1. The full-automatic loading and unloading and multi-station small part appearance detecting and sorting equipment is characterized by comprising a material tray loading mechanism, a product loading and unloading station, a product transplanting mechanism, a product secondary positioning station, a product detecting objective table, a product detecting station, a sorting and material changing station, an OK and NG sorting mechanism, an NG placing station, an OK material supplementing and placing station and an OK whole tray output mechanism;

the material tray feeding mechanism is used for conveying a material tray to the product feeding and discharging station, and products to be detected are arrayed and fixed in the material tray; the product loading and unloading station carries out product coarse positioning through positioning of a material tray, so that the product transplanting mechanism can conveniently take and place products in the material tray, and meanwhile, the material tray which completes the whole tray of product detection is conveyed to be in butt joint with the sorting and material changing station; the product transplanting mechanism is used for transferring products between the product loading and unloading station and the product secondary positioning station, transferring the products on the loading and unloading station into the product secondary positioning station, and transferring the detected products on the product secondary positioning station into the product loading and unloading station; the product secondary positioning station is used for accurately positioning the transplanted product so that the product can be accurately transferred to the product detection objective table; the product detection objective table is used for taking and placing products on a secondary product positioning station, moving the positioned and fixed products to the product detection station and adjusting the angle of the products so as to facilitate detection; the product detection station is used for detecting products;

the sorting and material changing station is arranged at one end of the OK product whole disc output mechanism and is used for placing a material disc which is detected and waits to be sorted, the material disc comprises OK products and NG products, a drive plate component is arranged on the sorting and material changing station and is used for shifting the material disc which is detected on the product feeding and discharging station to the OK product whole disc output mechanism on the sorting and material changing station when the product feeding and discharging station is in butt joint with the sorting and material changing station; the OK and NG sorting mechanism is used for sorting NG in the material loading disc of the sorting and material changing station into an NG material disc on an NG material placing station, and when no material disc exists on the OK material supplementing and placing station, moving the whole material disc without the NG on the sorting and material changing station onto a K material supplementing and placing station, and moving the OK in the material loading disc of the OK material supplementing and placing station into a vacancy left by the NG removed in the material loading disc of the sorting and material changing station;

a plurality of NG material trays are placed on the NG material placing station and used for final discharging of NG products, and an OK and NG material sorting mechanism sorts the NG products in the material loading tray on the sorting and material changing station into the NG material trays; a material tray discharge position is arranged on the OK product supplementing and placing station and is used for placing a material tray filled with OK products for the OK product and NG product sorting mechanism to take materials so as to supplement vacancy left in the material tray on the sorting and material changing station due to the removal of NG products; the whole OK product tray output mechanism is used for conveying the material trays filled with the OK products, and when the material trays on the sorting and material changing stations are completely filled with the OK products, the whole OK product tray output mechanism conveys the material trays outwards.

2. The full-automatic loading and unloading and multi-station small part appearance detecting and sorting equipment as claimed in claim 1, wherein the tray loading mechanism, the product loading and unloading station, the product transplanting mechanism, the product secondary positioning station, the product detecting object stages and the OK product whole tray output mechanism are respectively provided with two groups which are arranged in bilateral symmetry, the product detecting station is arranged between the two groups of product detecting object stages, and the product detecting station alternately detects two groups of products from the two groups of product detecting object stages on the two sides; the OK product supplementing material placing station and the NG product placing station are positioned between the two groups of OK product whole disc output mechanisms, and the OK product sorting mechanism and the NG product sorting mechanism alternately sort the left group of products and the right group of products.

3. The full-automatic loading and unloading and multi-station small part appearance detecting and sorting equipment as claimed in claim 1, wherein the tray feeding mechanism comprises a tray buffer module and a tray pushing module, the tray buffer module is used for storing trays containing products and comprises a lifting driving assembly and a loading buffer bin arranged on the lifting driving assembly, the lifting driving assembly drives the loading buffer bin to move up and down, a plurality of tray storage positions arranged up and down are arranged on the loading buffer bin, and trays containing products are stored on the tray storage positions; the charging tray release module is used for pushing away the charging tray on the charging tray buffer module in proper order to go up unloading station department on the product, it include horizontal drive subassembly and with the push pedal that horizontal drive subassembly is connected, horizontal drive subassembly drive push pedal release the charging tray in the material loading buffer storehouse and release the material loading buffer storehouse, thereby lift drive subassembly drive material loading buffer storehouse reciprocates and makes the charging tray homoenergetic on the different charging tray parking stall reach push pedal department to by the push pedal promotion to the unloading station on the product.

4. The full-automatic loading and unloading and multi-station small part appearance detecting and sorting equipment as claimed in claim 1, wherein the product loading and unloading station comprises a support plate and a first Y-axis tray moving module, a tray is placed on the support plate, the tray is positioned and fixed on the support plate, the support plate is arranged on the first Y-axis tray moving module, and the first Y-axis tray moving module is used for conveying the positioned and fixed tray to be detected to the product transplanting mechanism along a Y-axis direction for taking and placing products, and conveying the detected tray to be detected to be butted with the sorting and material changing station along the Y-axis direction;

the product transplanting mechanism comprises a product taking and placing gripper, a first X-axis product moving module and a first Z-axis lifting module, wherein the product taking and placing gripper is provided with a plurality of grippers for sucking or grabbing products, the product taking and placing gripper is installed on the first Z-axis lifting module, the first Z-axis lifting module is installed on the first X-axis product moving module, the product taking and placing gripper carries the products to be detected to a product secondary positioning station from a product feeding and discharging station under the driving of the first X-axis product moving module and the first Z-axis lifting module, and carries the products which are detected on the product secondary positioning station to the product feeding and discharging station.

5. The fully-automatic loading and unloading and multi-station small-sized piece appearance detecting and sorting equipment as claimed in claim 4, wherein the plurality of grippers are two groups of suckers parallel to the containing groove, so that when the product transplanting mechanism arrives at the product loading and unloading station or the product secondary positioning station, the picking and placing task is completed at one time, and when the product transplanting mechanism arrives at the product secondary positioning station from the product loading and unloading station, one group of suckers sucks a product which is detected at the product secondary positioning station, and then the other group of suckers places the product to be detected sucked thereon on the product secondary positioning station; when the product transplanting mechanism comes to the product loading and unloading station from the product secondary positioning station, one group of suckers place the products which are sucked by the product transplanting mechanism and are detected on the product loading and unloading station, and the other group of suckers suck the products to be detected on the product loading and unloading station again, so that the number of times of the product transplanting mechanism going back and forth between the product loading and unloading station and the product secondary positioning station is reduced;

the plurality of grippers are connected with a variable-pitch structure, the distance between the plurality of grippers is adjusted through the variable-pitch structure in the operation process, the variable-pitch structure comprises a telescopic cylinder, a sliding rail and a plurality of sliding blocks, the plurality of grippers are respectively installed on the plurality of sliding blocks, the innermost sliding block is fixed on the sliding rail, and the rest sliding blocks are movably installed on the sliding rail and can move along the sliding rail; each sliding block is provided with a hooking part, two adjacent sliding blocks are mutually connected through the hooking parts, the sliding blocks are sequentially connected from front to back through the hooking parts, when the gripper is contracted, the hooking parts are contracted into the adjacent sliding blocks, when the gripper is unfolded, the hooking parts slide out along the adjacent sliding blocks, and when the gripper is hooked with the adjacent sliding blocks, the adjacent sliding blocks are driven to slide; the telescopic cylinder is connected with the slide block on the outermost side to push the slide block on the outermost side to move along the slide rail, and the slide block on the outermost side drives the rest slide blocks to sequentially slide through the hooking part, so that the distance between the grippers is adjusted.

6. The full-automatic loading and unloading and multi-station small-sized piece appearance detecting and sorting equipment as claimed in claim 1, wherein a plurality of accommodating grooves matched with the shapes of products are formed in the secondary product positioning stations at intervals, and the product transplanting mechanism moves the products on the product loading and unloading stations into the accommodating grooves for accurate positioning;

the product detection objective table comprises product jigs, a horizontal moving assembly and a turnover assembly, wherein the product jigs are used for placing and fixing products, the number of the product jigs is the same as that of the accommodating grooves on the secondary product positioning stations, and the product jigs are opposite in position; the product jig is driven to rotate by the overturning assembly, the angle of a product on the product jig is adjusted, and detection of each angle of the product is achieved.

