CN113546867A - Wireless coil appearance detection device and detection method - Google Patents
Wireless coil appearance detection device and detection method Download PDFInfo
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- CN113546867A CN113546867A CN202111103294.7A CN202111103294A CN113546867A CN 113546867 A CN113546867 A CN 113546867A CN 202111103294 A CN202111103294 A CN 202111103294A CN 113546867 A CN113546867 A CN 113546867A
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- detection
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- wireless
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/34—Sorting according to other particular properties
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/361—Processing or control devices therefor, e.g. escort memory
- B07C5/362—Separating or distributor mechanisms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/912—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems with rectilinear movements only
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G65/00—Loading or unloading
- B65G65/30—Methods or devices for filling or emptying bunkers, hoppers, tanks, or like containers, of interest apart from their use in particular chemical or physical processes or their application in particular machines, e.g. not covered by a single other subclass
- B65G65/32—Filling devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0235—Containers
- B65G2201/0258—Trays, totes or bins
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
Abstract
The utility model relates to a detection area especially relates to a wireless coil outward appearance detection device and detection method, and its technical scheme is, including organism, setting at organism both ends and be used for conveying the transport mechanism of charging tray, setting between two transport mechanisms and be used for detecting wireless coil's detection mechanism, setting transfer mechanism between detection mechanism and transport mechanism and carry out the synchronous handling mechanism that sets up along organism length direction, the discharge end of organism is equipped with material platform two one and is used for placing empty charging tray, material platform one is used for depositing the charging tray that has the problem coil, be equipped with the manipulator one of carrying the charging tray on the material platform two to material platform one on the organism, be equipped with the sucking disc one that is used for absorbing the charging tray on the manipulator one. This application has the detection efficiency who improves wireless coil for wireless coil detects the effect of progress.
Description
Technical Field
The present disclosure relates to the field of detection, and particularly, to a wireless coil appearance detection device and a wireless coil appearance detection method.
Background
With the development of mobile devices such as mobile phones, cameras, tablet computers and the like, wireless coils are used as one of basic elements in circuit systems, and quality detection is required before installation. The outward appearance detection mode of current wireless coil is traditional artificial detection mode, places wireless coil in the charging tray, detects whether there is scraping off, breach, deformation etc. on wireless coil's surface through the manual work. The detection efficiency of manual detection is slow, and meanwhile, the detection efficiency of the wireless coil is influenced by the conditions of product omission, error detection and the like.
Disclosure of Invention
In order to improve the detection efficiency of the wireless coil and accelerate the detection progress of the wireless coil, the application provides a wireless coil appearance detection device and a detection method.
On the one hand, the application provides a wireless coil outward appearance detection device adopts following technical scheme:
the utility model provides a wireless coil outward appearance detection device and detection method, includes the organism, sets up at the organism both ends and is used for the transport mechanism of conveying the charging tray, sets up between two transport mechanisms and is used for detecting wireless coil's detection mechanism, sets up the transfer mechanism between detection mechanism and transport mechanism and carry out the synchronous handling mechanism that sets up along organism length direction, the discharge end of organism is equipped with material platform one and is used for placing empty material platform two of charging tray, material platform one is used for depositing the charging tray that has the problem coil, be equipped with on the organism and carry the manipulator one on the material platform one with the charging tray on the material platform two, be equipped with the sucking disc one that is used for absorbing the charging tray on the manipulator one.
By adopting the technical scheme, the machine body improves the stability of the conveying mechanism, the detection mechanism, the transfer mechanism and the synchronous conveying mechanism, the conveying mechanism is provided with two groups which are respectively positioned at two ends of the machine body and is convenient for feeding and discharging the wireless coil, the detection mechanism is convenient for detecting the indentation, the notch and the like on the wireless coil, the detection efficiency of the wireless coil is improved, the possibility of missing detection of the wireless coil is reduced, the transfer mechanism is convenient for collecting the wireless coil on the conveying mechanism and feeding the detection mechanism, meanwhile, the transfer mechanism close to the discharging end is convenient for collecting the detected wireless coil, the conveying mechanism at the discharging end is convenient for conveying the wireless coil out, the detection efficiency of the wireless coil is improved, the manipulator is convenient for conveying the material tray on the material table II to the material table I, and the material table I is convenient for placing the material tray for loading and taking the problem coil, the material platform II is convenient for loading and unloading empty material trays.
Preferably, the conveying mechanism comprises a storage assembly arranged on the top surface of the machine body, an adsorption assembly used for conveying a charging tray in the storage assembly, a manipulator II used for conveying a wireless coil in the charging tray and a material receiving assembly used for storing the charging tray, the manipulator II is provided with a plurality of suction nozzles I used for adsorbing the wireless coil on the adsorption assembly to the transfer mechanism, the storage assembly comprises a shielding plate arranged on the machine body, positioning seats I arranged at two ends of the shielding plate, a lifting cylinder I arranged on the positioning seat I, a pushing cylinder I arranged at the piston end of the lifting cylinder I and positioning blocks I arranged at the piston end of the pushing cylinder I, the lifting cylinder drives the pushing cylinder I to move up and down, the piston end of the pushing cylinder I moves along the length direction of the shielding plate, and a placing seat is arranged between the two positioning seats I, one side of the placing seat far away from the shielding plate is provided with a plurality of positioning plates.
