A motor rotor appearance inspection device

Abstract

This utility model discloses a motor rotor appearance inspection device, aiming to achieve automated inspection of appearance defects and dimensional parameters of small motor rotors. The device mainly includes a frame, an automatic feeding unit, a conveying unit, an inspection unit, a transfer unit, a sorting unit, and a control unit. The automatic feeding unit is located on one side of the frame, arranging bulk motor rotors into a row for output; the conveying unit receives and transports the rotors to the pick-up position; the inspection unit includes an inspection positioning seat and an image acquisition component; the transfer unit spans above the conveying and inspection units, simultaneously transferring the rotors from the pick-up position to the inspection positioning seat, and removing the inspected rotors; the sorting unit is located at the output end of the transfer unit, rejecting defective products; the control unit is electrically connected to each unit, coordinating and controlling the overall operation. This device, through multi-unit collaborative operation, achieves automated feeding, inspection, and sorting of rotors, significantly improving inspection efficiency and accuracy, reducing labor costs, and is suitable for batch inspection scenarios of small motor rotors.

Description

Technical Field

[0001] This utility model relates to the field of motor testing technology, and in particular to a motor rotor appearance and size testing device based on single-camera shooting and automated feeding and sorting. Background Technology

[0002] With the rapid development of motor manufacturing technology, the requirements for the quality consistency of small motor rotors with a size of approximately 40mm are becoming increasingly stringent. In the mass production of rotors, the accurate detection of appearance defects (such as commutator wear, winding breakage, and journal scratches) and critical dimensions is the core link in ensuring product quality.

[0003] Currently, the main problems with the inspection of such small rotors are as follows: First, traditional manual inspection methods are inefficient, with long feeding times and the risk of secondary contamination due to human contact. Furthermore, human detection capabilities for minute scratches or micron-level dimensional deviations are limited, leading to a high rate of missed detections and failing to meet high-standard quality control requirements. Second, many existing automated inspection devices employ multi-camera layouts, resulting in high hardware costs and overlapping camera views that can easily lead to misjudgments. In addition, these devices often lack efficient coordination with the feeding process, requiring manual intervention and thus achieving incomplete automation. Finally, simple inspection equipment typically only assesses visual defects and cannot simultaneously measure dimensions, necessitating additional measuring equipment, resulting in cumbersome procedures and large footprints. Moreover, such equipment often experiences signal delays in the "defect judgment-sorting and rejection" process, leading to false rejections or missed rejections.

[0004] Therefore, developing a testing device that integrates automatic feeding, efficient synchronous transfer, single-camera synchronous detection of appearance and size, and precise sorting is of great significance for reducing labor costs and improving testing efficiency and accuracy. Summary of the Invention

[0005] The present invention aims to solve the technical problems of low efficiency and easy secondary pollution of manual inspection in the existing small motor rotor inspection process, as well as the high cost of multi-camera layout, complex transfer mechanism, and poor linkage between inspection and sorting of existing automated equipment, which leads to misjudgment or missed detection. The invention provides a motor rotor appearance inspection device with compact structure, controllable cost and high inspection efficiency.

[0006] To achieve the above objectives, this utility model provides the following technical solution: An appearance inspection device for motor rotors includes a frame and an automatic feeding unit, a conveying unit, an inspection unit, a transfer unit, a sorting unit, and a control unit mounted on the frame. The automatic feeding unit is located on one side of the frame and outputs motor rotors arranged in a row. The conveying unit receives the motor rotors output by the automatic feeding unit and conveys them to a pickup position. The inspection unit is located on one side of the conveying unit and includes an inspection positioning seat for placing the motor rotor to be tested and an image acquisition component for acquiring images of the motor rotor. The transfer unit spans above the conveying unit and the inspection unit and is used to synchronously transfer the motor rotors from the pickup position to the inspection positioning seat and to transfer the inspected motor rotors from the inspection positioning seat. The sorting unit is located at the output end of the transfer unit and is used to remove defective products after inspection. The control unit is electrically connected to the automatic feeding unit, the conveying unit, the inspection unit, the transfer unit, and the sorting unit.