7. The full-automatic loading and unloading and multi-station small part appearance detecting and sorting equipment as claimed in claim 6, wherein the product is a Type-C charging interface, the product transplanting mechanism sucks the product through a sucker, the product jig has a shape matched with a socket of the Type-C charging interface, one side of the accommodating groove on the secondary product positioning station, which faces away from the product detecting objective table, is a closed end, one side of the accommodating groove, which faces the product detecting objective table, is an open end, one end of the Type-C charging interface abuts against the closed end of the accommodating groove, and the product jig is inserted into the socket at the other end of the Type-C charging interface from the open end of the accommodating groove, so that the Type-C charging interface is positioned and fixed on the product jig; when the product which is detected is required to be unloaded from the product jig, the product which is detected is placed in the accommodating groove on the secondary positioning station of the product by the product jig, the product transplanting mechanism sucks the surface of the product through the sucking disc, the product retreats, the product is separated from the product jig and is adsorbed on the product transplanting mechanism, and the product transplanting mechanism finishes the task of sucking the detected product.

8. The fully-automatic loading and unloading and multi-station small-sized piece appearance detecting and sorting equipment as claimed in claim 1, wherein the OK and NG piece sorting mechanism comprises a lifting sorting gripper, a second X-axis product moving module and a second Y-axis material tray moving module, the lifting sorting gripper is mounted on the second Y-axis material tray moving module, the second Y-axis material tray moving module is mounted on the second X-axis product moving module, and the lifting sorting gripper is driven by the second X-axis product moving module and the second Y-axis material tray moving module to sort and move OK and NG pieces; the lifting sorting gripper comprises four suckers capable of independently lifting and four integrally lifting suckers, the four suckers capable of independently lifting are used for sorting OK products and NG products, and the four integrally lifting suckers are used for moving and taking the material tray.

9. The fully automatic loading and unloading and multi-station small part appearance detecting and sorting device as claimed in claim 1, wherein the product loading and unloading station, the sorting and material changing station, the OK product material supplementing and placing station and the NG product placing station are all provided with material tray fixing assemblies for positioning and fixing material trays, so that the material trays are prevented from being displaced when products are moved, each material tray fixing assembly comprises a positioning assembly, each positioning assembly comprises two sets of clamping blocks and a clamping block driving structure, the two sets of clamping blocks are oppositely arranged, clamping grooves matched with the clamping blocks are formed in the material trays, and the two sets of clamping block driving structures respectively drive the two sets of clamping blocks to be clamped into the clamping grooves so as to position and fix the material trays;

the tray fixing component on the OK product material supplementing and placing station further comprises a bearing component, the bearing component comprises a bearing block and a bearing driving structure, the tray is supported by the bearing block, and the bearing driving structure drives the bearing block to stretch and retract so as to support or release the tray;

an empty tray storage position is further arranged on the OK product feeding and placing station, the empty tray storage position is arranged right below the tray placing position, the tray placed with the OK products is fixed on the tray placing position by the tray fixing assembly on the OK product feeding and placing station, after the OK products in the trays are completely moved, the empty tray is released by the supporting assembly on the tray fixing assembly, the empty tray falls onto the empty tray storage position right below under the action of gravity, and the empty tray storage positions on the empty trays are sequentially stacked;

the material tray fixing component on the product loading and unloading station further comprises a vacuum adsorption component, wherein the vacuum adsorption component is arranged at the bottom of the material tray and used for adsorbing and fixing the material tray from the bottom of the material tray.

10. The full-automatic loading and unloading and multi-station small part appearance detecting and sorting method adopts the full-automatic loading and unloading and multi-station small part appearance detecting and sorting equipment as claimed in claims 1 to 9, and is characterized by comprising the following steps:

s1, conveying the tray filled with the product to be detected to a product loading and unloading station by the tray loading mechanism;

s2, positioning and fixing the tray on the product loading and unloading station, sucking the products to be detected in the tray by the product transplanting mechanism, adjusting the distance between the sucked products to be matched with the distance between the products on the product secondary positioning station, and carrying the products to the product secondary positioning station, wherein one group of suckers in the product transplanting mechanism firstly suck the products which are detected on the product secondary positioning station, and then the other group of suckers place the products to be detected sucked from the product loading and unloading station on the product secondary positioning station for accurate positioning, namely, the tasks of sucking the detected products and placing the products to be detected are completed at one time; then, the product transplanting mechanism returns to the product loading and unloading station, and after the sucked detected product is placed in a material tray on the product loading and unloading station, the product to be detected in the material tray is sucked; the product transplanting mechanism returns to the product secondary positioning station again, the placement of the finished product to be detected and the absorption of the product to be detected are completed at one time, and the product transplanting mechanism repeatedly takes and places the product between the product feeding and discharging station and the product secondary positioning station;

s3, the product detection objective table moves the product on the product secondary positioning station to the product detection station, the angle of the product is adjusted to detect each angle of the product, and meanwhile, the product detection objective table on the other side carries out loading and unloading actions on the product; after the detection of one side is finished, the product of the other side is just moved to the right position to enter the detection, and the product detection is alternately carried out on the two sides;

s4, when all the products in the material tray on the material loading and unloading station of the product are detected, the material tray is conveyed to be in butt joint with the sorting and material changing station by the material loading and unloading station of the product, and the material tray is shifted to the sorting and material changing station by the dial assembly on the sorting and material changing station;

s5, the OK and NG sorting mechanism sorts the NG in the tray which is detected to the NG tray on the NG placing station according to the product detection result in the S3 step, moves the OK in the tray on the OK supplementing material placing station to the sorting material changing station to fill the vacant positions left by removing the NG, and when all the OK are in the tray, the OK whole tray output mechanism acts to output the tray filled with the OK outwards;

and S6, when all OK products in the material tray on the OK product supplement placing station are moved, releasing an empty material tray by the material tray fixing component on the OK product supplement placing station, enabling the empty material tray to fall into an empty material tray storage position below, moving the whole material tray without the NG products on the sorting material changing station to a material tray discharge position of the K product supplement placing station by the OK product and NG product sorting mechanism, and fixing the material tray by the material tray fixing component to allow a follow-up OK product and NG product sorting mechanism to move vacant positions left by the NG products.

Background

The related products of the electronic components are wide in range and various in types, and are also indispensable accessories in the development of electronic products, the related products comprise mobile phones, computers, chargers, electronic watches, toys, furniture and the like, and the demand of the products on the electronic components is very large. Since the quality of electronic components has a great influence on the quality of final products, the appearance and size of these electronic devices are increasingly required based on the requirement of pursuing the quality of the products. The Type-C interface that charges is the more interface element of present application, and many electronic product all can use, and it supports the two-sided insertion of USB interface. According to the current development trend, the quality requirement is difficult to reach in the traditional manual detection mode, 20% of defect types cannot be checked, time and labor are wasted, a large amount of labor force is occupied, operation fatigue is caused easily, false detection and missing detection are caused easily, the detection efficiency is extremely low, the cost is high, and the market which is changed rapidly cannot be adapted. Therefore, there is a need to automate the detection of products.

Disclosure of Invention

The invention aims to overcome the defects of the prior art and provide full-automatic feeding and discharging and multi-station small part appearance detecting and sorting equipment which is compact in overall layout design, high in automation degree, high in production efficiency, high in compatibility and wide in detection project range, and a full-automatic feeding and discharging and multi-station small part appearance detecting and sorting method using the equipment.

The invention is realized by the following technical scheme:

full-automatic unloading and multistation smallclothes outward appearance detection letter sorting equipment, including charging tray feed mechanism, the unloading station of product, product transplanting mechanism, product secondary positioning station, product detection objective table, product detection station, letter sorting station of reloading, OK article and NG article letter sorting mechanism, NG article pendulum material station, OK article feed supplement place station, the whole dish output mechanism of OK article.

