontal mounting plate is provided with a straight row of waist-shaped grooves in the length direction, the horizontal distance between the third CCD camera 2063 and the fourth CCD camera 2064 relative to the adapter plate can be adjusted separately by adjusting the locking positions of the locking screws at the top of the camera mounting frame, so as to adjust the photographing area of the third CCD camera 2063 and the fourth CCD camera 2064 (the position where the refrigeration valve rod 100 is synchronously rotated with the glass disc 2014 to the position directly below the adapter plate is the photographing position of the two cameras), so as to obtain the best photographing effect.

[0084] After the refrigeration valve rod 100 completes the bottom view surface appearance pattern photographing and recognition analysis through the second CCD camera 2052, when the refrigeration valve rod 100 continues to rotate with the glass disc 2014 to reach the position directly below the adapter plate, the third CCD camera 2063 cooperates with the first half-ring light supplementing lamp 2065 on the same side to adopt the side normal light lighting mode, and photographs the front view surface appearance pattern of the refrigeration valve rod 100, and then compares the pattern with the standard sample preset in the system, so as to detect the material shortage, collision defect and dirtiness of the front surface. Similarly, the fourth CCD camera 2064 cooperates with the second half-ring light supplementing lamp 2066 on the same side to adopt the side normal light lighting mode, and photographs the rear view surface appearance pattern of the refrigeration valve rod 100, and then compares the pattern with the standard sample preset in the system, so as to detect the material shortage, collision defect and dirtiness of the rear surface. If the detection result of the refrigeration valve rod 100 is unqualified, the part count of the corresponding defect type is increased by 1.

[0085] Subsequently, the third CCD camera 2063 cooperates with the second half-ring light 2066 on the opposite side to adopt the side backlighting mode to capture the appearance pattern of the front view of the outer surface of the refrigeration valve stem 100, and then compare the pattern with the standard sample preset in the system to detect the profile size of the front surface. The fourth CCD camera 2064 cooperates with the first half-ring light 2065 on the opposite side to adopt the side backlighting mode to capture the appearance pattern of the rear view of the outer surface of the refrigeration valve stem 100, and then compare the pattern with the standard sample preset in the system to detect the profile size of the rear surface. If the detection result of the refrigeration valve stem 100 is unqualified, the part count of the corresponding defect type is increased by 1.

[0086] As shown in Figure 15 The radial light detection assembly 207 includes a sixth horizontal vertical adjustment bracket 2071 fixedly arranged on the top surface of the detection table 20, a second camera hanging plate 2072 connected to one side of the top position adjustment end of the sixth horizontal vertical adjustment bracket 2071, and a fifth CCD camera 2073 and a sixth CCD camera 2074 oppositely arranged at the bottom of the second camera hanging plate 2072. The connecting line of the fifth CCD camera 2073 and the sixth CCD camera 2074 is parallel to the radial direction of the glass disc 2014 at this position. The bottom surface of the second camera hanging plate 2072 is connected with a third half-ring light 2075 and a fourth half-ring light 2076 oppositely arranged between the fifth CCD camera 2073 and the sixth CCD camera 2074. The structure and working mode of the radial light detection assembly 207 are basically the same as those of the tangential light detection assembly 206, which will not be repeated here. The difference is that the fifth CCD camera 2073 is located above the outer side of the top surface of the glass disc 2014, and the lens direction thereof is along the radial direction of the glass disc 2014 towards the center of the glass disc 2014, while the sixth CCD camera 2074 is located above the inner side of the inner side edge of the glass disc 2014, and the lens direction thereof is opposite to that of the fifth CCD camera 2073.

[0087] After the outer surface appearance pattern of the refrigeration valve stem 100 is captured and recognized by the third CCD camera 2063 and the fourth CCD camera 2064 in the front view angle and the back view angle, when the refrigeration valve stem 100 continues to rotate and travel with the glass disc 2014 to reach the bottom of the adapter plate of the second camera hanging plate 2072, the fifth CCD camera 2073 cooperates with the third half-ring light 2075 on the same side to capture the outer surface appearance pattern of the refrigeration valve stem 100 in the left view angle by using the side front light, and then compare the pattern with the standard sample in the system to detect the material shortage, collision defect and dirt condition of the left side surface. Similarly, the sixth CCD camera 2074 cooperates with the fourth half-ring light 2076 on the same side to capture the outer surface appearance pattern of the refrigeration valve stem 100 in the right view angle by using the side front light, and then compare the pattern with the standard sample in the system to detect the material shortage, collision defect and dirt condition of the right side surface. If the detection result of the refrigeration valve stem 100 is unqualified, the part count corresponding to the defect type is increased by 1.

