Automatic material detecting and tray loading machine

Abstract

The utility model relates to a kind of automatic detection tray filling machine of material, including sequentially arranged feeding unit, 3D detection unit, 2D detection unit and tray filling unit;3D detection unit includes index plate and flatness line scanning mechanism, 2D detection unit includes stepping transmission mechanism, multiple detection work stations and multiple waste stations, stepping transmission mechanism is along first horizontal direction stepping conveying material, its first material taking position is the unloading position on index plate, its last material placing position is at the entrance of material receiving conveying track, detection work station and waste station are alternately distributed on the path of stepping transmission mechanism along first horizontal direction, the spacing of adjacent work station is the stepping distance of stepping transmission mechanism, waste station rejects defective product measured by its last 2D detection work position along second horizontal direction, first horizontal direction is perpendicular to second horizontal direction.This equipment can automatically complete 3D detection, 2D detection, defective product classification and qualified product tray filling, save manpower, and work efficiency is high.

Description

Technical Field

[0001] This utility model relates to the field of visual inspection technology, and in particular to an automatic material inspection and traying machine. Background Technology

[0002] The battery casing is a thin-walled, shell-shaped metal component used in button batteries; it is very small. Before being installed into a battery, the battery casing needs to undergo a full-dimensional inspection, including flatness, front outline dimensions, front feature structure dimensions, back outline dimensions, back feature structure dimensions, height dimensions, and edge structure. Defective products need to be categorized and rejected, while qualified products are then packaged. The entire process involves many inspection items; manual inspection is inefficient, wastes manpower, strains eyesight, and is prone to misjudgment.

[0003] Therefore, it is necessary to provide a dedicated device to perform the above operations. Utility Model Content

[0004] The main purpose of this utility model is to provide an automatic material inspection and traying machine that can automatically complete 3D inspection, 2D inspection, defective product classification and qualified product traying, saving manpower and increasing work efficiency.

[0005] This utility model achieves the above objectives through the following technical solution: an automatic material detection and traying machine, comprising a feeding unit, a 3D detection unit, a 2D detection unit and a traying unit arranged sequentially; The 3D detection unit includes an indexing plate and a flatness line scanning mechanism. Multiple positioning platforms are evenly distributed around the axis on the indexing plate. The indexing plate has loading positions, line scanning positions, and unloading positions for the positioning platforms to stop around the same rotation direction. The flatness line scanning mechanism is located above the line scanning positions. The flatness line scanning mechanism includes a line laser emitter and a line scanning translation module that drives the line laser emitter to move horizontally. The 2D inspection unit includes a stepping conveyor mechanism, multiple inspection stations, and multiple waste removal stations. The stepping conveyor mechanism conveys materials stepping along a first horizontal direction. Its first material pick-up position is the unloading position on the indexing plate, and its last material discharge position is at the entrance of the receiving conveyor track. The inspection stations and the waste removal stations are alternately distributed along the path of the stepping conveyor mechanism along the first horizontal direction. The distance between adjacent stations is the stepping distance of the stepping conveyor mechanism. The waste removal station removes defective products detected by the previous 2D inspection station along a second horizontal direction. The first horizontal direction is perpendicular to the second horizontal direction.

[0006] Specifically, the feeding unit includes a vibratory feeder, a discharge channel located at the outlet of the vibratory feeder, and a first picking and placing component located above the outlet of the discharge channel. The first picking and placing component places the material from the outlet of the discharge channel onto the positioning platform located at the feeding position.

[0007] Furthermore, the first material handling assembly includes a first translation module that moves along a first horizontal direction, a first lifting mechanism driven to translate by the first translation module, and a first suction cup mechanism driven to lift by the first lifting mechanism.