By adopting the technical scheme, the storage assembly is convenient for storing the material trays filled with the coils, the adsorption assembly is convenient for carrying the material trays in the storage assembly to the operation position of the second manipulator, the second manipulator is convenient for carrying the wireless coils, the material receiving assembly is convenient for recovering the empty material trays carried by the second manipulator, the accumulation of the empty material trays is convenient to reduce, the adsorption effect of the two pairs of wireless coils of the first manipulator is convenient to improve by the first suction nozzle, and the stability of the second manipulator for carrying the wireless coils is improved; the baffle is convenient for restrict adsorption component's transport quantity, and a transport charging tray of being convenient for, positioning seat one improves the stability of baffle, and a promotion cylinder one promotes a pair of charging tray both ends of locating piece and fixes a position, starts a lifting charging tray of lifting cylinder, and the adsorption component of being convenient for adsorbs the charging tray of bottom, and the single conveying charging tray of being convenient for, the locating plate is convenient for improve the stability of charging tray on placing the seat.
Preferably, the adsorption component comprises a second sucker arranged at the bottom of the placing seat, a second lifting cylinder used for driving the second sucker to move up and down, a first mounting plate used for mounting the second lifting cylinder, and a first moving cylinder arranged at two ends of the mounting plate, wherein a piston end of the first moving cylinder is arranged along the length direction of the machine body, a first mounting seat used for mounting the first moving cylinder is arranged on the machine body, a through groove consistent with the conveying path of the second sucker is formed in the machine body, the storage component is arranged at one end, away from the second manipulator, of the through groove, the material receiving component is arranged at the other end of the through groove, the placing seat is in a U shape, a notch of the placing seat is communicated with the through groove, the conveying mechanism further comprises a positioning cylinder arranged at two sides of the length direction of the through groove and a positioning clamping block arranged at the piston end of the positioning cylinder, and the positioning cylinder is arranged above the material receiving component.
Through adopting the above technical scheme, sucking disc two is convenient for adsorb the bottom charging tray of storage in storage assembly, removal cylinder one drives sucking disc two and removes, it removes to be convenient for sucking disc two to drive the charging tray, lifting cylinder two control sucking disc two rises or descends, it rises or descends to be convenient for control charging tray, mount pad one is convenient for improve the stability of removal cylinder one on the organism, lead to groove two and be convenient for sucking disc two and remove, be convenient for two charging trays in the storage assembly of sucking disc to carry, it is the charging tray of placing in the U-shaped sucking disc two absorption storage assemblies of being convenient for to place the seat, the location cylinder promotes the location clamp splice and removes, be convenient for the location clamp splice to fix a position the both sides of charging tray, be convenient for manipulator two to adsorb the wireless coil in the charging tray, improve the stability of charging tray in the material taking process, it adsorbs next charging tray to be convenient for sucking disc two simultaneously.
Preferably, receive the material subassembly and include the guided way that sets up along organism direction of height, set up guide holder in the guided way, set up at the guide holder both ends and be used for bearing the weight of the bracket of charging tray, set up in the guided way bottom and be used for driving the guide holder and carry out the removal cylinder two that reciprocates and set up the conveyer belt that just is used for conveying the charging tray in the bracket below, be equipped with the supporting seat that is used for supporting the conveyer belt in the organism, be equipped with the locating piece two that is located conveyer belt length direction both sides on the supporting seat, be equipped with a plurality of suction nozzles two on the sucking disc two.
Through adopting the above technical scheme, the guided way is convenient for the guide holder and reciprocates, the guide holder is conveniently driven to reciprocate by the removal cylinder two, when the guide holder reciprocates, can drive the bracket and carry out the synchronous motion, be convenient for the bracket fix a position the charging tray, be convenient for drive the charging tray and reciprocate, the bracket is with the charging tray back that moves down, the conveyer belt is convenient for convey the charging tray, be convenient for collect the charging tray in unison, the supporting seat is convenient for improve the stability of conveyer belt, the second stability of being convenient for improve the charging tray and conveying on the conveyer belt of locating piece, the second suction nozzle is convenient for improve the adsorptivity of two pairs of charging trays of sucking disc, improve the stability of charging tray on the second sucking disc.
Preferably, the transfer mechanism package is followed organism width direction and is carried out mount pad two that sets up, transfer cylinder one of setting on mount pad two and with the transfer cylinder two that a transfer cylinder piston end moving direction is unanimous, one side that detection mechanism was kept away from to transfer cylinder one sets up at mount pad two, transfer cylinder two sets up the one side that is close to detection mechanism at mount pad two, the piston end of transfer cylinder one and transfer cylinder two all is equipped with places the piece, place and offer a plurality of mounting grooves that are used for installing wireless coil on the piece, be equipped with on the transfer cylinder one and be used for promoting to place the piece and remove the promotion cylinder two on the transfer cylinder two.