[0007] As a further improvement of this utility model, the transfer unit includes a mounting back plate vertically fixed to the frame, a guide rail fixedly mounted on the mounting back plate, a lateral movement drive assembly mounted on the mounting back plate, and a linkage beam connected to the lateral movement drive assembly and slidably connected to the guide rail. The guide rail extends horizontally and has an upward arched section in the middle. A first gripper and a second gripper are fixed at intervals on the linkage beam, forming a double gripper assembly. The lateral movement drive assembly drives the linkage beam to move along the guide rail, thereby using the track's trajectory to guide the first and second grippers to synchronously perform lifting and horizontal displacement.

[0008] Furthermore, the guide rail has a Z-shaped structure, with the arched section located above the detection and positioning seat. When the linkage beam moves to the highest point of the arched section, the first and second grippers are raised to avoid obstacles, facilitating obstacle clearance or visual detection. When the linkage beam moves to the lowest points at both ends of the guide rail, the first and second grippers descend to the material picking and placing heights, respectively, completing the gripping or placing action.

[0009] Furthermore, both the first and second grippers are electric grippers, and the center distance between them is specifically designed to be equal to the horizontal distance between the material to be picked up and the detection positioning seat, and also equal to the horizontal distance between the detection positioning seat and the entrance of the sorting unit, thereby realizing the dual action of "picking up new material" and "moving old material" in one movement.

[0010] Furthermore, the transverse drive assembly adopts a servo motor combined with a rocker arm transmission, the axis of the rocker arm is parallel to the horizontal extension direction of the guide rail, and the nut seat is fixedly connected to the linkage beam.

[0011] In terms of image acquisition, the image acquisition component includes an industrial camera and a surface light source. The industrial camera is horizontally positioned on one side of the detection positioning base, with its lens optical axis perpendicular to the axis of the motor rotor. The surface light source is positioned on the other side of the detection positioning base, opposite the industrial camera, to provide background illumination for the motor rotor, highlighting its outline and surface defects. The detection unit may also be equipped with a camera adjustment bracket to adjust the camera's shooting angle and distance. The detection positioning base has a V-groove or semi-circular groove adapted to the rotor to ensure positioning accuracy.

[0012] In terms of sorting and feeding, the sorting unit includes a rejection channel and a pushing assembly. The pushing assembly adopts a structure where a rejection cylinder is connected to a push pin. When a non-conforming signal is received, the push pin extends and pushes the motor rotor located at the entrance of the rejection channel into the rejection channel. The automatic feeding unit preferably uses a vibratory feeder in conjunction with a linear vibrating track, and the conveying unit preferably uses a belt conveyor in conjunction with a limit stop at the end to ensure that the material is accurately stopped at the picking position.

[0013] 1. Beneficial Effects Compared with the prior art, the present invention has the following beneficial effects: This invention innovatively employs a "Z-shaped guide rail" combined with a "double gripper" design. Using only one set of transverse drive components and the physical trajectory of the rail, the horizontal displacement and lifting / avoiding movements of the double grippers can be simultaneously achieved, eliminating the need for a separate Z-axis lifting motor, thus simplifying the structure. Furthermore, the distance between the double grippers is equal to the distance between workstations, allowing for simultaneous "loading of items to be inspected" and "unloading of inspected items," significantly shortening the transfer cycle and improving inspection efficiency.

[0014] With just one set of transverse drive components (such as a servo motor), guided by the physical trajectory of the Z-shaped guide rail, the horizontal displacement and lifting avoidance actions of the dual grippers can be realized simultaneously. There is no need to configure a separate Z-axis lifting motor, which significantly simplifies the mechanical structure and reduces the hardware cost and maintenance complexity of the equipment.

[0015] The layout employing a single-camera horizontal shooting method combined with a counter-facing surface light source significantly reduces hardware costs compared to multi-camera solutions. The backlight design effectively eliminates stray reflections on the metal rotor surface, clearly revealing the rotor's edge contours, thus enabling high-precision dimensional measurement and appearance defect detection simultaneously through a single shot.