[0008] Specifically, the tray loading unit includes a receiving conveyor track, a second picking and placing component, an empty tray hopper, a tray transferring mechanism, and a full tray hopper. The receiving conveyor track extends from the discharge side of the 2D detection unit to below the second picking and placing component. The second picking and placing component includes a second translation module that moves along a first horizontal direction, a second lifting mechanism driven by the second translation module, and a second suction cup mechanism driven by the second lifting mechanism. The empty tray hopper and the full tray hopper are located on both sides of the second picking and placing component in a second horizontal direction and each has the function of lifting the tray. The tray transferring mechanism extends from the bottom of the empty tray hopper to the bottom of the full tray hopper. The tray transferring mechanism moves the tray along the second horizontal direction and passes below the second picking and placing component.

[0009] Furthermore, the 2D detection unit includes a stepping conveyor mechanism, multiple detection stations, and multiple waste discharge stations. The stepping conveyor mechanism conveys materials stepping along a first horizontal direction. Its first material pick-up position is the unloading position on the indexing plate, and its last material discharge position is the entrance of the receiving conveyor track. The multiple detection stations and multiple waste discharge stations are alternately distributed along the path of the stepping conveyor mechanism along the first horizontal direction. The distance between adjacent stations is the stepping distance of the stepping conveyor mechanism, and each waste discharge station is set immediately after a detection station.

[0010] Furthermore, the waste discharge station includes a waste discharge bracket, a waste discharge translation drive, and a waste discharge positioning block. The waste discharge translation drive is mounted on the waste discharge bracket and drives the waste discharge positioning block to extend and retract along the second horizontal direction. When the waste discharge positioning block extends, its positioning position is located on the material transfer path of the stepping transfer mechanism.

[0011] Furthermore, the inspection station includes multiple upper inspection stations, each upper inspection station including an inspection platform, an inspection translation drive for driving the inspection platform to extend and retract along a second horizontal direction, an upper inspection camera located above the inspection platform, and an upper surface light source for providing surface light to the inspection platform; the inspection platform switches between a feeding position and an inspection position, the feeding position being located on the feeding path of the stepping transfer mechanism, and the inspection position being located in the inspection area of ​​the upper inspection camera.

[0012] Furthermore, the 2D detection unit also includes a flipping station, with some of the upper detection stations located on the feeding side of the flipping station and others located on the discharging side of the flipping station.

[0013] Furthermore, the inspection station includes a height inspection station, which includes a first rotating table, a side inspection camera located on a second horizontal side of the first rotating table, and a side surface light source that provides side illumination to the first rotating table, with one side of the first rotating table open to the side inspection camera.

[0014] Furthermore, the workpiece to be inspected includes an edge inspection station, which includes a second rotating stage, an oblique inspection camera located obliquely above the second rotating stage in a second horizontal direction, and an oblique surface light source that provides oblique illumination to the second rotating stage. One side of the second rotating stage is open to the oblique inspection camera.

[0015] The beneficial effects of this utility model's technical solution are: This equipment can automatically complete 3D inspection, 2D inspection, defective product classification, and qualified product traying of materials, saving manpower and increasing work efficiency. Attached Figure Description

[0016] Figure 1 A 3D view of an automatic material detection and palletizing machine; Figure 2 This is a diagram showing the positional relationship between the main components of the feeding unit and the 3D detection unit; Figure 3 A three-dimensional view of the main components of the tray loading unit; Figure 4 This is a top view of the 2D detection unit; Figure 5 Diagram showing the working status of the extended section of the waste discharge station; Figure 6 This is a 3D view of the testing station above; Figure 7 A 3D view of the height detection station; Figure 8 This is a 3D view of the edge detection station.

[0017] The numbers in the diagram represent: 100-Automatic Material Detection and Palletizing Machine 1-Feeding unit, 11-Vibrating plate, 12-Discharge channel, 13-First material handling assembly, 131-First translation module, 132-First lifting mechanism, 133-First suction cup mechanism; 2-3D detection unit, 21-indexing plate, 21a-loading position, 21b-line scanning position, 21c-unloading position, 211-positioning platform, 22-flatness line scanning mechanism, 221-line laser emitter, 222-line scanning translation module; 3-2D detection unit, 31-stepping transfer mechanism, 32-waste discharge station, 321-waste discharge bracket, 322-waste discharge translation drive, 323-waste discharge positioning block, 33-flipping station, 34-upper detection station, 341-detection platform, 342-detection translation drive, 343-upper detection camera, 344-upper surface light source, 35-height detection station, 351-first rotating stage, 352-side detection camera, 353-side surface light source, 36-edge detection station, 361-second rotating stage, 362-oblique detection camera, 363-oblique surface light source; 4-Packing unit, 41-Material receiving and conveying track, 42-Second material picking and placing assembly, 421-Second translation module, 422-Second lifting mechanism, 423-Second suction cup mechanism, 43-Empty tray hopper, 44-Pack transfer mechanism, 45-Full tray hopper. Detailed Implementation