[0088] Subsequently, the fifth CCD camera 2073 cooperates with the fourth half-ring light 2076 on the opposite side to capture the outer surface appearance pattern of the refrigeration valve stem 100 in the left view angle by using the side back light, and then compare the pattern with the standard sample in the system to detect the profile size of the left side surface. The sixth CCD camera 2074 cooperates with the third half-ring light 2075 on the opposite side to capture the outer surface appearance pattern of the refrigeration valve stem 100 in the right view angle by using the side back light, and then compare the pattern with the standard sample in the system to detect the profile size of the right side surface. If the detection result of the refrigeration valve stem 100 is unqualified, the part count corresponding to the defect type is increased by 1.

[0089] If the detection results of the top front light detection assembly 204, the bottom front light detection assembly 205, the tangential front and back light detection assembly 206 and the radial front and back light detection assembly 207 are all qualified, the qualified part count is increased by 1.

[0090] The appearance of each right angle of the refrigeration valve stem 100 is photographed by the top positive light detection assembly 204, the bottom positive light detection assembly 205, the tangential positive and negative light detection assembly 206 and the radial positive and negative light detection assembly 207, and is compared with the standard sample in the system, so that the surface defect condition of the refrigeration valve stem 100 can be quickly, comprehensively and accurately analyzed. The number of the surface defect types of each refrigeration valve stem 100 is counted, so that the distribution of the defects and the yield can be analyzed, and accurate guidance for process improvement is provided. The detection results of each refrigeration valve stem 100 can be displayed in real time on the touch display screen, and can be stored in the system, so that the detection results can be saved and printed.

[0091] As shown in Figure 16 and Figure 17 The sorting mechanism 3 includes a nozzle support 301 fixedly arranged on the top surface of the detection table 20, a nozzle 302 fixedly arranged at the top front end of the nozzle support 301 and located above the inner side edge of the glass tray 2014, a discharge guide plate 303 fixedly arranged at the top rear end of the nozzle support 301 and located above the glass tray 2014, a waste hopper 304 fixedly arranged on the top surface of the detection table 20 and located outside the glass tray 2014, a waste box 306 arranged below the waste hopper 304, and a feeding guide groove 307 fixedly arranged between the end of the discharge guide plate 303 and the feeding end of the stacking mechanism 4.

[0092] Specifically, the nozzle support 301 is composed of two vertical plates and a horizontal plate fixedly connected to the top ends of the two vertical plates. The top surface of the horizontal plate is connected with a first adjusting horizontal plate and a second adjusting horizontal plate through locking screws. The end of the first adjusting horizontal plate is connected with a nozzle mounting plate through a locking screw. The nozzle mounting plate is suspended above the top surface of the glass tray 2014 near the inner side edge. The nozzle 302 is fixedly installed at the bottom of the nozzle mounting plate, and the gas outlet of the nozzle 302 faces the outside of the glass tray 2014 and is opposite to the feeding port of the waste hopper 304. The discharge guide plate 303 is fixedly connected to the bottom end of the second adjusting horizontal plate and is suspended above the top surface of the glass tray 2014 near the outer side edge. The discharge guide plate 303 is located behind the nozzle 302. A support table is arranged at the rear side of the detection table 20. A vertical column 308 is fixedly connected to the top surface of the support table. The feeding guide groove 307 is fixedly connected to the top end of the vertical column 308, and the feeding groove of the feeding guide groove 307 is connected with the outer side of the discharge guide plate 303. A hopper support 309 is fixedly connected to the inner side of the nozzle support 301 on the top surface of the detection table 20. The waste hopper 304 is vertically fixedly arranged in the hopper support 309.