The material tray feeding mechanism is used for conveying a material tray to the product feeding and discharging station, and products to be detected are arrayed and fixed in the material tray; the product loading and unloading station carries out product coarse positioning through positioning of a material tray, so that the product transplanting mechanism can conveniently take and place products in the material tray, and meanwhile, the material tray which completes the whole tray of product detection is conveyed to be in butt joint with the sorting and material changing station; the product transplanting mechanism is used for transferring products between the product loading and unloading station and the product secondary positioning station, transferring the products on the loading and unloading station into the product secondary positioning station, and transferring the detected products on the product secondary positioning station into the product loading and unloading station; the product secondary positioning station is used for accurately positioning the transplanted product so that the product can be accurately transferred to the product detection objective table; the product detection objective table is used for taking and placing products on a secondary product positioning station, moving the positioned and fixed products to the product detection station and adjusting the angle of the products so as to facilitate detection; the product detection station is used for detecting products.

The sorting and material changing station is arranged at one end of the OK product whole disc output mechanism and used for placing a material disc which is detected and waits for sorting, the material disc comprises an OK product and an NG product, and a driving disc component is arranged on the sorting and material changing station and used for driving the material disc which is detected on the material loading and unloading station of the product to the sorting and material changing station when the material loading and unloading station of the product is in butt joint with the sorting and material changing station. The OK and NG sorting mechanism is used for sorting NG products in the material loading disc of the sorting and material changing station into an NG material disc on the NG product placing station, and when no material disc exists on the OK product material supplementing and placing station, the whole disc of the material disc (only OK products exist in the material disc after the NG products are removed) on the sorting and material changing station after the NG products are removed is moved to the K product material supplementing and placing station (when the whole disc of the material disc is OK products, the whole disc is moved without removing the materials), and the OK products in the material disc on the OK product material supplementing and placing station are moved into a vacancy left by the removed NG products in the material disc on the sorting and material changing station.

A plurality of NG material trays are placed on the NG material placing station and used for final discharging of NG products, and an OK and NG material sorting mechanism sorts the NG products in the material loading tray on the sorting and material changing station into the NG material trays; a material tray discharge position is arranged on the OK product supplementing and placing station and is used for placing a material tray filled with OK products for the OK product and NG product sorting mechanism to take materials so as to supplement vacancy left in the material tray on the sorting and material changing station due to the removal of the NG products and enable the material tray to be filled with the OK products; the OK product whole tray output mechanism is used for conveying the material trays filled with OK products, and when the material trays on the sorting and material changing stations are completely filled with the OK products (NG products are removed and the OK products are supplemented), the OK product whole tray output mechanism conveys the material trays outwards.

The technical scheme is that the material tray feeding mechanism, the product feeding and discharging station, the product transplanting mechanism, the product secondary positioning station, the product detection object stages, the sorting and material changing station and the OK product whole tray output mechanism are respectively provided with two groups which are arranged in bilateral symmetry, the product detection station is arranged between the two groups of product detection object stages, and the two groups of products from the two groups of product detection object stages at the two sides are alternately detected; the OK product supplementing material placing station and the NG product placing station are positioned between the two groups of OK product whole disc output mechanisms, and the OK product sorting mechanism and the NG product sorting mechanism alternately sort the left group of products and the right group of products.

The material tray feeding mechanism comprises a material tray caching module and a material tray pushing module, wherein the material tray caching module is used for storing material trays containing products and comprises a lifting driving assembly and a material loading caching bin arranged on the lifting driving assembly, the lifting driving assembly drives the material loading caching bin to move up and down, a plurality of material tray storage positions which are arranged up and down are arranged on the material loading caching bin, and the material trays containing the products are stored on the material tray storage positions; the charging tray release module is used for pushing away the charging tray on the charging tray buffer module in proper order to go up unloading station department on the product, it include horizontal drive subassembly and with the push pedal that horizontal drive subassembly is connected, horizontal drive subassembly drive push pedal release the charging tray in the material loading buffer storehouse and release the material loading buffer storehouse, thereby lift drive subassembly drive material loading buffer storehouse reciprocates and makes the charging tray homoenergetic on the different charging tray parking stall reach push pedal department to by the push pedal promotion to the unloading station on the product.

According to a further preferred technical scheme, the feeding and discharging station of the product comprises a supporting plate and a first Y-axis material tray moving module, a material tray is placed on the supporting plate, a material tray fixing component on the feeding and discharging station of the product is arranged on the supporting plate, the material tray is fixedly positioned on the supporting plate, the supporting plate is arranged on the first Y-axis material tray moving module, the first Y-axis material tray moving module is used for conveying the positioned and fixed material tray to be detected to the product transplanting mechanism along the Y-axis direction to allow the product transplanting mechanism to take and place the product, and conveying the detected material tray to be butted with the sorting and material changing station along the Y-axis direction.

The product transplanting mechanism comprises a product taking and placing gripper, a first X-axis product moving module and a first Z-axis lifting module, wherein the product taking and placing gripper is provided with a plurality of suction or gripping products, the product taking and placing gripper is installed on the first Z-axis lifting module, the first Z-axis lifting module is installed on the first X-axis product moving module, the product taking and placing gripper carries the products to be detected to a product secondary positioning station from a product feeding and discharging station under the driving of the first X-axis product moving module and the first Z-axis lifting module, and carries the products which are detected on the product secondary positioning station to the product feeding and discharging station.

A further preferred technical scheme is that the plurality of grippers are two groups of suckers parallel to the containing groove, so that when the product transplanting mechanism comes to the product loading and unloading station or the product secondary positioning station, the picking and placing task is completed at one time, when the product transplanting mechanism comes to the product secondary positioning station from the product loading and unloading station, one group of suckers sucks a product which is detected on the product secondary positioning station, and then the other group of suckers place a product to be detected sucked on the other group of suckers on the product secondary positioning station; when the product transplanting mechanism comes to the product loading and unloading station from the product secondary positioning station, after the products which are sucked by the suckers and are detected are placed on the product loading and unloading station, the other suckers suck the products to be detected on the product loading and unloading station, so that the number of times of the product transplanting mechanism to make a round trip between the product loading and unloading station and the product secondary positioning station can be reduced, and the product taking and placing efficiency is improved.

In order to adapt to the difference between the distance between products on the material tray and the distance between the products on the secondary positioning station of the products, the plurality of grippers are connected with a variable-pitch structure, the distance between the plurality of grippers can be adjusted in the operation, and the distance between the grippers can be adjusted according to the types of the products, including the distance between the products on the material tray and the distance between the products on the secondary positioning station of the products. The variable-pitch structure comprises a telescopic cylinder, a sliding rail and a plurality of sliding blocks, a plurality of grippers are respectively arranged on the plurality of sliding blocks, the innermost sliding block is fixed on the sliding rail, and the rest sliding blocks are movably arranged on the sliding rail and can move along the sliding rail; each sliding block is provided with a hooking part, two adjacent sliding blocks are mutually connected through the hooking parts, the sliding blocks are sequentially connected from front to back through the hooking parts, when the gripper is contracted, the hooking parts are contracted into the adjacent sliding blocks, when the gripper is unfolded, the hooking parts slide out along the adjacent sliding blocks, and when the gripper is hooked with the adjacent sliding blocks, the adjacent sliding blocks are driven to slide; the telescopic cylinder is connected with the slide block on the outermost side to push the slide block on the outermost side to move along the slide rail, and the slide block on the outermost side drives the rest slide blocks to sequentially slide through the hooking part, so that the distance between the grippers is adjusted.

According to a further preferred technical scheme, a plurality of accommodating grooves matched with the shapes of the products are formed in the secondary product positioning station at intervals, the products on the product loading and unloading station are moved to the accommodating grooves by the product transplanting mechanism, and the products are accurately positioned through the accommodating grooves.