[0018] The present invention will be further described in detail below with reference to specific embodiments.

[0019] Example: like Figure 1 As shown, the present invention provides an automatic material detection and traying machine 100, which includes a feeding unit 1, a 3D detection unit 2, a 2D detection unit 3 and a traying unit 4 arranged in sequence.

[0020] like Figure 2 As shown, the 3D detection unit 2 includes an indexing plate 21 and a flatness line scanning mechanism 22. Multiple positioning platforms 211 are evenly distributed around an axis on the indexing plate 21. The indexing plate 21 has loading positions 21a, line scanning positions 21b, and unloading positions 21c around the same rotation direction for the positioning platforms 211 to rest. The flatness line scanning mechanism 22 is located above the line scanning position 21b. The flatness line scanning mechanism 22 includes a line laser emitter 221 and a line scanning translation module 222 that drives the line laser emitter 221 to move horizontally.

[0021] Because the flatness line scanning mechanism 22 occupies a relatively large space, it is not suitable to share the stepping transfer mechanism 31 with the 2D detection unit 3. Therefore, the flatness line scanning mechanism 22 uses the indexing plate 21 for stepping movement. The positioning platform 211 is the positioning support component for the material 200, used to make the material 200 rotate step by step with the indexing plate 21 (in the embodiment, the stepping angle is 90°, and the stepping angle follows the rule of 360° / N, where N is a natural number not less than 3, so theoretically the maximum stepping angle can be 120°). The loading position 21a is the position where the material comes from the loading unit 1, and the unloading position 21c is the position where the material is discharged to the 2D detection unit 3. When the material 200 reaches the line scanning position 21b, the line scanning translation module 222 will drive the line laser emitter 221 to scan over the material 200, thereby obtaining the flatness detection result.

[0022] like Figure 2 As shown, the feeding unit 1 includes a vibratory feeder 11, a discharge channel 12 located at the outlet of the vibratory feeder 11, and a first picking and placing component 13 located above the outlet of the discharge channel 12. The first picking and placing component 13 places the material 200 from the outlet of the discharge channel 12 onto the positioning platform 211 located at the feeding position 21a. The first picking and placing component 13 includes a first translation module 131 that moves along a first horizontal direction, a first lifting mechanism 132 driven by the first translation module 131, and a first suction cup mechanism 133 driven by the first lifting mechanism 132.

[0023] The vibratory feeder 11 can automatically arrange the scattered materials 200 and then deliver them in a defined posture, thus avoiding the trouble of manual material discharge. In this embodiment, the discharge channel 12 extends along the second horizontal direction to one side of the loading position 21a. The first moving mechanism 132 first moves the first suction cup mechanism 131 downward so that it can suck up the material 200 at the outlet of the discharge channel 12. Then, the first moving mechanism 132 makes the first suction cup mechanism 131 rise first and then move horizontally along the first horizontal direction to the top of the loading position 21a. Then, the first suction cup mechanism 131 descends and places the material 200 on the positioning platform 211 located at the loading position 21a.

[0024] like Figure 3As shown, the tray loading unit 4 includes a receiving conveyor track 41, a second pick-and-place assembly 42, an empty tray hopper 43, a tray transfer mechanism 44, and a full tray hopper 45. The receiving conveyor track 41 extends from the discharge side of the 2D detection unit 3 to below the second pick-and-place assembly 42. The second pick-and-place assembly 42 includes a second translation module 421 that moves along a first horizontal direction, a second lifting mechanism 422 driven by the second translation module 421, and a second suction cup mechanism 423 driven by the second lifting mechanism 422. The empty tray hopper 43 and the full tray hopper 45 are located on both sides of the second pick-and-place assembly 42 in the second horizontal direction and each has the function of lifting the tray. The tray transfer mechanism 44 extends from the bottom of the empty tray hopper 43 to the bottom of the full tray hopper 45, and moves the tray along the second horizontal direction and passes below the second pick-and-place assembly 42. The first horizontal direction is perpendicular to the second horizontal direction.