Through adopting above-mentioned technical scheme, mount pad two is convenient for improve the stability of transfer cylinder one and transfer cylinder two, transfer cylinder two drives and places the piece and carry out the back-and-forth movement along organism width direction, the wireless coil on the piece is placed in the transport of the synchronous handling mechanism of being convenient for, it improves wireless coil's stability to place the piece, the mounting groove is convenient for improve wireless coil stability on placing the piece, promote cylinder two be convenient for with the piece of placing on the transfer cylinder one remove to transfer cylinder two, the wireless coil of piece is placed in the transport of the synchronous handling mechanism of being convenient for.
Preferably, the detection mechanism includes carousel one, carousel two, the setting that sets up on the organism and be used for detecting on the carousel one the detection component one of wireless coil and the detection component two that sets up on the organism and be used for detecting on the carousel two wireless coil, be equipped with on the organism and be used for driving carousel one to carry out pivoted driving motor one, be equipped with on the organism and be used for driving carousel two to carry out pivoted driving motor two, the top surface of carousel one evenly is equipped with a plurality of platforms one of placing along the rotation route, the top surface of carousel two evenly is equipped with a plurality of platforms two of placing along the rotation route.
Through adopting above-mentioned technical scheme, carousel one and carousel two-purpose are used for loading wireless coil, improve wireless coil's stability, it detects in proper order to be convenient for detect subassembly one and detect subassembly two simultaneously, improve wireless coil's detection efficiency, driving motor one is used for driving carousel one and rotates, driving motor two is used for driving carousel two and rotates, it improves wireless coil's stability on carousel one to place platform one, it detects to be convenient for detect the wireless coil on a pair of carousel one of subassembly, it improves wireless coil's stability on carousel two to place platform two, it detects to be convenient for detect the wireless coil on the two carousels of subassembly two.
Preferably, the detection assembly I comprises a first detection camera, a second detection camera and a third detection camera which are arranged on the machine body in sequence along the periphery of the rotary plate, the first detection camera and the second detection camera all correspond to a first placing table, the third detection camera is arranged below the rotary plate, a detection table which is positioned over the third detection camera is arranged on the machine body, a rotating assembly which is used for moving a wireless coil on the first placing table to the detection table is arranged on the machine body, and the second detection assembly comprises a fourth detection camera, a fifth detection camera and a sixth detection camera which are arranged on the machine body in sequence along the periphery of the rotary plate.
By adopting the technical scheme, the first detection camera is used for detecting the two-dimensional code on the wireless coil; the detection camera is used for detecting a leak on the wireless coil; the detection camera is used for detecting whether the black film on the back of the wireless coil is damaged or not and detecting whether the black film on the back of the wireless coil is imprinted or not; the detection camera is used for detecting copper foil impression of the wireless coil; the detection camera is used for detecting whether a blue film on the wireless coil deviates or not and whether graphite on the wireless coil is lost or not; the detection camera six is used for detecting graphite layering, graphite wrinkles and graphite crushing on the wireless coil; the rotating assembly is convenient for move the wireless coil from the placing platform I to the detecting platform, and the detecting camera is convenient for detect the back of the wireless coil.
Preferably, the rotating assembly comprises a support frame arranged on the machine body, a rotating motor arranged on the support frame and positioned above the detection table, a lifting cylinder III arranged at the output end of the rotating motor and a sucker III arranged at the three piston end of the lifting cylinder, the sucker III is provided with two and two sucker trisymmetry piston ends arranged at the lifting cylinder III, and the detection surface of the detection table is transparent.
Through adopting above-mentioned technical scheme, the support frame improves the stability of rotating motor, lifting cylinder three and sucking disc three, rotates motor drive lifting cylinder three and rotates, and lifting cylinder three drives sucking disc three and rotates in step, and sucking disc three is convenient for adsorb the wireless coil of placing on the platform one, and sucking disc three adsorbs to place behind the wireless coil of platform one, utilizes the rotating motor to carry wireless coil to examine the test table on, is convenient for detect the three backs to wireless coil of camera and detects.
Preferably, synchronous transport mechanism includes that the removal cylinder three that sets up is carried out along organism length direction, sets up positioning seat two on removal cylinder three, the lifting cylinder four of setting on positioning seat two, sets up the connecting plate at the piston end of lifting cylinder four and a plurality of sucking disc four that set gradually along connecting plate length direction, sucking disc four sets up four, be equipped with the transfer seat that corresponds sucking disc four between carousel one and the carousel two, well swivel mount, be close to synchronous transport mechanism place the platform one and be close to synchronous transport mechanism place the platform two and all be located same straight line, the sucking disc four is located well swivel mount, place the top of platform one and place the platform two.