[0093] After the refrigeration valve stem 100 completes the appearance inspection, the system determines that the part with the corresponding number is a good product or a bad product, and the refrigeration valve stem 100 continues to rotate and move forward synchronously with the glass plate 2014 . If the refrigeration valve stem 100 with the specified number is found to be defective, the system automatically activates the nozzle 302 when it reaches the position between the nozzle 302 and the waste hopper 304. The nozzle 302 then ejects a high-pressure airflow, blowing the refrigeration valve stem 100 off the surface of the glass plate 2014 and into the waste hopper 304. The waste hopper 304 then discharges the waste into the waste box 306 at its bottom for later manual review and inspection. If the refrigeration valve stem 100 with the specified number is found to be good, the nozzle 302 stops operating when it reaches the position between the nozzle 302 and the waste hopper 304. The refrigeration valve stem 100 continues to advance and contacts the outer side of the discharge guide plate 303. It then adheres to the outer side of the discharge guide plate 303 and continues to advance into the feed slot of the discharge guide 307. Subsequent good products enter the discharge guide 307 in sequence, pushing the previous good products forward and being fed one by one into the stacking mechanism 4.

[0094] A waste box rack 305 is fixedly mounted on the bottom surface of the test bench 20 and is located below the waste hopper 304. An electrical cabinet below the test bench 20 has a through opening on its side wall. The bottom horizontal plate of the waste box rack 305 extends outward to the outside of the through opening. A waste box 306 is placed on the top surface of the bottom horizontal plate of the waste box rack 305, so that the waste box 306 can be removed from the through opening at any time to remove the refrigeration valve stem 100 stored therein. Preferably, the waste hopper 304 and the waste box 306 are both made of flexible rubber material, and a rubber hose 3010 is connected to the bottom outlet of the waste hopper 304 to prevent the refrigeration valve stem 100 that falls into the waste hopper 304 from being damaged by impact. At the same time, the inner end of the top surface of the bottom horizontal plate of the waste box placement rack 305 is fixedly connected to a discharge cylinder 3011, and the output rod end of the discharge cylinder 3011 is fixedly connected to a discharge push block 3012. The discharge cylinder 3011 drives the discharge push block 3012 to move back and forth horizontally, so that the discharge push block 3012 pushes the rubber hose 3010 to vibrate, so as to ensure that the refrigeration valve stem 100 can fall smoothly into the waste box 306.

[0095] like Figure 18 and Figure 19 As shown, the stacking mechanism 4 includes a chain conveying assembly 401 fixedly connected to the side of the conveying platform 30, and a frame plate 402 fixedly arranged above one end of the chain conveying assembly 401. A stacking groove 403 is fixedly connected to the chain plate of the chain conveying assembly 401. A posture adjustment hole 404 is provided on the side of the frame plate 402, which is connected to the discharge end of the sorting mechanism 3 and has a through bottom. A pushing cylinder 405 is fixedly provided on one side of the top of the frame plate 402, and the output rod end of the pushing cylinder 405 is fixedly connected to a sealing plate 409 that is movably sealed below the posture adjustment hole 404.

[0096] Specifically, the mounting seat 406 is fixedly connected on the side of the conveying table 30, and the support part of the chain plate conveying assembly 401 is fixedly connected on the side of the mounting seat 406. One end side of the support part is fixedly connected with the gear reducer 407 and the stacking driving motor 408. The output shaft end of the stacking driving motor 408 is connected with the power input end of the gear reducer 407, and the power output end of the gear reducer 407 is connected with the power input end of the chain plate conveying assembly 401. The chain plate chain of the chain plate conveying assembly 401 is driven to step by the stacking driving motor 408, so that the stacking groove 403 connected thereto can move from the lower left end to the upper left end and be located one by one below the pose adjustment hole 404. The top left side of the shelf plate 402 is provided with an extension horizontal plate, and the push cylinder 405 is fixedly installed on the top surface of the extension horizontal plate. The free end of the sealing plate 409 is movably inserted into the shelf plate 402. The pose adjustment hole 404 is a bending channel that is smoothly transitioned from horizontal to vertical. After the refrigeration valve rod 100 is sent into the pose adjustment hole 404 one by one from the blanking guide groove 307, it continues to move forward in the pose adjustment hole 404 and tilts forward to an axis horizontal posture, and falls on the top surface of the sealing plate 409. The output rod of the push cylinder 405 is retracted to drive the sealing plate 409 to move to the left side. At this time, the bottom end outlet of the pose adjustment hole 404 is opened, and the refrigeration valve rod 100 falls into the stacking groove 403. Then, the output rod of the push cylinder 405 is extended to drive the sealing plate 409 to move to the right side. At this time, the bottom end outlet of the pose adjustment hole 404 is closed. At the same time, the chain plate chain of the chain plate conveying assembly 401 is stepped by one link, so that the next empty stacking groove 403 is located below the bottom end outlet of the pose adjustment hole 404. In this way, the refrigeration valve rods 100 can be arranged side by side in the stacking groove 403, and a fixed number of refrigeration valve rods 100 can be transferred to the sub-packaging tray 6 in groups by the grabbing mechanical hand structure 7.