[0025] The receiving conveyor track 41 is used to receive qualified materials 200 after being detected and screened by the 2D detection unit 3, and bring them to the operating range of the second material handling component 42. The tray transfer mechanism 44 can be divided into a tray inlet area (below the empty tray hopper 43), a tray loading area (below the second material handling component 42), and a tray outlet area (below the full tray hopper 45) according to functional areas. The empty tray hopper 43 is used to stack trays without material 200. It can transport empty trays one by one to the tray feeding area of ​​the tray transfer mechanism 44 below. The tray transfer mechanism 44 stops the tray in the tray loading area, and the second pick-and-place component 42 completes the tray placement. Because the second suction cup mechanism 423 can move along the first horizontal direction and the tray transfer mechanism 44 can move along the second horizontal direction, the material placement positions arranged in the array on the tray can all adapt to the placement position of material 200. The full tray hopper 45 is used to stack trays full of material 200. It can stack full trays one by one from the tray discharge position of the tray transfer mechanism 44 upwards.

[0026] like Figure 4 As shown, the 2D detection unit 3 includes a stepping conveyor 31, multiple detection stations, multiple waste removal stations 32, and a flipping station 33. The stepping conveyor 31 conveys material 200 in a stepping direction. Its first material pick-up position is the unloading position 21c on the indexing plate 21, and its last material release position is at the entrance of the receiving conveyor track 41. Multiple detection stations, multiple waste removal stations 32, and one flipping station 33 are all alternately distributed along the path of the stepping conveyor 31 in the first horizontal direction. The distance between adjacent stations is the stepping distance of the stepping conveyor 31. Each waste removal station 32 is set immediately after a detection station.

[0027] Most inspection stations occupy a significant amount of space at the top of the equipment, while the waste removal station 32 typically only occupies the lower part. Therefore, the inspection and waste removal stations 32 can be alternately positioned close together below the stepping conveyor mechanism 31. Each inspection station, waste removal station 32, and flipping station 33 has a designated location serving as a transfer point for the stepping conveyor mechanism 31 when handling materials 200. The waste removal station 32 only handles waste removal for defective products. Since a waste removal station 33 is installed after each inspection station 32, the waste removal station 33 can categorize defective product types.

[0028] like Figure 5 As shown, the waste discharge station 32 includes a waste discharge bracket 321, a waste discharge translation drive 322, and a waste discharge positioning block 323. The waste discharge translation drive 322 is mounted on the waste discharge bracket 321 and drives the waste discharge positioning block 323 to extend and retract along the second horizontal direction. When the waste discharge positioning block 323 extends, its positioning position is located on the material transfer path of the stepping transfer mechanism 31.

[0029] The waste discharge station 32 needs to switch between two working states. In the transit state: when the material 200 detected by the previous inspection station is a qualified product, the waste discharge positioning block 323 extends, allowing the stepping conveyor 31 to place the material 200 on top. In the waste discharge state: when the material 200 detected by the previous inspection station is a defective product, the waste discharge positioning block 323 retracts, and is no longer in a position where the stepping conveyor 31 can place the material 200. Therefore, the material 200 placed by the stepping conveyor 31 will fall downwards into the waste box.

[0030] like Figure 4 and Figure 6 As shown, the inspection station includes multiple upper inspection stations 34. Some upper inspection stations 34 are located on the feeding side of the flipping station 33, while others are located on the discharging side of the flipping station 33. Each upper inspection station 34 includes an inspection platform 341, an inspection translation drive 342 that drives the inspection platform 341 to extend and retract along a second horizontal direction, an upper inspection camera 343 located above the inspection platform 341, and an upper surface light source 344 that provides surface light to the inspection platform 341. The inspection platform 341 switches between a feeding position and an inspection position. The feeding position is located on the feeding path of the stepping transfer mechanism 31, and the inspection position is located in the inspection area of ​​the upper inspection camera 343.