By adopting the technical scheme, synchronous conveying is convenient for conveying the wireless coil on the transfer mechanism to the first rotary table, the wireless coil on the first rotary table is convenient to convey to the second rotary table, the wireless coil on the second rotary table is convenient to convey to the transfer mechanism at the discharge end, the conveying mechanism at the discharge end is convenient to convey the detected wireless coil, the moving cylinder III is convenient to drive the positioning seat II to move along the length direction of the machine body, the positioning seat II drives the lifting cylinder IV to move, the lifting cylinder IV drives the connecting plate to move, the connecting plate drives the sucker IV to move, the sucker IV is convenient to adsorb the wireless coil, the suckers IV are provided with four, the transfer mechanism corresponding to the feed end, the first rotary table, the second rotary table and the transfer mechanism at the discharge end are convenient to sequentially convey the wireless coil, the detection efficiency of the wireless coil is convenient to improve, and the transfer seat is convenient to shorten the distance between the first rotary table and the second rotary table, the synchronous carrying mechanism is convenient to transport the wireless coil.
On the other hand, the application provides a wireless coil appearance detection method, which adopts the following technical scheme:
material supply: placing a plurality of wireless coils in a material tray, and placing the material tray filled with the wireless coils in a storage assembly at the feeding end of the machine body;
material conveying: adsorbing the material tray filled with the materials into the grabbing range of the second manipulator by using the adsorption assembly;
and (3) recovering an empty tray: the material receiving assembly is used for recovering the material tray carried by the second manipulator;
transferring materials: the second manipulator conveys the wireless coil to the transfer mechanism, and then the wireless coil on the transfer mechanism is conveyed to the detection mechanism through the synchronous conveying mechanism for detection;
material detection: the wireless coil is detected in the detection mechanism, the wireless coil without abnormity is detected, and the wireless coil without abnormity is collected through the transmission mechanism at the discharge end; detecting an abnormal wireless coil, and grabbing the abnormal wireless coil to a material tray in the material table I through a manipulator II; when the material tray on the first material platform is full, the first manipulator grabs the empty material tray on the second material platform onto the first material platform.
Collecting materials: the wireless coil is collected through the material receiving assembly at the discharge end of the machine body.
By adopting the technical scheme, the detection efficiency of the wireless coil is effectively improved, manual operation is reduced, labor cost is reduced, the detection precision of the wireless coil is improved, and the possibility of false detection and missed detection of the wireless coil is reduced.
To sum up, transport mechanism is convenient for accelerate wireless coil's handling efficiency, and detection mechanism improves wireless coil's detection efficiency, effectively reduces the possibility of false positive detection, hourglass examining, and transfer mechanism is convenient for collect the wireless coil on the feed end transport mechanism, and synchronous handling mechanism improves the handling efficiency of coil on carrying the wireless coil on the transfer mechanism to detection mechanism.
Drawings
Fig. 1 is a schematic diagram of an external overall structure of a wireless coil appearance detecting device according to the present application;
FIG. 2 is a top view of the wireless coil appearance inspection device of the present application;
FIG. 3 is an isometric view of the interior of a wireless coil appearance inspection device of the present application;
FIG. 4 is a schematic structural diagram of a feeding end conveying mechanism in a wireless coil appearance inspection device according to the present application;
FIG. 5 is a schematic diagram of a memory module of the wireless coil appearance inspection device according to the present application;
FIG. 6 is a schematic structural diagram of an adsorption assembly and a material receiving assembly in the wireless coil appearance inspection apparatus of the present application;
FIG. 7 is a schematic structural diagram of the wireless coil appearance inspection device of the present application with the conveyor mechanisms at two ends of the body removed;
fig. 8 is a schematic structural diagram of a relay mechanism in a wireless coil appearance inspection device according to the present application;
fig. 9 is a schematic structural diagram of a detection mechanism in a wireless coil appearance detection device according to the present application;
FIG. 10 is a schematic structural view of a synchronous carrying mechanism in the appearance inspection apparatus for wireless coils according to the present application;
fig. 11 is a schematic structural diagram of a conveying mechanism at a discharging end in the appearance inspection device for wireless coils according to the present application.
Description of reference numerals: 1. a body; 2. a transport mechanism; 21. a storage component; 211. a shielding plate; 212. a first positioning seat; 213. lifting the first cylinder; 214. a first pushing cylinder; 215. a first positioning block; 22. an adsorption component; 221. a second sucking disc; 2211. a second suction nozzle; 222. lifting the cylinder II; 223. mounting a plate; 224. a first movable cylinder; 23. a second manipulator; 231. a first suction nozzle; 24. a material receiving assembly; 241. a guide rail; 242. a guide seat; 243. a bracket; 244. a second movable cylinder; 245. a conveyor belt; 25. positioning the air cylinder; 26. positioning the clamping block; 3. a detection mechanism; 31. a first rotating disc; 311. placing a first platform; 32. a second rotating disc; 321. a second placing table; 33. detecting a first component; 331. detecting a first camera; 332. detecting a second camera; 333. detecting a camera III; 34. a second detection component; 341. detecting a camera IV; 342. detecting a fifth camera; 343. detecting a camera six; 4. a transfer mechanism; 41. a second mounting seat; 42. a transfer cylinder I; 421. a second pushing cylinder; 43. a transfer cylinder II; 5. a synchronous carrying mechanism; 51. a moving cylinder III; 52. a second positioning seat; 53. lifting the cylinder IV; 54. a connecting plate; 55. fourthly, sucking discs; 6. a first material platform; 7. a material platform II; 8. a first mechanical arm; 81. a first sucker; 9. a placing seat; 91. positioning a plate; 10. a first mounting seat; 11. a through groove; 12. a supporting seat; 13. a second positioning block; 14. placing the blocks; 141. mounting grooves; 15. driving a motor I; 16. a second driving motor; 17. a detection table; 18. a rotating assembly; 181. a support frame; 182. rotating the motor; 183. lifting the cylinder III; 184. a third sucker; 19. and (4) a middle transposition.