[0097] As shown in Figure 20 The tray conveying mechanism 5 includes first and second chain conveying lines 501 and 502 arranged side by side and conveying in opposite directions. The first and second chain conveying lines 501 and 502 are fixedly provided with a tray feeding mechanism 503 at one end close to the stacking mechanism 4, for transferring empty sub-packaging trays 6 from the first chain conveying line 501 to the second chain conveying line 502. The first and second chain conveying lines 501 and 502 are fixedly provided with a tray unloading mechanism 504 at one end away from the stacking mechanism 4, for transferring sub-packaging trays 6 containing refrigeration valve rods 100 from the second chain conveying line 502 to the first chain conveying line 501.

[0098] Specifically, the first chain conveying line 501 and the second chain conveying line 502 are both double-chain structures driven by servo motors, the support frames of the two end sprockets of the two chains are fixedly arranged on the top surface of the conveying table 30 on both sides, and the two ends of the sub-packaging tray 6 are respectively arranged on the top ends of the sprockets of the two chains. Figure 21 As shown in the figure, the tray feeding mechanism 503 includes a magnetic couple type rodless air cylinder 5031 fixedly arranged above the end portions of the first chain conveying line 501 and the second chain conveying line 502, guide rails 5032 arranged in parallel on both sides of the magnetic couple type rodless air cylinder 5031, a cylinder support 5033 fixedly connected to the power output end of the magnetic couple type rodless air cylinder 5031, a cylinder mounting plate 5034 fixedly connected to the side surface of one side of the cylinder support 5033 and the top of the other side, a first lifting cylinder 5035 fixedly installed on the bottom surface of the cylinder mounting plate 5034, and a supporting plate 5036 fixedly connected to the bottom output shaft end of the first lifting cylinder 5035 and capable of being immersed in the first chain conveying line 501 / second chain conveying line 502.

[0099] In the initial state, the first lifting cylinder 5035 is located at the tail of the first chain conveying line 501 (close to one end of the tray feeding mechanism 503), the output rod thereof is in the extended state, and the supporting plate 5036 is located at the bottom of the space between the two chains. After the sub-packaging tray 6 conveyed by the first chain conveying line 501 reaches the tail of the first chain conveying line 501, the first chain conveying line 501 pauses the conveying, and the sub-packaging tray 6 is located directly above the supporting plate 5036. The telescopic rod of the first lifting cylinder 5035 is retracted to drive the supporting plate 5036 to rise, and the supporting plate 5036 lifts the sub-packaging tray 6 upward to separate from the two chains of the first chain conveying line 501. Then, the magnetic couple type rodless air cylinder 5031 drives the first lifting cylinder 5035 and the supporting plate 5036 to shift to the head of the second chain conveying line 502 (close to one end of the tray feeding mechanism 503), the output rod of the first lifting cylinder 5035 is extended to drive the supporting plate 5036 to descend, so that the sub-packaging tray 6 on the supporting plate 5036 falls and is arranged on the top of the two chains of the second chain conveying line 502. The second chain conveying line 502 stepwise conveys the sub-packaging tray 6 to the side of the stacking mechanism 4 and the feeding position of the grabbing mechanical hand mechanism 7. Then, the tray feeding mechanism 503 repeats the foregoing process to automatically feed the next sub-packaging tray 6.