[0031] The detection platform 341 and the detection translation drive 342 constitute the support part of the material 200, while the upper detection camera 343 and the upper surface light source 344 constitute the detection part. Because the position of the upper detection camera 343 cannot interfere with the material transfer action of the stepping transfer mechanism 31, and the stepping transfer mechanism 31 cannot obstruct the field of view of the upper detection camera 343, the two must be staggered. Therefore, a material feeding position and a detection position need to be set. The detection platform 341 is used to receive the material 200 at the material feeding position and then translate it to the detection position. The upper detection camera 343, with the assistance of the upper surface light source 344, completes the detection of a specific position of the material 200 to avoid misjudgment. After the detection is completed, the detection translation drive 342 drives the detection platform 341 to reset, and the stepping transfer mechanism 31 picks it up and places it in the next waste removal station 32, where it is screened according to the detection results. Although the detection positions are on the same side, the detection content may be different, so multiple upper detection stations 34 need to be set up; the detection content is the same, but the detection surfaces may be different, so a flipping station 33 needs to be set up to interchange the upper and lower surfaces of the material 200.

[0032] like Figure 7 As shown, the inspection station includes a height inspection station 35, which includes a first rotating stage 351, a side inspection camera 352 located on the second horizontal side of the first rotating stage 351, and a side surface light source 353 that provides side illumination to the first rotating stage 351. One side of the first rotating stage 351 is open to the side inspection camera 352.

[0033] For the rotating material 200, height detection needs to consider the detection results from all directions. Therefore, the material 200 itself rotates while the side detection camera 352 remains stationary. The first rotary table 351 receives the material 200 from the stepping conveyor 31 and allows the material 200 to rotate around its vertical axis. To ensure the height of the material 200 is fully represented in the detection direction, the side of the first rotary table 351 facing the side detection camera 352 must be unobstructed. A side face light source 353 assists the side detection camera 352 in acquiring the detection image, avoiding misjudgments.

[0034] like Figure 8 As shown, the workpiece to be inspected includes an edge inspection station 36. The edge inspection station 36 includes a second rotating stage 361, an oblique inspection camera 362 located obliquely above the second horizontal direction of the second rotating stage 361, and an oblique surface light source 363 that provides oblique illumination to the second rotating stage 362. One side of the second rotating stage 362 is open to the oblique inspection camera 362.

[0035] For the material 200 with a rotating structure, the integrity of its edges needs to be detected obliquely. While keeping the oblique detection camera 362 stationary, a second rotary stage 361 is needed to rotate it around its vertical axis. The second rotary stage 361 must ensure that the edge of the material 200 is fully visible from the detection direction, so the side facing the oblique detection camera 362 must be unobstructed. An oblique surface light source 363 assists the oblique detection camera 362 in acquiring the detection image, avoiding misjudgments.

[0036] like Figure 2 , Figure 5 , Figure 6 and Figure 7 As shown, the vibratory feeder 11 has two outlets arranged side by side along the first horizontal direction. The first suction cup mechanism 123, each material transfer head of the stepping transmission mechanism 31, and the second suction cup mechanism 423 each have two suction cups. Each positioning platform 211 has two product holes. Each waste discharge station 32 has two waste discharge translation drive components 322 and two waste discharge positioning blocks 323. The two waste discharge positioning blocks 323 can extend and retract independently.

[0037] This equipment structure can process two materials 200 at once without adding detection devices (including but not limited to the line laser emitter 221, the upper detection camera 343, the side detection camera 352, and the oblique detection camera 353), thereby significantly improving detection efficiency. However, the pass / fail results of the two synchronously conveyed materials 200 are independent, so the two waste discharge positioning blocks 323 of each waste discharge station 32 must independently perform the passing and screening actions. The receiving conveyor track 41 here allows the materials 200 to be arranged closely to eliminate the position gaps caused by the waste discharge of defective products, and allows the second suction cup mechanism 423 to complete the tray placement operation of two materials 200 at once.