Detailed Description
The present application is described in further detail below with reference to fig. 1-11.
The embodiment of the application discloses wireless coil outward appearance detection device. Referring to fig. 1 and 2, the device comprises a machine body 1, conveying mechanisms 2 arranged at two ends of the machine body 1, a detection mechanism 3 arranged between two groups of conveying mechanisms 2, a transfer mechanism 4 arranged between the conveying mechanisms 2 and the detection mechanism 3, and a synchronous conveying mechanism 5 for conveying a wireless coil on the transfer mechanism 4 to the detection mechanism 3.
Referring to fig. 3 and 4, firstly, a tray full of wireless coils is placed on the conveying mechanism 2 at the feeding end of the machine body 1, and the conveying mechanism 2 comprises a storage component 21 for storing the full tray, an adsorption component 22 for carrying trays in the storage component 21, a second manipulator 23 for conveying the wireless coils on the adsorption component 22, a material receiving component 24 arranged below the adsorption component 22 and used for receiving the trays, a positioning clamping block 26 for the trays and a positioning cylinder 25 for driving the positioning clamping block 26 to move.
Referring to fig. 4 and 5, a through groove 11 for moving the adsorption assembly 22 is formed in the machine body 1 along the length direction, and the positioning cylinders 25 are arranged on two sides of the through groove 11 in the length direction, so that the positioning clamping blocks 26 can conveniently position two ends of the material tray. The storage assembly 21 includes first positioning seats 212 fixed on the machine body 1 and located at two sides of the through slot 11 in the length direction, and shielding plates 211 arranged on the first positioning seats 212, wherein two ends of the shielding plates 211 are respectively fixed on the first two positioning seats 212, and the shielding plates 211 are located at one ends of the first positioning seats 212 close to the second manipulator 23. The shielding plate 211 is arranged at the upper end of the first positioning seat 212, so that a gap for moving the material tray is reserved between the shielding plate 211 and the top surface of the machine body 1, and the material tray can be conveyed by the subsequent adsorption assembly 22 conveniently. In order to improve the stability of the material tray between the two positioning seats one 212, the placing seat 9 is fixed on the machine body 1, the placing seat 9 is in a U shape, a notch formed by the placing seat 9 is communicated with the through groove 11, and the adsorption component 22 is convenient to adsorb the material tray on the placing seat 9. In order to improve the stability of the charging tray on the placing seat 9, the side of the placing seat 9 is provided with a plurality of positioning plates 91, the positioning plates 91 position the corners of the charging tray, and the regularity and the stability of the charging tray on the placing seat 9 are improved. When the adsorption component 22 adsorbs the tray at the bottommost portion of the placing seat 9, in order to avoid the instability of the tray at the upper end and influence the stability of the wireless coil in the tray, the storage component 21 further includes a first lifting cylinder 213 disposed on the first positioning seat 212, a first pushing cylinder 214 fixed at the piston end of the first lifting cylinder 213, and a first positioning block 215 fixed at the piston end of the first pushing cylinder 214. The first lifting cylinder 213 drives the first pushing cylinder 214 to move up and down, the first pushing cylinder 214 drives the first positioning block 215 to contract towards the first positioning seat 212 on the other side in a reciprocating mode, the first positioning blocks 215 on the two sides of the through groove 11 are convenient for positioning the two ends of the material disc, and after the upper material disc is positioned, the first lifting cylinder 213 drives the upper material disc to move up, so that the adsorption assembly 22 can adsorb and carry the material disc at the lowest end conveniently.
Referring to fig. 4 and 6, the adsorption assembly 22 includes first moving cylinders 224 disposed in the machine body 1 and disposed along both sides of the length direction of the through slot 11, a mounting plate 223 fixed at piston ends of the first moving cylinders 224, second lifting cylinders 222 fixed at top surfaces of the mounting plate 223, and second suction cups 221 fixed at piston ends of the second lifting cylinders 222, and in order to improve stability of the first moving cylinders 224, first mounting seats 10 for mounting the first moving cylinders 224 are fixed on the machine body 1. The top surface of the second suction cup 221 is provided with a plurality of second suction nozzles 2211, the second suction nozzles 2211 can suck the bottom surface of the material tray, the second lifting cylinder 222 is started to move the second suction cup 221 downwards, and the material tray is moved into the carrying range of the second manipulator 23 through the first moving cylinder 224. The second robot 23 is provided with a plurality of first suction nozzles 231 for sucking wireless coils, and in this embodiment, the second robot 23 is provided with two first suction nozzles 231. When the second manipulator 23 carries the wireless coil in the tray, the empty tray needs to be recovered.