The product detection objective table comprises product jigs, a horizontal moving assembly and a turnover assembly, wherein the product jigs are used for placing and fixing products, the number of the product jigs is the same as that of the accommodating grooves on the secondary product positioning stations, and the product jigs are opposite in position; the product jig is driven to rotate by the overturning assembly, the angle of the product on the product jig is adjusted, and detection of each angle of the product is achieved. The product jig can be detached, and the product jig is replaced to adapt to detection of different products.

According to a further preferable technical scheme, the product is a Type-C charging interface, the product transplanting mechanism absorbs the product through a sucker, the product jig is in a shape matched with a socket of the Type-C charging interface, one side, back to the product detection objective table, of the accommodating groove on the secondary product positioning station is a closed end, one side, facing the product detection objective table, of the accommodating groove is an open end, one end of the Type-C charging interface abuts against the closed end of the accommodating groove, the product jig is inserted into the socket at the other end of the Type-C charging interface from the open end of the accommodating groove, and therefore the Type-C charging interface is fixedly positioned on the product jig; when the product which is detected is required to be unloaded from the product jig, the product which is detected is placed in the accommodating groove on the secondary positioning station of the product by the product jig, the product transplanting mechanism sucks the surface of the product through the sucking disc, the product retreats, the product is separated from the product jig and is adsorbed on the product transplanting mechanism, and the product transplanting mechanism finishes the task of sucking the detected product.

According to a further preferable technical scheme, the OK and NG sorting mechanism comprises a lifting sorting gripper, a second X-axis product moving module and a second Y-axis material tray moving module, the lifting sorting gripper is mounted on the second Y-axis material tray moving module, the second Y-axis material tray moving module is mounted on the second X-axis product moving module, and the lifting sorting gripper is driven by the second X-axis product moving module and the second Y-axis material tray moving module to sort OK and NG products and move material trays; the lifting sorting gripper comprises four suckers capable of independently lifting and four integrally lifting suckers, the four suckers capable of independently lifting are used for sorting OK products and NG products, and the four integrally lifting suckers are used for moving and taking the material tray.

Further preferred technical scheme is, the station is placed to unloading station, letter sorting reloading station, OK article feed supplement of product, NG article pendulum material station all are provided with the fixed subassembly of charging tray of the fixed charging tray in location, and the charging tray shifts when avoiding moving and getting the product, the charging tray fixed subassembly all includes locating component, locating component is including relative two sets of fixture blocks and the fixture block drive structure that sets up, have on the charging tray with the draw-in groove of fixture block looks adaptation, it is two sets of fixture block drive structure drives two sets of fixture block card respectively and goes into thereby fix a position the charging tray in the draw-in groove. The shape and the structure of the fixture block on each fixing component are the same, so that the material tray can be circulated and fixed among stations.

The charging tray fixing component on the OK product feeding material placing station further needs to have a bearing function, so it still includes the bearing component, the bearing component includes bearing block and bearing drive structure, and the charging tray is supported by the bearing block, and bearing drive structure drive bearing block is flexible in order to support or release the charging tray.

The OK product feeding and placing station is also provided with an empty tray storage position, the empty tray storage position is arranged under the tray placing position, the tray fixing assembly on the OK product feeding and placing station fixes the tray placed with the OK products on the tray placing position, after the OK products in the tray are completely moved, the supporting assembly on the tray fixing assembly releases the empty tray, the empty tray falls into the empty tray storage position under the action of gravity, and the empty trays are sequentially stacked on the empty tray storage positions.

Because of the charging tray on the unloading station of product need bear a lot of product absorption and whole dish and remove, for further fixed positioning, on the unloading station of product the charging tray fixed component still includes the vacuum adsorption subassembly, the vacuum adsorption subassembly sets up in the bottom of charging tray for adsorb fixed charging tray from the bottom of charging tray.

The full-automatic feeding and discharging and multi-station small part appearance detecting and sorting method adopts the full-automatic feeding and discharging and multi-station small part appearance detecting and sorting equipment, and is characterized by comprising the following steps:

s1, conveying the tray filled with the product to be detected to a product loading and unloading station by the tray loading mechanism;

s2, positioning and fixing the tray at the product loading and unloading station, sucking the products to be detected in the tray by the product transplanting mechanism, adjusting the distance between the sucked products to be matched with the distance between the products at the product secondary positioning station, carrying the products to the product secondary positioning station, sucking the products which are detected at the product secondary positioning station by one group of suckers in the product transplanting mechanism, then sucking the products to be detected sucked from the product loading and unloading station by the other group of suckers, and placing the products to be detected on the product secondary positioning station for accurate positioning, namely completing the tasks of sucking the products which are detected and placing the products to be detected at one time; then, the product transplanting mechanism returns to the product loading and unloading station, and after the sucked detected product is placed in a material tray on the product loading and unloading station, the product to be detected in the material tray is sucked; the product transplanting mechanism returns to the product secondary positioning station again, the placement of the finished product to be detected and the absorption of the product to be detected are completed at one time, and the product transplanting mechanism repeatedly takes and places the product between the product feeding and discharging station and the product secondary positioning station;

s3, the product detection objective table moves the product on the product secondary positioning station to the product detection station, the angle of the product is adjusted to detect each angle of the product, and meanwhile, the product detection objective table on the other side carries out loading and unloading actions on the product; after the detection of one side is finished, the product of the other side is just moved to the right position to enter the detection, so that the product detection can be alternately carried out on the two sides;

s4, when all the products in the material tray on the material loading and unloading station of the product are detected, the material tray is conveyed to be in butt joint with the sorting and material changing station by the material loading and unloading station of the product, and the material tray is shifted to the sorting and material changing station by the dial assembly on the sorting and material changing station;

s5, the OK and NG product sorting mechanism sorts the NG products in the detected material tray to the NG material tray on the NG product placing station according to the product detection result in the step S3 (the product at the position of the material tray can be detected as unqualified product, and the product at the position is correspondingly sorted and removed), moves the OK products in the material tray on the OK product supplementing and placing station to the material tray on the sorting and material changing station to fill the vacant positions left by removing the NG products, and when all the OK products are OK products (full filling) in the material tray, the OK product whole tray output mechanism acts to output the material tray filled with the OK products outwards;

and S6, when all OK products in the material tray on the OK product supplement placing station are moved, releasing an empty material tray by the material tray fixing component on the OK product supplement placing station, enabling the empty material tray to fall into an empty material tray storage position below, moving the whole material tray without the NG products on the sorting material changing station to a material tray discharge position of the K product supplement placing station by the OK product and NG product sorting mechanism, and fixing the material tray by the material tray fixing component to allow a follow-up OK product and NG product sorting mechanism to move vacant positions left by the NG products.

All structures of the equipment are mutually connected, the overall layout design is compact, the spatial position is fully utilized, and the structures of the equipment in all processes are reasonably arranged; the automatic material placing device has high automation degree, manual work only needs to place products on a material loading frame quickly, automatic material taking, detection, sorting, OK discharging, NG discharging, automatic counting, automatic tray placing and automatic discharging can be realized, manual material supplement is not needed, particularly, an OK product material supplement placing station, an NG product material placing station and a sorting material changing station are designed, NG products are sorted to the NG product material placing station, products are moved from the OK product material supplement placing station to supplement vacant positions left by NG product sorting to obtain a whole OK product, the whole OK product is output, meanwhile, a material tray on the OK product material supplement placing station is automatically supplemented by a material tray on the sorting material changing station, an empty material tray is automatically stored, and the intelligent degree of the sorting process is further improved.

The automatic feeding and discharging device is high in production efficiency, the operation time of each process is planned, two product flow lines, one set of detection equipment and one set of sorting equipment are arranged, feeding and discharging of the left and right double stations are skillfully utilized, and continuous and stable work of the detection mechanism and the sorting mechanism without stop is achieved.

The invention has high compatibility, and can flexibly adapt to the feeding and discharging of charging tray products with different intervals by changing the shape of the jig and the variable pitch size between the grippers, thereby being compatible with charging trays and products with different specifications; the tool is changed conveniently, through quick replacement product tool, can realize the production of fast switch over different products, and adapts to different product multi-angles and does not have the dead angle and detect.