[0100] Preferably, to ensure that the dispensing tray 6 is in the dispensing position of the grabbing mechanical hand mechanism 7, and the remaining dispensing trays 6 cannot enter this position before the dispensing of the dispensing tray 6 is completed, the second chain conveying line 502 is internally provided with a first limiting mechanism 505 and a second limiting mechanism 506 located on the side of the stacking mechanism 4 at one end close to the tray feeding mechanism 503. The first limiting mechanism 505 and the second limiting mechanism 506 are both connecting rod mechanisms driven by air cylinders, which drive the end rod to be upright or flat through the vertical lifting of the air cylinder output rod. Before the dispensing tray 6 enters the dispensing position of the grabbing mechanical hand mechanism 7, the first limiting mechanism 505 at the front end is in a flat state, while the second limiting mechanism 506 at the rear end is in an upright state. When the dispensing tray 6 passes the first limiting mechanism 505 and reaches the second limiting mechanism 506, it is blocked and cannot proceed further; then, the first limiting mechanism 505 at the front end is switched to an upright state, so that the subsequent dispensing tray 6 is blocked by the first limiting mechanism 505 at the front end and cannot continue to proceed, so that there is only one dispensing tray 6 in the dispensing position of the grabbing mechanical hand mechanism 7. After the grabbing mechanical hand mechanism 7 grabs the refrigerant valve rod 100 arranged in groups on the stacking mechanism 4 and fills the dispensing tray 6 (the grabbing frequency reaches the preset value), the second limiting mechanism 506 at the rear end is switched to a flat state, and the dispensing tray 6 filled with refrigerant valve rods 100 is continuously driven forward by the second chain conveying line 502; then, the second limiting mechanism 506 at the rear end is switched to an upright state again, and the first limiting mechanism 505 at the front end is switched to a flat state again, so that the next dispensing tray 6 is supplemented into the dispensing position of the grabbing mechanical hand mechanism 7.

[0101] The structure and use process of the tray feeding mechanism 503 are basically the same as those of the tray feeding mechanism 503, which will not be described here. When the dispensing tray 6 filled with refrigerant valve rods 100 is continuously driven forward by the second chain conveying line 502 to the tail of the second chain conveying line 502 (one end of the tray feeding mechanism 503), the tray feeding mechanism 504 transfers the dispensing tray 6 to the upper part of the two chains of the first chain conveying line 501 in the same way as described above. The dispensing tray 6 filled with refrigerant valve rods 100 is manually taken away from this position, and an empty dispensing tray 6 is placed in it.

[0102] Similarly, the second chain conveying line 502 is internally provided with a third limiting mechanism and a fourth limiting mechanism located on the side of the stacking mechanism 4 at one end close to the tray feeding mechanism 503. Through the state switching of the third limiting mechanism and the fourth limiting mechanism and the state cooperation between the two, the dispensing tray 6 filled with refrigerant valve rods 100 is blocked and cannot continue to proceed before it is taken away, and the replaced empty dispensing tray 6 can continue to proceed forward (the second chain conveying line 502 is started after manual confirmation).

[0103] AsFigure 23 As shown, the grasping robot mechanism 7 includes a gantry 701, a linear module 702 horizontally fixed on one side of the top of the gantry 701, a second lifting cylinder 703 fixed on the side of the power output end of the linear module 702, and a pneumatic finger 704 connected to the output rod end at the bottom of the second lifting cylinder 703, and the pneumatic finger 704 is a parallel claw type.

[0104] Specifically, the gantry 701 is fixedly set on the top surface of the conveying platform 30, the linear module 702 adopts a ball screw slide structure driven by a servo motor, and the second lifting cylinder 703 is fixedly connected to the side of the movable positioning plate of the linear module 702, and its output rod is vertically downward and fixedly connected to the guide frame plate. One side of the guide frame plate is slidably connected to the side of the movable positioning plate through a vertically arranged guide rail slider mechanism (not shown in the figure), and the pneumatic finger 704 is fixedly connected to the bottom surface of the guide frame plate.

[0105] The refrigeration valve stems 100 are stacked one by one in the stacking groove 403 and fed to the right one by one through the chain conveyor assembly 401. When the refrigeration valve stem 100 on the far right reaches the end of the gripping position of the pneumatic finger 704, the refrigeration valve stems 100 located in the gripping position of the pneumatic finger 704 reach the preset grouping quantity. At this time, the output rod of the second lifting cylinder 703 extends, driving the pneumatic finger 704 to drop vertically to the lowest position, so that the bottom ends of the pneumatic fingers 704 are respectively located on both sides of the refrigeration valve stem 100, and then the pneumatic fingers 704 work to grab a group of refrigeration valve stems 100 inside it at the same time; after the gripping is completed, the second The output rod of the lifting cylinder 703 contracts, driving the pneumatic finger 704 to move upward to the highest position, and the linear module 702 drives the pneumatic finger 704 to move horizontally to just above one row of placement slots of the sub-charging tray 6, and then the second lifting cylinder 703 drives the pneumatic finger 704 to descend again, and the pneumatic finger 704 releases the refrigeration valve stem 100, and the refrigeration valve stem 100 falls into a row of placement slots of the sub-charging tray 6, and the second lifting cylinder 703 drives the pneumatic finger 704 to rise again, and the linear module 702 drives the pneumatic finger 704 to move horizontally to the grabbing position, and so on. The cycle continues until each row of placement slots in the sub-charging tray 6 is filled.