Referring to fig. 6, the material receiving assembly 24 is used for recovering an empty tray, the material receiving assembly 24 includes a guide rail 241 fixed along the height direction of the machine body 1, a guide seat 242 disposed on the guide rail 241, a second moving cylinder 244 fixed on the guide rail 241 and used for driving the guide seat 242 to move up and down, a bracket 243 disposed on the guide seat 242, and a conveyor belt 245 used for conveying the tray, the second moving cylinder 244 is started to drive the bracket 243 to move up, the bracket 243 is located at two ends of the tray, after the bracket 243 lifts the tray, the first moving cylinder 224 drives the second suction cup 221 to move below the storage assembly 21 again, so that the second suction cup 221 can convey the tray again. After the wireless coil in the material tray is conveyed, the empty material tray needs to be collected, the second moving cylinder 244 is started to move the bracket 243 downwards, and the tray is placed on the conveyor belt 245 to be conveyed. In order to improve the stability of the conveyor belt 245 in the machine body 1, a supporting seat 12 for supporting the conveyor belt 245 is fixed on the machine body 1, a plurality of second positioning blocks 13 are fixed on two sides of the supporting seat 12 in the length direction, and the second positioning blocks 13 are convenient for improving the stability of the tray on the conveyor belt 245.
Referring to fig. 3 and 7, the second robot 23 conveys the wireless coil to the transfer mechanism 4 at the feeding end, the wireless coil on the transfer mechanism 4 is conveyed to the detection mechanism 3 through the synchronous conveying mechanism 5 for detection, and the detected wireless coil is conveyed to the transfer mechanism 4 at the discharging end through the synchronous conveying mechanism 5.
Referring to fig. 7 and 8, the transfer mechanism 4 includes a second mounting seat 41 fixed on the machine body 1, a first transfer cylinder 42 and a second transfer cylinder 43 arranged along the length direction of the second mounting seat 41, the first transfer cylinder 42 is arranged at a side close to the conveying mechanism 2, the piston end of the first transfer cylinder 42 is parallel to the width direction of the machine body 1, and the placing blocks 14 are arranged on the first transfer cylinder 42 and the second transfer cylinder 43. The placing block 14 is provided with a mounting groove 141 for mounting a wireless coil; two mounting grooves 141 are provided in the present embodiment, and correspond to the two first suction nozzles 231 of the second robot 23. A second pushing cylinder 421 for pushing the placing block 14 is fixed on the first transferring cylinder 42, the piston end of the second pushing cylinder 421 is perpendicular to the piston end of the first transferring cylinder 42, and the second pushing cylinder 421 pushes the placing block 14 on the first transferring cylinder 42 to the first transferring cylinder 42, so that the synchronous carrying mechanism 5 can carry the wireless coil conveniently.
Referring to fig. 7 and 9, when the placing base 9 is filled with the wireless coil, the synchronous carrying mechanism 5 carries the wireless coil onto the detecting mechanism 3, so that the detecting mechanism 3 can detect the quality of the wireless coil. The detection mechanism 3 comprises a first rotary table 31 for bearing the wireless coil, a first detection assembly 33 arranged along the periphery of the first rotary table 31, a second rotary table 32 for bearing the wireless coil detected by the first detection assembly 33, and a second detection assembly 34 arranged along the periphery of the second rotary table 32. The first rotating disc 31 and the second rotating disc 32 are both disc-shaped, a first driving motor 15 for driving the first rotating disc 31 to rotate is fixed on the machine body 1, and a second driving motor 16 for driving the second rotating disc 32 to rotate is fixed on the machine body 1. The top surface of the first rotating disk 31 is circumferentially provided with a plurality of first placing tables 311, the top surface of the second rotating disk 32 is circumferentially provided with a plurality of second placing tables 321, and when the synchronous carrying mechanism 5 carries the wireless coil on the transfer mechanism 4 to the first placing tables 311, the first detecting assembly 33 can detect the wireless coil. The first detection assembly 33 comprises a first detection camera 331 fixed on the machine body 1 and located above the first placing table 311, a second detection camera 332 fixed on the machine body 1 and located above the first placing table 311, and a third detection camera 333 fixed in the machine body 1 and located below the placing table, wherein the first detection camera 17 located on the third detection camera 333 is fixed on the machine body 1, the detection table 17 is transparent, and when the wireless coil is placed on the detection table 17, the third detection camera 333 is convenient for detecting the back of the wireless coil. Be equipped with the runner assembly 18 that is used for placing the wireless coil on the platform 311 and removes on organism 1, runner assembly 18 is including fixing support frame 181 on organism 1, fixing the rotation motor 182 on support frame 181, fixing at the lifting cylinder three 183 of rotation motor 182 output and setting up the three 184 of sucking disc at the three 183 piston ends of lifting cylinder, the symmetry of the three 184 of sucking discs in this application embodiment sets up two, is convenient for improve wireless coil's detection efficiency. The first detection camera 331 is used for detecting the two-dimensional code on the wireless coil and checking whether the previous production steps of the wireless coil are normal or not; the second detection camera 332 is used for detecting whether the wireless coil leaks copper; the third detection camera 333 is used for detecting the problems of no waste discharge, black film imprinting, black film damage (back), black film missing (back), black film foreign matter and white film missing in the triangular area on the wireless coil.