The invention has wide detection range, can realize the detection of various products including the detection of the appearance defects of the products, and can detect the identification of defective items including cracks, scratches, material shortage, deformation, scratches, foreign matters, burrs and mixed materials.

Drawings

Fig. 1 is a schematic overall structure diagram of an embodiment of the present invention.

Fig. 2 is a schematic structural diagram of a tray feeding mechanism in the embodiment of the invention.

Fig. 3 is a schematic structural diagram of a tray caching module in the tray feeding mechanism according to the embodiment of the invention.

Fig. 4 is a schematic structural diagram of a product loading and unloading station, a sorting and material changing station and an OK product whole tray output mechanism in the embodiment of the invention.

Fig. 5 is a schematic structural diagram of a product transplanting mechanism in the embodiment of the invention.

Fig. 6 is a schematic structural view of a product taking and placing gripper in a contracted state in the product transplanting mechanism according to the embodiment of the invention.

Fig. 7 is a schematic structural view of a product taking and placing gripper in an unfolded state in the product transplanting mechanism according to the embodiment of the present invention.

FIG. 8 is a schematic structural diagram of a secondary product positioning station according to an embodiment of the present disclosure.

FIG. 9 is a schematic structural diagram of a Type-C charging interface product according to an embodiment of the present invention.

Fig. 10 is a schematic structural diagram of a product inspection stage according to an embodiment of the invention.

Fig. 11 is a schematic structural diagram of a product inspection stage and a product inspection station in an embodiment of the invention.

Fig. 12 is a schematic structural diagram of a sorting mechanism for OK items and NG items in the embodiment of the present invention.

Fig. 13 is a schematic structural view of a lifting and lowering sorting hand grip in the OK and NG item sorting mechanism according to the embodiment of the present invention.

FIG. 14 is a schematic structural diagram of an OK product feeding and placing station in the embodiment of the invention.

Fig. 15 is a schematic flow chart illustrating a method for fully-automatic loading and unloading and multi-station small-sized part appearance detection and sorting according to an embodiment of the present invention.

Reference numerals: 1-a material tray feeding mechanism; 2-a product loading and unloading station; 3-a product transplanting mechanism; 4-secondary positioning station of the product; 5-a product detection objective table; 6-a product detection station; 7-sorting and material-changing station; 8-OK product and NG product sorting mechanism; 9-NG product placing station; a 10-OK product supplement placing station; 11-OK product whole disk output mechanism; 12-a tray; 13-Type-C charging interface; 101-tray placement position; 102-empty tray storage location; 103-a bearing block; 104-a support drive structure; 110-tray cache module; 111-a lift drive assembly; 112-a feeding buffer bin; 120-tray pushing module; 121-horizontal drive assembly; 122-a push plate; 1201-card slot; 21-a supporting plate; 22-a tray fixing component; 221-fixture block; 23-a first Y-axis tray moving module; 31-picking and placing the product; 32-a first Z-axis lifting module; 33-a first X-axis product moving module; 311-hand grip; 312-telescopic cylinder; 313-a slide rail; 314-a slider; 3141-a hook portion; 41-a receiving groove; 42-a translating structure; 43-a lifting structure; 411-closed end; 412-open end; 51-a product jig; 52-a horizontal movement assembly; 53-a flip assembly; 71-a dial assembly; 711-a deflector rod; 712-Z axis drive configuration; 713-Y axis drive configuration; 81-lifting and sorting grippers; 82-a second X-axis product movement module; 83-a second Y-axis tray moving module; 811-first suction cup; 812-second suction cup.

Detailed Description

Full-automatic unloading and multistation smallclothes outward appearance detection letter sorting equipment, as shown in fig. 1, including charging tray feed mechanism 1, the unloading station 2 of product, product transplanting mechanism 3, product secondary positioning station 4, product detection objective table 5, product detection station 6, letter sorting station 7 of reloading, OK article and NG article letter sorting mechanism 8, NG article pendulum material station 9, OK article feed supplement place station 10, the whole dish output mechanism 11 of OK article.

The material tray feeding mechanism 1 is used for conveying a material tray to the product feeding and discharging station 2, and products to be detected are arrayed and fixed in the material tray; the product loading and unloading station 2 carries out product coarse positioning through tray positioning, so that the product transplanting mechanism 3 can take and place products in trays, and simultaneously conveys the trays completing the whole tray product detection to be in butt joint with the sorting and reloading station 7; the product transplanting mechanism 3 is used for transferring products between the product loading and unloading station 2 and the product secondary positioning station 4, transferring the products on the loading and unloading station into the product secondary positioning station 4, and transferring the products which are detected on the product secondary positioning station 4 into the product loading and unloading station 2; the product secondary positioning station 4 is used for accurately positioning the transplanted product so that the product can be accurately transferred to the product detection objective table 5; the product detection objective table 5 is used for taking and placing products on the secondary product positioning station 4, moving the positioned and fixed products to the product detection station 6 and adjusting the angle of the products so as to facilitate detection; the product detection station 6 is used for detecting products.

The sorting and material changing station 7 is arranged at one end of the OK product whole tray output mechanism 11 and used for placing a material tray which is detected and waits for sorting (according to a detection result), the material tray comprises OK products and NG products, a driving plate component 71 is arranged on the sorting and material changing station 7, and the driving plate component 71 is used for shifting the material tray which is detected on the material loading and unloading station 2 of the product to the sorting and material changing station 7 when the material loading and unloading station 2 of the product is in butt joint with the sorting and material changing station 7.

The OK and NG sorting mechanism 8 is used for sorting NG (unqualified) products in a material loading tray of the sorting and material changing station 7 into an NG material tray on the NG material placing station 9, when no material tray exists on the OK material supplementing and material changing station, moving a whole tray of the material tray (only OK products in the material tray after the NG products are removed) on the sorting and material changing station after the NG products are removed to a K material supplementing and material placing station (when the whole tray of the material tray is OK products, the whole tray is not required to be removed, and the OK (qualified) products in the material loading tray of the OK material supplementing and material placing station 10 are moved into a vacancy left by the NG products in the material loading tray of the sorting and material changing station 7.

And a plurality of NG material trays 12 (shown in figure 14) are placed on the NG material placing station 9 and used for placing final blanking of NG products, and the OK and NG material sorting mechanism 8 sorts the NG products in the material loading tray of the sorting and material changing station 7 into the NG material trays.

And a material tray discharge position is arranged on the OK product supplementing and placing station 10 and is used for placing a material tray filled with OK products for the OK product and NG product sorting mechanism 8 to take materials so as to supplement vacant positions left in the material tray on the sorting and material changing station 7 due to the removal of the NG products and enable the material tray to be filled with the OK products. Because the NG products in the detected material tray are few, only the NG products in the material tray are sorted and removed, and the vacant positions for removing the NG products are supplemented by the OK products in the material tray filled with the OK products, so that the whole material tray is in a full tray state.

The OK product whole tray output mechanism is used for conveying the material trays filled with OK products, and when the material trays on the sorting and material changing stations are completely filled with the OK products (NG products are removed and the OK products are supplemented), the OK product whole tray output mechanism conveys the material trays outwards to be automatically butted with a next procedure or equipment or manually take materials.

The product loading and unloading station 2, the sorting and material changing station 7, the OK product material supplementing and placing station 10 and the NG product placing station 9 are all provided with material discs, so that material disc fixing components for fixing the material discs in a positioning mode are arranged, and the material discs are prevented from shifting when the products are moved. The tray fixing assemblies all comprise positioning assemblies, the positioning assemblies are provided with the same mechanism, taking the positioning assembly 22 on the feeding and discharging station 2 of the product in fig. 4 as an example, the positioning assembly 22 comprises two sets of fixture blocks 221 and fixture block driving structures (not shown in the figure) which are oppositely arranged, a clamping groove 1201 which is matched with the fixture blocks 221 is arranged on the tray 12, and the two sets of fixture block driving structures respectively drive the two sets of fixture blocks 221 to be clamped into the clamping groove 1201, so that the tray 12 is positioned and fixed. The shape and structure of the fixture blocks on each fixing component are the same, so that the material tray 12 can be circulated and fixed among stations. The fixture block driving structure mainly compresses or releases the fixture block, and can be in a mode of pressing by an air cylinder.