[0106] The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above-mentioned embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

Claims

1. A CCD vision-based refrigeration valve stem size and appearance defect detection apparatus, characterized in that: Comprising Arrangement feeding mechanism (1), fixedly arranged on the top of the feeding table (10), used for automatic arrangement and feeding of the refrigeration valve rod (100) to be detected; Visual inspection mechanism (2), fixedly arranged on the top of the detection table (20), used for multi-directional visual inspection of the refrigeration valve rod (100) sent by the arrangement feeding mechanism (1) one by one; Sorting mechanism (3), fixedly arranged on the top of the detection table (20), used for automatic classification and output of good and non-good refrigeration valve rods (100) after visual inspection; Stacking mechanism (4), fixedly arranged on one side of the top of the conveying table (30), on the good output side of the sorting mechanism (3), used for automatic arrangement and placement of the refrigeration valve rod (100) that passes the detection; Tray conveying mechanism (5), fixedly arranged on one side of the top of the conveying table (30), used for automatic feeding and positioning of the sub-packaging tray (6); And grabbing mechanical hand mechanism (7), fixedly arranged on the top of the conveying table (30), above the stacking mechanism (4) and the tray conveying mechanism (5), used for transferring the refrigeration valve rod (100) arranged and placed on the stacking mechanism (4) into the sub-packaging tray (6) in groups.

2. The CCD vision-based refrigeration valve stem size and appearance defect detection apparatus according to claim 1, characterized in that: The arrangement feeding mechanism (1) comprises a fixedly arranged feeding tray support (101) and a vibrator support (102), a feeding tray (103) fixedly connected to the top end of the feeding tray support (101), and a vibrator (104) fixedly connected to the top end of the vibrator support (102) and located above the feeding tray (103). The top surface of the feeding tray (103) is fixedly provided with a feeding guide plate (105) on both sides, and a guide channel (106) is arranged between the two feeding guide plates (105). The end of the feeding tray (103) is fixedly connected with an arrangement groove (107) connected with the guide channel (106), and the end of the arrangement groove (107) extends to the feeding position of the visual inspection mechanism (2).

3. The CCD vision-based refrigeration valve stem size and appearance defect detection apparatus according to claim 2, characterized in that: The arrangement groove (107) comprises a groove bottom plate (1071) fixedly connected to the side surface of the end of the feeding tray (103), and a clamping plate (1072) fixedly connected to the top of the groove bottom plate (1071). The two clamping plates (1072) form a clamping channel connected with the guide channel (106), and the opposite sides of the two clamping plates (1072) are provided with clamping strips (1074) arranged in parallel with the top surface of the groove bottom plate (1071). The refrigeration valve rod (100) located in the clamping channel is movably clamped between the two clamping strips (1074).

4. The CCD vision-based refrigeration valve stem size and appearance defect detection apparatus according to any one of claims 1 to 3, characterized in that: The visual detection mechanism (2) comprises a glass rotating mechanism (201) connected with the discharging end of the arrangement and feeding mechanism (1), and the top surface of the detection table (20) is sequentially provided with a guide assembly (202), a fiber detection assembly (203), a top normal light detection assembly (204), a bottom normal light detection assembly (205), a tangential normal light detection assembly (206) and a radial normal light detection assembly (207) from the discharging port of the arrangement and feeding mechanism (1) to the rotation direction of the glass rotating mechanism (201) and located outside the glass rotating mechanism (201).