Referring to fig. 7 and 9, the second detection assembly 34 includes a fourth detection camera 341, a fifth detection camera 342, and a sixth detection camera 343 sequentially arranged around the circumference of the second turntable 32, the fourth detection camera 341, the fifth detection camera 342, and the sixth detection camera 343 are all fixed on the body 1 and located above the second placement stage 321, and the fourth detection camera 341 is used for detecting problems of copper foil stamping, copper foil gluing wrinkle, uneven focal distance between copper foils, and copper foil foreign matter on the wireless coil; the detection camera five 342 is used for detecting the problems of blue film deviation, blue film wrinkles, black film waste discharge, foreign matters, graphite deviation, graphite loss, graphite edge wrapping and bead filler loss in the wireless coil; and the detection camera six 343 is used for detecting the problems of graphite layering, graphite folding and graphite crushing of the wireless coil. The detection function of camera still can set up according to staff's processing needs, because the clearance between carousel one 31 and the second 32 of carousel is great, for the convenience of carrying in synchronous handling mechanism 5, is equipped with well swivel mount 19 between carousel one 31 and the second 32 of carousel.
Referring to fig. 7 and 10, the detected wireless coil needs to be transported by using the synchronous transport mechanism 5, where the synchronous transport mechanism 5 includes a third moving cylinder 51 disposed along the length direction of the machine body 1, a second positioning seat 52 fixed at the piston end of the third moving cylinder 51, a fourth lifting cylinder 53 fixed on the second positioning seat 52, a connecting plate 54 fixed at the piston end of the fourth lifting cylinder 53, and a plurality of four suction cups 55 disposed along the length direction of the connecting plate 54, and in this embodiment, four suction cups four 55 are disposed. The third moving cylinder 51 drives the connecting plate 54 to move along the length direction of the machine body 1, and the fourth lifting cylinder 53 drives the connecting plate 54 to move up and down, so that the fourth sucker 55 can conveniently adsorb the wireless coil. The suction cup four 55 closest to the feeding end transfer mechanism 4 is the first suction cup four 55, the first suction cup four 55 adsorbs a wireless coil in the installation groove 141, the movable cylinder three 51 is started to drive the placing table one 311, meanwhile, the second suction cup four 55 adsorbs a wireless coil on the placing table one 311 to the transfer seat 19, the third suction cup four 55 transports the wireless coil on the transfer seat 19 to the placing table two 321, the fourth suction cup four 55 transports the wireless coil on the rotary table two 32 to the transfer mechanism 4 at the discharging end, and the conveying mechanism 2 at the discharging end is convenient to collect the detected wireless coil.
Referring to fig. 3 and 11, the wireless coil system detected by the detection mechanism 3 is automatically identified, a first material table 6 is fixed at the discharge end of the machine body 1, and a material tray used for placing problematic materials is arranged on the first material table 6. The machine body 1 is further fixedly provided with a material platform II 7 used for supplying a material tray for the material platform I6, the machine body 1 is fixedly provided with a mechanical arm I8 positioned on one side of the material platform, and the mechanical arm I8 is provided with a sucker I81 used for adsorbing the material tray. The second manipulator 23 of discharge end transports the unusual coil in the charging tray on the material platform 6, transports the charging tray on the sucking disc two 221 with normal material in, and the receipts material subassembly 24 of the discharge end of being convenient for collects the charging tray of filling with the coil, effectively improves the receipts material efficiency of coil.
The implementation principle of the wireless coil appearance detection device in the embodiment of the application is as follows: a plurality of charging trays filled with wireless coils are stacked on the placing seat 9 at the feeding end, and the positioning plate 91 positions the charging trays. The first pushing cylinder 214 is started to push the positioning plate 91 to position two ends of the second tray at the lowest end, and the first lifting cylinder 213 is started to lift a plurality of trays, so that the tray at the lowest end is left. The first moving cylinder 224 is started to move the second suction cup 221 to the bottom of the material tray, the second lifting cylinder 222 is started to move the second suction cup 221 upwards, the bottom of the material tray is sucked by the second suction nozzles 2211, after the material tray is fixed by the second suction nozzles 2211, the second lifting cylinder 222 is started to stretch downwards, and then the first moving cylinder 224 is started to move the material tray to the carrying range of the second manipulator 23.