In the invention, the detection of the product is mainly appearance detection, and can be used for detecting other performances of the product, and corresponding detection equipment is arranged at the product detection station 6 according to the actual situation. In the embodiment, the appearance is mainly detected through visual detection, namely shooting, so that the time required by detection is short, the time for detecting and positioning the product is long, two sets of equipment are arranged for picking, placing and positioning the product, and the product detection process is provided with one set of equipment; likewise, NG products are a minority, so only one group of OK and NG product sorting mechanisms 8 is provided to sort two groups of products. Specifically (as shown in fig. 1): the tray feeding mechanism 1, the product feeding and discharging station 2, the product transplanting mechanism 3, the product secondary positioning station 4, the product detection object stages 5, the sorting and material changing station 7 and the OK product whole tray output mechanism 11 are respectively provided with two groups which are arranged in a bilateral symmetry manner, the product detection station 6 is arranged between the left and right groups of product detection object stages 5, and the left and right groups of products are alternately detected; the OK product supplementing material placing station 10 and the NG product placing station 9 are positioned in the middle of the two groups of sorting and material changing stations 7, and the OK product and NG product sorting mechanism 8 alternately sorts the left and right groups of products.

All the stations and the mechanisms are fixed on the large bottom plate through positioning pins and bolts and positioned according to the connection relation between the mechanisms and the stations, and the final product loading and unloading detection is realized. The structure and working principle of each mechanism and station are further explained below.

1. Charging tray feeding mechanism

The charging tray feeding mechanism 1 has the functions of feeding and feeding, can manually feed and feed materials, can adopt a feeding form of a conveyor belt, and can also adopt the existing structure or form capable of realizing the functions. In order to improve the automation degree, in this embodiment, as shown in fig. 2, the tray feeding mechanism 1 includes a tray buffering module 110 and a tray pushing module 120.

The charging tray cache module 110 is used for storing the charging tray 12 containing the products, and as shown in fig. 3, the charging tray cache module comprises a lifting drive assembly 111 and a feeding cache bin 112 arranged on the lifting drive assembly 111, the lifting drive assembly 111 drives the feeding cache bin 112 to move up and down, a plurality of charging tray storage positions (in the embodiment, each group is provided with 10 charging tray storage positions, 10 charging trays can be cached) arranged up and down are arranged on the feeding cache bin 112, the charging tray 12 containing the products is stored on the charging tray storage positions, a sensor is arranged on each charging tray storage position, whether the charging tray is stored is sensed, and when the charging tray is completely sucked and taken away, the charging tray is reminded to supplement the charging tray. In order to position the product in the tray and prevent the product from moving easily, the tray is provided with accommodating grooves which are regularly arranged, and the product is placed in the accommodating grooves.

The material tray pushing module 120 is used for sequentially pushing the material trays 12 on the material tray cache module 110 to the product loading and unloading station 2, as shown in fig. 2, the material tray pushing module comprises a horizontal driving component 121 and a pushing plate 122 connected with the horizontal driving component 121, the horizontal driving component 121 drives the pushing plate 122 to push the material trays in the loading and caching bin 112 out of the loading and caching bin 112, and the lifting driving component 111 drives the loading and caching bin 112 to move up and down so that the material trays 12 on different material tray storage stations can reach the pushing plate 122 and be pushed to the product loading and unloading station 2 by the pushing plate 122. The lifting driving component 111 and the horizontal driving component 121 may be in the form or structure that can realize the moving function, such as the screw nut structure shown in fig. 2 of this embodiment, or in the form of an air cylinder, and the screw nut structures in fig. 2 and 3 are not described herein again.

2. Product loading and unloading station

The product loading and unloading station 2 enables the material tray to be positioned and fixed through the material tray fixing component 22, after the material tray is positioned and fixed, the products can be roughly positioned because the products are regularly arranged in the material tray, and after the product detection is finished, the material tray is conveyed to be in butt joint with the sorting and material changing station 7. The product loading and unloading station 2 has the functions of positioning and moving the material tray.

In this embodiment, as shown in fig. 4, the product loading and unloading station 2 includes a supporting plate 21 and a first Y-axis tray moving module 23, a tray is placed on the supporting plate 21, the tray is fixed on the supporting plate 21, a tray fixing component 22 is disposed on the supporting plate 21, the supporting plate 21 is disposed on the first Y-axis tray moving module 23, and the first Y-axis tray moving module 23 is configured to convey the positioned and fixed tray to be detected to the product transplanting mechanism 3 along the Y-axis direction for the product transplanting mechanism 3 to pick and place the product, so as to facilitate the product transplanting mechanism 3 to pick and place the product in the tray, and convey the detected tray along the Y-axis direction to be butted with the sorting and material changing station 7.

The first Y-axis tray moving module 23 mainly drives the supporting plate 21 to move horizontally, and in this embodiment, the first Y-axis tray moving module mainly comprises a sliding rail, a motor and other members, and can be implemented in a manner that the motor drives a screw rod.

Because of the charging tray on the unloading station 2 of product need bear a lot of product absorption and whole dish and remove, for further fixed position, on unloading station 2 of product the charging tray fixed component 22 still includes the vacuum adsorption subassembly (not shown in the figure), the vacuum adsorption subassembly sets up in the bottom of charging tray for adsorb fixed charging tray from the bottom of charging tray.

3. Product transplanting mechanism

The product transplanting mechanism 3 has the function of taking and placing products, and can adopt the existing mechanical gripper to realize the function of taking a single product in the tray.

In this embodiment, as shown in fig. 5, the product transplanting mechanism 3 includes a product taking and placing gripper 31, a first X-axis product moving module 33, and a first Z-axis lifting module 32, the product taking and placing gripper 31 is used for sucking or gripping a product, the product taking and placing gripper 31 is installed on the first Z-axis lifting module 32, the first Z-axis lifting module 32 is installed on the first X-axis product moving module 33, the product taking and placing gripper 31 is driven by the first X-axis product moving module 33 and the first Z-axis lifting module 32 to carry a product to be detected from the product loading and unloading station 2 to the product secondary positioning station 4, and carry a product detected on the product secondary positioning station 4 to the product loading and unloading station 2.

First X axle product removes module 33 and first Z axle lifting module 32 mainly lie in the translation of drive product tongs and go up and down, all can adopt current motor lead screw drive structure to the cooperation sets up the slide rail and carries out the location removal, and first Z axle lifting module 32 also can adopt cylinder drive's form.

The product taking and placing hand grip 31 is provided with a plurality of hand grips 311 which can simultaneously suck or grip a plurality of products.

The hand grip 311 may be a conventional suction cup structure or a gripping structure. As an embodiment, as shown in fig. 6 and 7, the plurality of grippers 311 are two groups of suckers 311 parallel to the containing groove 41, the number of suckers of each group of suckers 311 is consistent with the number of products to be picked and placed, the two groups of suckers 311 are arranged so that when the product transplanting mechanism 3 arrives at the product loading and unloading station 2 or the product secondary positioning station 4, the picking and placing task is completed at one time, when the product transplanting mechanism 3 arrives at the product secondary positioning station 4 from the product loading and unloading station 2, one group of suckers 311 sucks the products which have been detected at the product secondary positioning station 4, and then the other group of suckers 311 place the products to be detected sucked thereon at the product secondary positioning station 4; when the product transplanting mechanism 3 comes to the product loading and unloading station 2 from the product secondary positioning station 4, after the products which are sucked by the group of suckers 311 and are detected are placed on the product loading and unloading station 2, the other group of suckers sucks the products to be detected on the product loading and unloading station 2, so that the product transplanting mechanism 3 can simultaneously perform two tasks of sucking and putting down once when moving, the number of times of the product transplanting mechanism 3 to make a round trip between the product loading and unloading station 2 and the product secondary positioning station 4 can be reduced, and the product taking and placing efficiency is improved.