[0016] The equipment integrates automatic feeding, conveying buffer, precision positioning detection, and automatic sorting and rejection functions. The entire process requires no manual intervention, avoiding rotor contamination or oxidation caused by human contact, and eliminating subjective errors from manual inspection, thus ensuring consistent product quality.

[0017] The sorting unit uses a cylinder-driven pin pusher method, combined with real-time signal feedback from the control system, to ensure that only products that fail the inspection are accurately pushed into the rejection channel, effectively preventing defective products from mixing into the qualified product line. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall structure of the automatic assembly device of the present invention.

[0019] Figure 2 This is a schematic diagram of the structure of the vibrating feeding bowl in the assembly device shown.

[0020] Figure 3 This is a schematic diagram of the guide rail assembly in the assembly device shown.

[0021] Figure 4 This is a schematic diagram of the rotary cylinder assembly in the assembly device shown.

[0022] Figure 5 This is a schematic diagram of the pusher cylinder assembly in the assembly device shown.

[0023] Figure 6 This is a schematic diagram of the main assembly station structure in the assembly device shown.

[0024] Figure 7 This is a schematic diagram of the servo pusher assembly in the assembly device shown.

[0025] Figure 8 This is a schematic diagram of the cylinder feeding assembly in the assembly device shown.

[0026] Figure 9 This is a block diagram of the control system of the automatic assembly device of the present invention. Detailed Implementation

[0027] The specific embodiments of this utility model will be further described below with reference to the exemplary structures shown in the accompanying drawings. However, it should be understood that the embodiments described are only for illustrating this utility model and are not intended to limit the scope of protection of this utility model.

[0028] like Figure 1 As shown, this embodiment provides a motor rotor appearance inspection device 100, which is suitable for the automated inspection of appearance defects and dimensional parameters of small motor rotors with a size of about 40mm.

[0029] The motor rotor appearance inspection equipment 100 includes a frame 200, an automatic feeding unit 300, a conveying unit 400, an inspection unit 500, a transfer unit 600, a sorting unit 700, and a control unit 800.

[0030] The frame 200 serves as the mounting base for the entire equipment and can be a profile frame or welded steel frame structure. Adjustable feet or casters can be installed at the bottom to achieve horizontal adjustment and movement positioning of the equipment. The electrical components required by the control unit 800 are preferably centrally located in the electrical cabinet 210 within the frame 200 for easy wiring and maintenance.

[0031] An automatic feeding unit 300 is located on one side of the frame 200 and is used to output motor rotors arranged in a row. A conveying unit 400 is located in the middle of the frame 200, with its feed end connected to the discharge end of the automatic feeding unit 300. It is used to receive the motor rotors output by the automatic feeding unit 300 and convey them to the pick-up position. A detection unit 500 is located on one side of the conveying unit 400 and is used to acquire images of the motor rotors. A transfer unit 600 spans above the conveying unit 400 and the detection unit 500 and is used to transfer the motor rotors between the pick-up position, the detection station, and the sorting station. A sorting unit 700 is located at the output end of the transfer unit 600 and is used to reject unqualified motor rotors after detection.

[0032] The control unit 800 is electrically connected to the automatic feeding unit 300, the conveying unit 400, the detection unit 500, the transfer unit 600, and the sorting unit 700, respectively, and is used to coordinate and control the actions of the above units, thereby realizing the automatic feeding, detection and sorting of the motor rotor.

[0033] like Figure 2 As shown, the automatic feeding unit 300 in this embodiment includes a vibratory feeder 310 and a linear vibratory track 320.

[0034] The vibratory feeder 310 is used to receive bulk motor rotor 311 blanks and gradually arrange the motor rotors 311 into a uniform orientation and consistent arrangement through the vibration of the feeder. The outlet of the vibratory feeder 310 is connected to the linear vibratory track 320, which conveys the motor rotors along its length under vibration drive, so that the rotors are output in a row.