[0038] like Figures 1 to 8 As shown, the workflow of this automatic material detection and palletizing machine 100 is as follows: 1. The operator pours the loose material 200 into the vibratory feeder 11. The vibratory feeder 11 sends the material 200 out in a specific posture, and the two discharge channels 12 simultaneously send out two materials 200 to their ends. Then, the first suction cup mechanism 133 of the first picking and discharging component 13 uses two suction cups to pick up the two materials 200 and place them on the positioning platform 211 that is stopped at the loading position 21a (two product holes hold two materials 200). 2. The indexing plate 21 rotates 90°, causing the positioning platform 211 to move to the line scan position 21b. The line scan translation module 222 drives the line laser emitter 221 to complete the flatness scanning of the two materials 200. 3. The indexing plate 21 rotates another 90°, causing the positioning platform 211 to move to the unloading position 21c. The stepping transfer mechanism 31 picks up two materials 200 from the unloading position 21c, and then passes them sequentially through various inspection stations (upper inspection station 34, height inspection station 35, edge inspection station 36), waste discharge station 32, and flipping station 33. One part of the upper inspection station 34 will perform front-side size inspection and feature position inspection. After the material 200 is turned over at the flipping station 33, another part of the upper inspection station 34 will perform reverse-side size inspection and feature position inspection. The height inspection station 35 will detect the height of the material 200 as it rotates around the vertical axis, and the edge inspection station 36 will detect the appearance of the edge of the material 200 as it rotates around the vertical axis. When any inspection station finds that the appearance is not up to standard, the corresponding waste discharge positioning block 323 of the next waste discharge station 32 will not extend. When the stepping conveyor 31 places the material 200, the material 200 will fall into the waste box because it is not supported by the waste discharge positioning block 323, thereby realizing the classification and collection of defective products. 4. After all the tests are completed, the material 200 is placed by the stepping conveyor 31 into the entrance of the receiving conveyor track 41. The receiving conveyor track 41 arranges the material 200 in a close row and moves it to the picking position of the second picking and placing component 42. The tray transfer mechanism 44 will move a tray from the bottom of the empty tray hopper 43 in advance and move it below the second picking and placing component 42. The second picking and placing component 42 cooperates with the tray transfer mechanism 44 to place the material 200 in pairs into the empty positions of the tray. After the tray is placed, the tray transfer mechanism 44 moves the full tray to the bottom of the full tray hopper 45, and the full tray hopper 45 will automatically stack the trays upwards. 5. Before the empty material trays are used up, the operator stacks new empty material trays in the empty tray hopper 43. After the full tray hopper 45 is nearly full, the operator moves multiple full material trays out of the full tray hopper 45 together to ensure the continuity of tray placement.

[0039] This equipment can automatically complete 3D inspection, 2D inspection, defective product classification, and qualified product traying of materials, saving manpower and increasing work efficiency.

[0040] The above descriptions are merely some embodiments of this utility model. For those skilled in the art, various modifications and improvements can be made without departing from the inventive concept of this utility model, and all such modifications and improvements fall within the protection scope of this utility model.

Claims

1. An automatic material detection and palletizing machine, characterized in that: It includes a feeding unit, a 3D inspection unit, a 2D inspection unit, and a tray loading unit arranged sequentially; The tray loading unit includes a material receiving and conveying track; The 3D detection unit includes an indexing plate and a flatness line scanning mechanism. Multiple positioning platforms are evenly distributed around the axis on the indexing plate. The indexing plate has loading positions, line scanning positions, and unloading positions for the positioning platforms to stop around the same rotation direction. The flatness line scanning mechanism is located above the line scanning positions. The flatness line scanning mechanism includes a line laser emitter and a line scanning translation module that drives the line laser emitter to move horizontally. The 2D inspection unit includes a stepping conveyor mechanism, multiple inspection stations, and multiple waste removal stations. The stepping conveyor mechanism conveys materials stepping along a first horizontal direction. Its first material pick-up position is the unloading position on the indexing plate, and its last material discharge position is at the entrance of the receiving conveyor track. The inspection stations and the waste removal stations are alternately distributed along the path of the stepping conveyor mechanism along the first horizontal direction. The distance between adjacent stations is the stepping distance of the stepping conveyor mechanism. The waste removal station removes defective products detected by the previous 2D inspection station along a second horizontal direction. The first horizontal direction is perpendicular to the second horizontal direction.