In this embodiment, in order to adapt to the difference between the distance between products in the tray and the distance between products on the product secondary positioning station 4 and the product detection station 6, the plurality of grippers 311 are connected with a variable-pitch structure, the distance between the plurality of grippers 311 can be adjusted in the operation process through the variable-pitch structure, after the plurality of grippers 311 grip the products in the tray, the distance between the grippers 311 changes (generally, the distance is increased) to be matched with the distance between the products on the product secondary positioning station 4, then the products are placed on the product secondary positioning station 4 to be accurately positioned, and the distance between the products on the product secondary positioning station 4 is equal to the distance between the products on the product detection station 6. The distance between the grippers 311 can be adjusted according to the type of the product, including the distance between the products on the tray and the distance between the products on the secondary product positioning station 4. As one embodiment, as shown in fig. 6 and 7, the pitch-variable structure includes a telescopic cylinder 312, a sliding rail 313 and a plurality of sliding blocks 314, wherein a plurality of grippers 311 are respectively installed on the plurality of sliding blocks 314, the innermost sliding block 314 is fixed on the sliding rail 313, and the rest of the sliding blocks 314 are installed on the sliding rail 313 and can move along the sliding rail 313; each sliding block 314 is provided with a hooking part 3141, every two adjacent sliding blocks 314 are mutually connected through the hooking part 3141, the sliding blocks 314 are sequentially connected from front to back through the hooking parts 3141, when the hand grab 311 is contracted, the hooking parts 3141 are contracted into the adjacent sliding blocks 314, when the hand grab 311 is expanded, the hooking parts 3141 slide out along the adjacent sliding blocks 314, and when the hand grab 311 is expanded, the adjacent sliding blocks 314 are driven to slide when the hand grab is linked with the adjacent sliding blocks 314; the telescopic cylinder 312 is connected with the outermost slide block 314 to push the outermost slide block 314 to move along the slide rail 313, and the outermost slide block 314 drives the rest slide blocks 314 to sequentially slide, so that the distance between the hand grips 311 is adjusted. In this embodiment, two opposite grippers 311 of the two groups of grippers 311 are mounted on the same sliding block 314 together, as shown in fig. 7, each group has 4 grippers, the two groups have 8 grippers, the grippers 311 in the same position of each group are mounted on the same sliding block 314, the two grippers 311 on the rightmost side are fixed, and the telescopic cylinder 312 pushes the two grippers 311 on the leftmost side to move, so as to sequentially drive the grippers 311 in the middle to expand or contract with each other.

4. Product secondary positioning station

The product secondary positioning station 4 is used for accurately positioning a single product. In this embodiment, as shown in fig. 8, a plurality of accommodating grooves 41 adapted to the shape of the product are arranged at intervals on the product secondary positioning station 4, the product transplanting mechanism 3 moves the product on the product loading and unloading station 2 into the accommodating grooves 41, one product is placed in one accommodating groove 41, and the product is accurately positioned through the accommodating grooves 41.

In this embodiment, the product secondary positioning station 4 has a translation function and a lifting function (corresponding to the translation structure 42 and the lifting structure 43 in fig. 8), and is conveniently butted with the product detection object stage 5 and the product transplanting mechanism 3, so that damage to the product when the product is taken and placed by the product detection object stage 5 is avoided. The translation function and the lifting function can be realized by the driving of the air cylinder.

5. Product detection objective table

The product detecting stage 5 is used for moving and taking a product and positioning the product, and in this embodiment, as shown in fig. 10 and 11, the product detecting stage includes product jigs 51, a horizontal moving assembly 52 and a turning assembly 53, the product jigs 51 are used for placing and fixing the product, a product is fixed on each product jig 51, the number of the product jigs 51 is the same as the number of the accommodating grooves 41 on the product secondary positioning station 4, and the product jigs are opposite in position; a plurality of product tools 51 are arranged on the overturning component 53, the overturning component 53 is arranged on the horizontal moving component 52, the horizontal moving component 52 drives the product tools 51 to move to be in butt joint with the product secondary positioning station 4, the product tools 51 pick and place products on the product secondary positioning station 4 and drive the product tools 51 to transfer the products to the product detection station 6, the overturning component 53 drives the product tools 51 to rotate, the angle of the products on the product tools 51 is adjusted, and detection of each angle of the products is achieved. The product jig 51 can be detached, and if the product jig 51 is fixed on the product detection object stage 5 in a threaded manner, the product jig 51 is replaced to adapt to detection of different products. The horizontal moving assembly 52 can be realized by a motor-driven screw nut structure, and the overturning assembly 53 can be realized by a motor-driven rotation (such as a chain wheel and gear structure).

The invention can be applied to the detection of various small-sized products, as one embodiment, as shown in fig. 9, the product is the Type-C charging interface 13, the product transplanting mechanism 3 sucks the product through the sucking disc 311, as shown in fig. 10, the product jig 51 has a shape matched with the socket of the Type-C charging interface 13, and the product jig 51 fixes the Type-C charging interface 13 on the product jig by being inserted into the socket of the Type-C charging interface 13. Type-C charges interface 13 and places in product secondary positioning station 4 in storage tank 41, as shown in fig. 8, storage tank 41 dorsad one side of product detection objective table 5 is blind end 411, storage tank 41 orientation one side of product detection objective table 5 is open end 412, Type-C charges interface 13's one end and leans on the blind end 411 of storage tank 41, product tool 51 inserts in the socket of the Type-C interface 13 other end that charges from open end 412 of storage tank 41 to it is fixed to realize the location of Type-C interface 13 that charges on product tool 51. When the product which is detected is required to be unloaded from the product jig 51, after the product which is detected is placed in the accommodating groove 41 on the secondary positioning station 4 of the product by the product jig 51, the product transplanting mechanism 3 sucks the surface of the product through the sucking disc 311, the product jig 51 retreats, the product is separated from the product jig 51 and is adsorbed on the product transplanting mechanism 3, and the product transplanting mechanism 3 finishes the task of sucking the detected product. The structure and the method are also suitable for other products which can be inserted into the product jig 51 for fixing and sucked by the sucking disc 311.

6. Product detection station

The product detection station 6 is provided with the detection device, so that the detection of multiple performances of the product can be realized. The number of sets of cameras corresponds to the number of products on the product inspection stage 5, and one set of cameras corresponds to one product. In this embodiment, as shown in fig. 11, four products can be simultaneously detected at one time, so four sets of cameras are provided. Correspondingly, the number of the product jigs 51 on the product detection object stage 5 is four, and the number of the accommodating grooves 41 on the product secondary positioning station 4 is also four.

7. Sorting and material changing station

And the detected material discs are placed on the sorting and material changing station 7 to wait for the sorting of the OK and NG sorting mechanisms 8. Firstly, the dial component 71 on the sorting and material changing station 7 dials the material tray which is detected on the material loading and unloading station 2 of the product to the sorting and material changing station 7, and after the sorting is finished, the material tray filled with OK products is output by the OK product whole tray output mechanism 11. As shown in fig. 4, the dial assembly 71 may be composed of a lever 711, a Y-axis driving structure 713, and a Z-axis driving structure 712, the Z-axis driving structure 712 drives the lever 711 to descend to contact the tray, and the Y-axis driving structure 713 drives the lever 711 to move along the Y-axis direction, thereby shifting the tray. The Z-axis driving mechanism 712 may be a cylinder driven mechanism, and the Y-axis driving mechanism 713 may be a motor driven lead screw nut mechanism, and may be configured to cooperate with a slide rail.

OK article and NG article sorting mechanism

The OK and NG sorting mechanism 8 is mainly used for sorting products according to detection conditions, the sorting action is automatically controlled by a control system, and the existing mechanical hand grips can be adopted.