[0035] like Figure 3 The conveying unit 400 shown includes a belt conveyor 410 and a limiting block 420 disposed at the end of the belt conveyor 410. The discharge port of the linear vibrating track 320 is connected to the feed end of the belt conveyor 410 so as to smoothly transfer the motor rotor output from the linear vibrating track 320 onto the belt conveyor 410. The belt conveyor 410 runs under the drive of the drive motor 411, conveying the motor rotor along the conveying direction to the predetermined material-to-be-picked-up position.

[0036] The limit stop 420 is fixedly installed at a designated position at the end or middle of the conveyor belt 410 in the conveying direction to block the forward motor rotor and stop it at the predetermined material-retrieving position. By limiting the movement of the limit stop 420, it is ensured that each motor rotor has a stable and predictable posture and position when it reaches the material-retrieving position, providing a reliable reference for the subsequent gripping by the gripper.

[0037] The automatic feeding unit 300 and the conveying unit 400 work together to transport the scattered motor rotors sequentially and orderly to the material to be picked up, completing the automatic material handling and conveying process before inspection.

[0038] like Figure 1 , Figure 4 As shown, the detection unit 500 is located on one side of the conveying unit 400, and it mainly includes a detection positioning seat 510 and an image acquisition component 520.

[0039] The testing positioning seat 510 is set at the testing station to place the motor rotor 311 to be tested. The upper surface of the testing positioning seat 510 has a V-shaped groove or a semi-circular groove 511 adapted to the outer diameter of the motor rotor. Preferably, the size of the semi-circular groove 511 is slightly larger than the outer diameter of the motor rotor, so that the motor rotor can automatically move towards the bottom of the groove under the action of gravity after being placed, achieving reliable limiting and basic self-centering, thereby ensuring the stability of the motor rotor shaft position and avoiding rolling or tilting during the testing process.

[0040] The image acquisition component 520 includes an industrial camera 521 and a surface light source 522. The industrial camera 521 is horizontally positioned on one side of the detection positioning base 510, with its lens optical axis perpendicular to the axis of the motor rotor. The surface light source 522 is positioned on the other side of the detection positioning base 510, opposite to the industrial camera 521. That is, the industrial camera 521, the detection positioning base 510, and the surface light source 522 are arranged sequentially along a straight line.

[0041] During image acquisition, the surface light source 522 provides background illumination for the motor rotor on the detection positioning seat 510, creating a backlit imaging effect. The motor rotor blocks some of the light emitted by the surface light source 522, resulting in a clear black outline in the image acquired by the industrial camera 521, while the background area appears as a bright area. This effectively suppresses stray reflections from the metal surface and clearly displays the outer contour edge of the motor rotor. The control unit 800 can process the acquired image to identify dimensional parameters such as the diameter and length of the motor rotor, as well as surface defects.

[0042] To accommodate motor rotors of different specifications and obtain optimal imaging quality, the detection unit 500 may further include a camera adjustment bracket 530. An industrial camera 521 is mounted on the camera adjustment bracket 530, which is configured to adjust the height and fore-aft position of the industrial camera 521. By adjusting the height, the optical axis of the lens of the industrial camera 521 can be aligned with the center height of rotors of different diameters; by adjusting the fore-aft position, the working distance between the industrial camera 521 and the motor rotor can be kept within a suitable range to obtain clear imaging.

[0043] like Figure 1 , Figure 6 As shown, the transfer unit 600 spans above the conveying unit 400 and the detection unit 500, and is used to transfer the motor rotor between the material to be picked up, the detection positioning seat 510 and the entrance of the sorting unit 700.

[0044] The transfer unit 600 includes a mounting backplate 610, a guide rail 620, a transverse drive assembly 630, a linkage beam 640, and a double gripper assembly 650.

[0045] The mounting backplate 610 is vertically fixed to the frame 200, providing a rigid mounting reference for the transfer mechanism. The guide rail 620 is fixedly mounted on the front of the mounting backplate 610, extending horizontally, and has an upward-arched section 621 in the middle of its track. The transverse drive assembly 630 is mounted on the mounting backplate 610 and is used to drive the linkage beam 640 to reciprocate along the guide rail 620.