5. The CCD vision-based refrigeration valve stem size and appearance defect detection apparatus according to claim 4, characterized in that: The glass rotating mechanism (201) comprises a rotating drive motor (2011) fixedly installed at the center of the bottom surface of the detection table (20), a rotating support table (2012) fixedly arranged at the center of the top surface of the detection table (20), a rotating support plate (2013) rotationally connected to the top end of the rotating support table (2012) and transmissionally connected with the output shaft end of the rotating drive motor (2011), and a glass disc (2014) fixedly installed at the top of the rotating support plate (2013), wherein the glass disc (2014) is a transparent glass plate in annular structure.

6. The CCD vision-based refrigeration valve stem size and appearance defect detection apparatus according to claim 5, characterized in that: The sorting mechanism (3) comprises a gas nozzle support (301) fixedly arranged on the top surface of the detection table (20), a gas nozzle (302) fixedly arranged at the top front end of the gas nozzle support (301) and located above the inboard edge of the glass disc (2014), a discharging guide plate (303) fixedly arranged at the top rear end of the gas nozzle support (301) and located above the glass disc (2014), a waste hopper (304) fixedly arranged on the top surface of the detection table (20) and located outside the glass disc (2014), and a waste box (306) arranged below the waste hopper (304), wherein the top end side wall of the waste hopper (304) is provided with a feeding port arranged opposite to the gas nozzle (302), and the end of the discharging guide plate (303) is fixedly provided with a discharging guide groove (307) between the feeding end of the stacking mechanism (4).

7. The CCD vision-based refrigeration valve stem size and appearance defect detection apparatus according to claim 1, characterized in that: The stacking mechanism (4) comprises a chain plate conveying assembly (401) fixedly connected to the side surface of the conveying table (30) and a shelf plate (402) fixedly arranged above one end of the chain plate conveying assembly (401), wherein the chain plate of the chain plate conveying assembly (401) is fixedly connected with a stacking groove (403), the side surface of the shelf plate (402) is provided with a pose adjustment hole (404) in communication with the discharging end of the sorting mechanism (3) and the bottom, the top side of the shelf plate (402) is fixedly provided with a push air cylinder (405), and the output rod end of the push air cylinder (405) is fixedly connected with a sealing plate (409) movably sealed below the pose adjustment hole (404).

8. The CCD vision-based refrigeration valve stem size and appearance defect detection apparatus according to claim 1 or 7, characterized in that: The tray conveying mechanism (5) comprises a first chain conveying line (501) and a second chain conveying line (502) arranged side by side and conveying in opposite directions, and the first chain conveying line (501) and the second chain conveying line (502) are fixedly provided with a tray feeding mechanism (503) at one end close to the stacking mechanism (4), for transferring empty sub-packaging trays (6) from the first chain conveying line (501) to the second chain conveying line (502), and the first chain conveying line (501) and the second chain conveying line (502) are fixedly provided with a tray discharging mechanism (504) at one end away from the stacking mechanism (4), for transferring sub-packaging trays (6) containing refrigeration valve stems (100) from the second chain conveying line (502) to the first chain conveying line (501).

9. The CCD vision-based refrigeration valve stem size and appearance defect detection apparatus according to claim 8, characterized in that: The tray feeding mechanism (503) and the tray discharging mechanism (504) each comprise a magnetic couple type rodless air cylinder (5031) fixedly arranged horizontally above the end of the first chain conveying line (501) and the second chain conveying line (502), guide rails (5032) arranged in parallel on both sides of the magnetic couple type rodless air cylinder (5031), a cylinder support (5033) fixedly connected to the power output end of the magnetic couple type rodless air cylinder (5031), one side surface of the cylinder support (5033) being slidingly connected with the guide rails (5032), and the other side surface top being fixedly connected with a cylinder mounting plate (5034), a first lifting cylinder (5035) fixedly installed on the bottom surface of the cylinder mounting plate (5034), and a supporting plate (5036) fixedly connected to the bottom output shaft end of the first lifting cylinder (5035) and capable of being immersed in the first chain conveying line (501) / the second chain conveying line (502).

10. The CCD vision-based refrigeration valve stem size and appearance defect detection apparatus according to claim 1, wherein: The grabbing mechanical hand mechanism (7) comprises a gantry (701), a linear module (702) fixedly arranged horizontally on one side of the top of the gantry (701), a second lifting cylinder (703) fixedly arranged on the side surface of the power output end of the linear module (702), and a pneumatic finger (704) connected to the bottom output rod end of the second lifting cylinder (703), wherein the pneumatic finger (704) is of a parallel jaw type.

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