2. The automatic material detection and palletizing machine according to claim 1, characterized in that: The feeding unit includes a vibratory feeder, a discharge channel located at the outlet of the vibratory feeder, and a first material handling component located above the outlet of the discharge channel. The first material handling component places the material from the outlet of the discharge channel onto the positioning platform located at the feeding position.

3. The automatic material detection and palletizing machine according to claim 2, characterized in that: The first material handling assembly includes a first translation module that moves along a first horizontal direction, a first lifting mechanism driven by the first translation module to translate, and a first suction cup mechanism driven by the first lifting mechanism to lift.

4. The automatic material detection and palletizing machine according to claim 1, characterized in that: The loading unit includes a second loading and unloading assembly, an empty tray hopper, a tray transfer mechanism, and a full tray hopper. The receiving and conveying track extends from the discharge side of the 2D detection unit to below the second loading and unloading assembly. The second loading and unloading assembly includes a second translation module that moves along a first horizontal direction, a second lifting mechanism driven by the second translation module, and a second suction cup mechanism driven by the second lifting mechanism. The empty tray hopper and the full tray hopper are located on both sides of the second loading and unloading assembly in a second horizontal direction and each has the function of lifting the tray. The tray transfer mechanism extends from the bottom of the empty tray hopper to the bottom of the full tray hopper. The tray transfer mechanism moves the tray along the second horizontal direction and passes below the second loading and unloading assembly.

5. The automatic material detection and palletizing machine according to claim 4, characterized in that: Multiple testing stations and multiple waste discharge stations are alternately distributed along the path of the stepping transmission mechanism in the first horizontal direction. The distance between adjacent stations is the stepping distance of the stepping transmission mechanism, and each waste discharge station is set up immediately after a testing station.

6. The automatic material detection and palletizing machine according to claim 5, characterized in that: The waste discharge station includes a waste discharge bracket, a waste discharge translation drive, and a waste discharge positioning block. The waste discharge translation drive is mounted on the waste discharge bracket and drives the waste discharge positioning block to extend and retract along the second horizontal direction. When the waste discharge positioning block extends, its positioning position is located on the material transfer path of the stepping transfer mechanism.

7. The automatic material detection and palletizing machine according to claim 5, characterized in that: The inspection station includes multiple upper inspection stations, each upper inspection station including an inspection platform, an inspection translation drive that drives the inspection platform to extend and retract along a second horizontal direction, an upper inspection camera located above the inspection platform, and an upper surface light source that provides surface light to the inspection platform; the inspection platform switches between a feeding position and an inspection position, the feeding position being located on the feeding path of the stepping transfer mechanism, and the inspection position being located in the inspection area of ​​the upper inspection camera.

8. The automatic material detection and palletizing machine according to claim 7, characterized in that: The 2D detection unit also includes a flipping station, with some of the upper detection stations located on the feeding side of the flipping station and others located on the discharging side of the flipping station.

9. The automatic material detection and palletizing machine according to claim 5, characterized in that: The inspection station includes a height inspection station, which includes a first rotating table, a side inspection camera located on a second horizontal side of the first rotating table, and a side surface light source that provides side illumination to the first rotating table. One side of the first rotating table is open to the side inspection camera.

10. The automatic material detection and palletizing machine according to claim 5, characterized in that: The workpiece to be inspected includes an edge inspection station, which includes a second rotating stage, an oblique inspection camera located obliquely above the second rotating stage in a second horizontal direction, and an oblique surface light source that provides oblique illumination to the second rotating stage. One side of the second rotating stage is open to the oblique inspection camera.

Images