[0046] The linkage beam 640 is slidably connected to the guide rail 620 via a slider structure, and can move along the trajectory of the guide rail 620. The dual gripper assembly 650 includes a first gripper 651 and a second gripper 652 spaced apart on the linkage beam 640.

[0047] The transverse drive assembly 630 preferably includes a servo motor 631 fixed to the mounting back plate 610, a rocker arm 632 connected to the output shaft of the servo motor 631, and a nut seat 633 sleeved on the rocker arm 632. The nut seat 633 is fixedly connected to the linkage beam 640. When the servo motor 631 rotates, it drives the rocker arm 632 to rotate, and the nut seat 633 generates linear displacement on the rocker arm 632, thereby driving the linkage beam 640 to move along the guide rail 620.

[0048] The guide rail 620 has a Z-shaped structure, specifically with low sections at both ends above the material pick-up position of the conveying unit 400 and above the entrance of the sorting unit 700, and the two low sections are connected by an arched section 621 in the middle. The arched section 621 is located above the detection positioning seat 510, and its height is higher than the two low sections at both ends.

[0049] When the linkage beam 640 moves to the highest point of the arched section 621 in the middle of the guide rail 620, the linkage beam 640 is lifted to a high position by the guide rail 620. The first gripper 651 and the second gripper 652 rise together with the linkage beam 640 and are in a raised avoidance state to avoid interference with the detection positioning seat 510.

[0050] When the linkage beam 640 moves to the lower points of the left and right ends of the guide rail 620, the linkage beam 640 descends with the guide rail 620, and the first gripper 651 and the second gripper 652 are at the corresponding material picking height and material placing height respectively, which can grab or place the motor rotor located at the material picking position of the conveying unit 400, the motor rotor detection and positioning seat 510, and the entrance of the sorting unit 700.

[0051] The first gripper 651 and the second gripper 652 are preferably electric grippers, which can open or close according to the control signal of the control unit 800 to clamp and release the motor rotor. The center distance between the two grippers is precisely designed so that it is equal to the horizontal distance between the material to be picked up and the detection positioning seat 510, and also equal to the horizontal distance between the detection positioning seat 510 and the entrance of the sorting unit 700.

[0052] During operation, the linkage beam 640 moves back and forth along the guide rail 620 under the drive of the transverse drive component 630.

[0053] When the linkage beam 640 is in the low position on the left end, the first gripper 651 is above the material to be picked up position of the conveying unit 400, and the second gripper 652 is above the detection positioning seat 510; the first gripper 651 picks up the motor rotor to be tested, and the second gripper 652 picks up the motor rotor that has been tested. As the linkage beam 640 moves to the right, the first gripper 651 and the second gripper 652 rise along the arched section 621 with the linkage beam 640 to the avoidance height and cross the detection area. When the linkage beam 640 moves to the lower right position, the first gripper 651 moves above the detection positioning seat 510 and descends, placing the newly picked motor rotor into the detection positioning seat 510; the second gripper 652 moves above the entrance of the sorting unit 700 and descends, placing the motor rotor that was previously detected into the entrance of the sorting unit 700.

[0054] With the above structure, using only one set of transverse drive assembly 630 and zigzag guide rail 620, the first gripper 651 and the second gripper 652 can complete synchronous lifting and lowering actions while moving horizontally, so as to realize the synchronous transfer of the motor rotor from the material to be picked up to the detection positioning seat 510 and the transfer of the detected motor rotor from the detection positioning seat 510 to the entrance of the sorting unit 700. This eliminates the need for an additional Z-axis lifting mechanism, resulting in a compact structure and short transfer cycle.

[0055] like Figure 8 As shown, the sorting unit 700 is located at the output end of the transfer unit 600 and is used to classify the detected motor rotors.

[0056] The sorting unit 700 includes a rejection channel 710 and a pushing assembly 720. The rejection channel 710 is located on one side of the normal conveying path of the motor rotor, and is preferably a slide structure with a certain inclination angle, used to guide the rejected motor rotor into the waste collection container.