As an embodiment, in this embodiment, as shown in fig. 12, the OK and NG item sorting mechanism 8 includes a lifting sorting gripper 81, a second X-axis product moving module 83, and a second Y-axis tray moving module 82, the lifting sorting gripper 81 is mounted on the second Y-axis tray moving module 82, the second Y-axis tray moving module 82 is mounted on the second X-axis product moving module 83, and the lifting sorting gripper 81 is driven by the second X-axis product moving module 83 and the second Y-axis tray moving module 82 to sort the OK and NG items and move the tray. The second X-axis product moving module 83 and the second Y-axis tray moving module 82 are both parallel to the driving straight line, and can adopt a reciprocating linear motion structure composed of a motor, a screw nut and a slide rail as shown in the figure.

The lifting and descending sorting hand 81 can lift and suck or grab the product, in this embodiment, as shown in fig. 13, the lifting and descending sorting hand 81 includes four suction cups (a first suction cup 811 in fig. 13) capable of independently lifting and descending and four suction cups (a second suction cup 812 in fig. 13) capable of integrally lifting and descending, the four suction cups capable of independently lifting and descending are used for sorting OK products and NG products, and the four suction cups capable of integrally lifting and descending are used for moving and taking the tray. The four independently-lifting suckers can be driven by cylinders which are independently connected with each other, and the four integrally-lifting suckers can be driven by a common cylinder to synchronously lift.

9, NG product placing station, OK product supplementing material placing station and OK product whole tray output mechanism

The empty tray on the station is placed to the OK article feed supplement can be taken away by the manual work, in order to improve degree of automation, also can deposit the empty tray automatically, need set up corresponding charging tray storage structure for this, so the OK article feed supplement is placed the station on the fixed subassembly of charging tray still need have the bearing function, so as shown in figure 14, it still includes the bearing subassembly, the bearing subassembly includes bearing block 103 and bearing drive structure 104, charging tray 12 is supported by bearing block 103, bearing drive structure 104 drive bearing block 103 is flexible in order to support or release charging tray 12, bearing drive structure 104 can be the cylinder.

As shown in fig. 14, the OK product supplement placing station is provided with a tray placing position 101 and an empty tray placing position 102, the empty tray placing position 102 is arranged under the tray placing position 101, the tray 12 with OK products placed thereon is fixed and positioned on the tray placing position 101 by the tray fixing assembly on the OK product supplement placing station 10, after the OK products in the tray 12 are completely moved, the empty tray 12 is released by the supporting assembly on the tray fixing assembly, the empty tray 12 falls into the empty tray placing position 102 under the action of gravity, and the empty tray placing positions on the empty trays are sequentially stacked.

The whole OK product tray output mechanism 11 can be a conveying belt, when the sorting and material changing station 7 is in a sorting state, the conveying belt does not work, and when the OK products are completely filled in the material trays on the sorting and material changing station 7 after sorting, the conveying belt works to convey the material trays forwards.

In this embodiment, two groups of OK product whole tray output mechanisms 11 are respectively located on the left side and the right side, the NG product placing station 9 and the OK product supplement placing station 10 are located at the middle positions, as shown in fig. 1 and fig. 15, three NG product placing stations 9 are arranged on the NG product placing station 9, three NG material trays are arranged in parallel, and one OK material tray is arranged on the OK product supplement placing station 10.

The full-automatic feeding and discharging and multi-station small part appearance detecting and sorting method adopts the full-automatic feeding and discharging and multi-station small part appearance detecting and sorting equipment, and comprises the following steps as shown in fig. 15:

and S1, the tray feeding mechanism conveys the tray filled with the products to be detected to a product loading and unloading station. In this embodiment, the charging tray buffer memory arrives the charging tray through elevating system in proper order and releases module department in the material loading buffer storehouse, and the push pedal by the charging tray on the module is released and is released.

S2, positioning and fixing the tray by the tray fixing component of the product loading and unloading station, sucking the products to be detected in the tray by the product transplanting mechanism, adjusting the distance between the sucked products to be matched with the distance between the products on the product secondary positioning station, and then carrying the products to the product secondary positioning station, wherein one group of suckers in the product transplanting mechanism of the product secondary positioning station firstly suck the products which are detected on the product secondary positioning station, and then the other group of suckers place the products to be detected sucked from the product loading and unloading station on the product secondary positioning station for accurate positioning, namely, the tasks of sucking the products which are detected and placing the products to be detected are completed at one time; then, the product transplanting mechanism returns to the product loading and unloading station, and after the sucked detected product is placed in a material tray on the product loading and unloading station, the product to be detected in the material tray is sucked; the product transplanting mechanism returns to the product secondary positioning station again, the placement of the finished product to be detected and the absorption of the product to be detected are completed at one time, and the product transplanting mechanism repeatedly takes and places the product between the product feeding and discharging station and the product secondary positioning station.

S3, the product detection objective table moves the product on the product secondary positioning station to the product detection station, the angle of the product is adjusted to detect each angle of the product, and meanwhile, the product detection objective table on the other side carries out loading and unloading actions on the product; after the detection of one side is finished, the product of the other side is just moved to the right position to enter the detection, so that the product detection can be alternately carried out on two sides.

And S4, when all the products in the material tray on the material loading and unloading station of the product are detected, the material tray is conveyed to be in butt joint with the sorting and material changing station by the material loading and unloading station of the product, and the material tray is shifted to the sorting and material changing station by the dial assembly on the sorting and material changing station.

And S5, the OK and NG product sorting mechanism sorts the NG products in the detected material tray into an NG material tray (which can be placed manually) on an NG product placing station according to the product detection result in the step S3 (the product at the position of the material tray can be detected as a defective product and the product at the position is correspondingly sorted and removed), moves the OK products in the material tray on the OK product supplementing and placing station into a vacant position left by removing the NG products in the material tray on the sorting and material changing station, and when all the OK products are OK products in the material tray, the OK product whole tray output mechanism acts to output the material tray filled with the OK products outwards.

And S6, when all OK products in the material tray on the OK product supplement placing station are moved, releasing an empty material tray by the material tray fixing component on the OK product supplement placing station, enabling the empty material tray to fall into an empty material tray storage position below, moving the whole material tray without the NG products on the sorting material changing station to a material tray discharge position of the K product supplement placing station by the OK product and NG product sorting mechanism, and fixing the material tray by the material tray fixing component to allow a follow-up OK product and NG product sorting mechanism to move vacant positions left by the NG products. When the equipment is started for operation at first, the first tray detected material tray comes to the sorting and material changing station, the OK and NG sorting mechanism sorts the NG in the material tray to the NG material tray on the NG material placing station, then the remaining material trays which are all OK are conveyed to the OK material supplementing and placing station, and the feeding of the OK material supplementing and placing station is realized. In the operation process of the equipment, when products in the material tray on the OK product feeding station are emptied, and the empty material tray falls into the empty material tray storage position, the OK product and NG product sorting mechanism only needs to sort the NG products in the material tray on the sorting and material changing station and then transport the material tray to the OK product feeding station.

The invention can automatically take materials, accurately detect vision, memorize PLC point positions, automatically arrange OK products and NG products in order, separately discharge, can be used for appearance and size detection of electronic devices, and can detect bad items: identifying cracks, scratches, material shortage, deformation, scratches, foreign matters, burrs and mixed materials; detection capability: the over-killing rate is less than or equal to 5 percent, the miss-killing rate is less than or equal to 0.3 percent, and the ratio of CT: 0.75s/pcs, the feeding mode is drawer type, 20 trays can be cached, the discharging OK is full, 12 trays are output, and the NG is classified into 3 trays. Compatible charging trays: minimum 160 x 200 x 5mm, maximum 220 x 340 x 30 mm. The multi-point position multi-light agility setting based on multi-axis linkage can adapt to any product and is compatible with the product: minimum 3 x 3mm, maximum 30 x 40 x 30mm, may well replace the manual work. Fast production beat, case C70: counting 11 points, namely CT0.8s, manually detecting 3s/pcs, and replacing 8 persons by 1 station and two stations; case D6X: counting 60 devices CT3.5s, manually detecting 20s/pcs, and replacing 12 persons with 1 station and two shifts.

The above detailed description is specific to possible embodiments of the present invention, and the embodiments are not intended to limit the scope of the present invention, and all equivalent implementations or modifications that do not depart from the scope of the present invention are intended to be included within the scope of the present invention.