[0057] The feeding assembly includes a rejection cylinder 721 and an ejector pin 722 connected to the output end of the cylinder. The rejection cylinder 721 is fixed to the side of the rejection channel 710, and the front end of the ejector pin 722 faces the inlet of the rejection channel 710.

[0058] During operation, the transfer unit 600 places the inspected motor rotor at the entrance of the rejection channel 710. The control unit 800 determines whether the motor rotor is qualified based on the image recognition results. When the motor rotor is defective, the control unit 800 sends an action command to the rejection cylinder 721. The rejection cylinder 721 drives the ejector pin 722 to extend horizontally. The ejector pin 722 pushes the motor rotor at the sorting position into the rejection channel 710, causing it to slide into the waste collection area, thereby completing the rejection of the defective motor rotor. When the motor rotor is a qualified product, the rejection cylinder 721 does not operate, the ejector pin 722 remains retracted, and the motor rotor is not pushed into the rejection channel 710. Instead, it is collected into the qualified product station by the subsequent conveying mechanism or manually.

[0059] With the above structural design, the pusher component 720 only operates when a non-conforming signal is received, which can significantly reduce the probability of false rejection and missed rejection and ensure the accuracy of sorting results.

[0060] like Figure 9 As shown, the control unit 800 may include a programmable logic controller (PLC 810), an image processing unit 820, and a human-machine interface 830. The PLC 810 is electrically connected to actuators such as the vibratory feeder 310, the linear vibrating track 320, the belt conveyor motor 411, the servo motor 631, the electric grippers 651 and 652, the industrial camera 521, the surface light source 522, and the rejection cylinder 721, and is used to control the sequence and cycle time of the entire system's actions. The image processing unit 820 is connected to the industrial camera 521 and is used to receive and process the acquired motor rotor images, outputting dimensional inspection and appearance defect judgment results.

[0061] The control unit 800 is configured to control the typical workflow of the entire system as follows: (1) When the automatic feeding unit 300 is started, the vibrating plate 310 and the straight vibrating track 320 organize and arrange the bulk motor rotor into a row, and send it to the conveying unit 400 via the straight vibrating track 320; (2) The conveying unit 400 drives the belt conveyor 410 to run, and conveys the motor rotor to the limit block 420, where the motor rotor stops at the position to be picked up. (3) When the transfer unit 600 is activated, the linkage beam 640 moves along the guide rail 620 under the drive of the servo motor 631. The first gripper 651 picks up the motor rotor to be tested from the material to be picked up position, and the second gripper 652 picks up the motor rotor that was previously tested from the entrance of the sorting unit 700 or the detection positioning seat 510. (4) The linkage beam 640 moves across the arched section 621 to the other end, the first gripper 651 places the motor rotor to be tested on the detection positioning seat 510, and the second gripper 652 places the detected motor rotor at the entrance of the sorting unit 700. (5) With the cooperation of the surface light source 522, the industrial camera 521 acquires images of the motor rotor in the detection positioning seat 510. The image processing unit 820 analyzes the images, obtains the size data of the motor rotor and identifies whether there are appearance defects. It returns the qualified / unqualified signal to the PLC 810 and synchronously feeds the qualified / unqualified signal back to the human-machine interface. (6) When the transfer unit 600 completes the transfer again, the sorting unit 700 takes action according to the qualified / unqualified signal output by the control unit 800. If it is an unqualified product, the rejection cylinder 721 is activated and the ejector pin 722 pushes the motor rotor into the rejection channel 710. If it is a qualified product, the rejection cylinder 721 is not activated and the motor rotor is guided to the qualified product output path. (7) The above process is repeated to achieve continuous automatic detection and sorting of motor rotors.

[0062] As can be seen from the above embodiments, the present invention integrates automatic feeding, conveying buffer, single-camera image detection, synchronous transfer and automatic sorting into one unit. It has a compact structure and simple control, which can significantly improve the detection efficiency and accuracy of small motor rotors, reduce the intensity of manual labor and the error introduced by manual operation, and fully realize the technical solution defined in the aforementioned claims.

Claims

1. A motor rotor appearance inspection device, characterized in that, include: frame; An automatic feeding unit is located on one side of the frame and is used to output motor rotors arranged in a row; The conveying unit receives the motor rotor output from the automatic feeding unit and conveys the motor rotor to the material to be picked up position; The detection unit is located on one side of the conveying unit and includes a detection positioning seat for placing the rotor of the motor to be tested and an image acquisition component for acquiring images of the motor rotor. The transfer unit spans above the conveying unit and the detection unit, and is used to synchronously transfer the motor rotor from the material to be picked up to the detection positioning seat, and to transfer the detected motor rotor out of the detection positioning seat. The sorting unit is located at the output end of the transfer unit and is used to remove defective products after inspection. The control unit is electrically connected to the automatic feeding unit, conveying unit, detection unit, transfer unit and sorting unit respectively.

2. The motor rotor appearance inspection device according to claim 1, characterized in that, The transfer unit includes: a mounting backplate, vertically fixed to the frame; a guide rail, fixedly mounted on the mounting backplate, the guide rail extending horizontally and having an upward arched section in the middle; a lateral movement drive assembly, mounted on the mounting backplate; a linkage beam connected to the lateral movement drive assembly and slidably connected to the guide rail; and a double gripper assembly, including a first gripper and a second gripper fixed at intervals on the linkage beam; the lateral movement drive assembly drives the linkage beam to move along the guide rail, causing the first gripper and the second gripper to synchronously perform lifting and horizontal displacement.

3. The motor rotor appearance inspection equipment according to claim 2, characterized in that, The guide rail has a Z-shaped structure, and the arched section is located above the detection and positioning seat; when the linkage beam moves to the highest point of the arched section, the first gripper and the second gripper are in a raised and avoidance state; when the linkage beam moves to the lowest points at both ends of the guide rail, the first gripper and the second gripper are at the material picking height and the material releasing height, respectively.

4. The motor rotor appearance inspection device according to claim 2, characterized in that, The lateral movement drive assembly includes a servo motor fixed to the mounting back plate, a rocker arm connected to the output shaft of the servo motor, and a nut seat sleeved on the rocker arm; the nut seat is fixedly connected to the linkage beam, and the axial direction of the rocker arm is parallel to the horizontal extension direction of the guide rail.

5. The motor rotor appearance inspection device according to claim 1, characterized in that, The image acquisition component includes an industrial camera and a surface light source; the industrial camera is horizontally positioned on one side of the detection positioning base, with its lens optical axis perpendicular to the axis of the motor rotor; the surface light source is positioned on the other side of the detection positioning base and is located on the opposite side of the industrial camera, used to provide background lighting for the motor rotor.

6. The motor rotor appearance inspection device according to claim 5, characterized in that, The detection unit also includes a camera adjustment bracket, on which the industrial camera is mounted. The camera adjustment bracket is configured to adjust the height and front-to-back position of the industrial camera. The detection positioning seat is provided with a V-groove or semi-circular groove that is adapted to the outer diameter of the motor rotor.

7. The motor rotor appearance inspection device according to claim 1, characterized in that, The sorting unit includes a rejection channel and a pushing assembly; the transfer unit places the inspected motor rotor at the entrance of the rejection channel, and the pushing assembly includes a rejection cylinder and a push pin connected to the cylinder output end. The push pin is configured to extend when a non-compliance signal is received to push the motor rotor into the rejection channel.

8. The motor rotor appearance inspection device according to claim 1, characterized in that, The automatic feeding unit includes a vibratory feeder and a linear vibrating track. The discharge port of the linear vibrating track is connected to the feed end of the conveying unit. The conveying unit includes a belt conveyor and a limiting block located at the end of the belt conveyor. The limiting block is used to block the motor rotor at the material to be picked up position.

9. The motor rotor appearance inspection device according to claim 2, characterized in that, Both the first and second grippers are electric grippers, and the center distance between them is equal to the horizontal distance between the material to be picked up and the detection positioning seat, and also equal to the horizontal distance between the detection positioning seat and the entrance of the sorting unit.

Images