The first suction nozzle 231 is used for sucking the wireless coil, the wireless coil is conveyed to the transfer mechanism 4 at the feeding end, the wireless coil is placed in the installation groove 141, the synchronous conveying mechanism 5 is started, and the wireless coil in the installation groove 141 is conveyed to the detection mechanism 3 for detection. The moving cylinder III 51 is started to move the first sucker IV 55 to convey the wireless coil in the mounting groove 141 to the placing table I311, the driving motor I15 drives the rotating disc I31 to rotate, the wireless coil is sequentially conveyed to the detection camera I331 and the detection camera II 332 to be detected, when the position of the detection camera III 333 is reached, the lifting cylinder III 183 is started, the wireless coil on the placing table I311 is conveyed to the detection table 17 through the sucker III 184, and the detection camera III 333 is convenient to detect the back face of the wireless coil. After the back of the wireless coil is detected, the three suction cups 184 adsorb the wireless coil, the rotating motor 182 is started to convey the detected wireless coil to the placing table, the three symmetrical suction cups 184 place a new wireless coil on the detecting table 17, and the detection efficiency of the device is effectively improved.
The second suction cup four 55 on the connecting plate 54 conveys the wireless coil detected on the placing table one 311 to the middle rotary table 19, the third suction cup four 55 conveys the wireless coil on the middle rotary table 19 to the second rotary table 32, the driving motor two 16 drives the wireless coil on the placing table two 321 to rotate, and the detection camera four 341, the detection camera five 342 and the detection camera six 343 detect the wireless coil in sequence. The fourth sucking disc 55 on the connecting plate 54 carries the wireless coil that detection mechanism 3 detected well to the transfer mechanism 4 of discharge end, the wireless coil that detects well carries through the manipulator two 23 of discharge end, in the manipulator two 23 carried the charging tray on the material platform 6 with the problem coil, in transporting the empty charging tray on sucking disc two 221 with normal coil, fill the back gradually when empty charging tray, start material collecting component 24 and receive the charging tray, location cylinder 25 promotes location clamp splice 26 and fixes a position the both sides of charging tray, sucking disc two 221 removes the absorption empty charging tray once more. The second actuating moving cylinder 244 drives the guide seat 242 to move upwards, the guide seat 242 moves upwards to drive the bracket 243 to move upwards, the bracket 243 moves upwards to lift the two ends of the material tray, the actuating positioning cylinder 25 retracts the positioning clamping block 26, the material tray is placed on the bracket 243, and the second actuating moving cylinder 244 drives the material tray to move downwards to the conveyor belt 245, so that the collection efficiency of the coil is effectively improved, and the detection efficiency of the coil is improved.
The embodiment of the application further provides a wireless coil appearance detection method, which comprises the following steps: placing a plurality of wireless coils in a material tray, placing the material tray filled with the wireless coils on a placing seat 9 at the feeding end of the machine body 1, positioning a penultimate material tray by using a positioning plate 91, lifting the penultimate material tray by using a lifting cylinder I213, and synchronously lifting the material trays on the penultimate material tray;
material conveying: adsorbing the last-but-one material tray by using a plurality of suction nozzles II 2211, starting a moving cylinder I224 to move a suction cup II 221 into the grabbing range of a manipulator II 23, and carrying the wireless coil on the material tray by the manipulator II 23;
and (3) recovering an empty tray: the empty material tray carried by the second manipulator 23 is recovered through the material receiving assembly 24, the second moving cylinder 244 is started to drive the bracket 243 to move upwards, the bracket 243 lifts the two ends of the material tray, after the material tray is positioned, the second moving cylinder 244 is started again to move the bracket 243 downwards, the bracket 243 drives the material tray to move onto the conveyor belt 245, and the conveyor belt 245 recovers the empty material tray;
transferring materials: the second manipulator 23 conveys the wireless coil into the mounting groove 141, and the wireless coil on the transfer mechanism 4 is conveyed to the detection mechanism 3 through the synchronous conveying mechanism 5 for detection;
material detection: the wireless coil is detected in the detection mechanism 3, the wireless coil without abnormity is detected, and the wireless coil without abnormity is collected through the conveying mechanism 2 at the discharge end; detecting an abnormal wireless coil, and grabbing the abnormal wireless coil to a material tray in the material table I6 through a manipulator II 23; when the material tray on the first material table 6 is full, the first manipulator 8 grabs the empty material tray on the second material table 7 onto the first material table 6.
Collecting materials: the wireless coil is collected through the material receiving assembly 24 at the discharge end of the machine body 1.
The above embodiments are preferred embodiments of the present application, and the protection scope of the present application is not limited by the above embodiments, so: all equivalent changes made according to the structure, shape and principle of the present application shall be covered by the protection scope of the present application.
Claims (10)
1. A wireless coil appearance detection device, its characterized in that: including organism (1), set up at organism (1) both ends and be used for conveying transport mechanism (2) of charging tray, set up between two transport mechanism (2) and be used for detecting wireless coil detection mechanism (3), set up transfer mechanism (4) between detection mechanism (3) and transport mechanism (2) and carry out synchronous handling mechanism (5) that sets up along organism (1) length direction, the discharge end of organism (1) is equipped with material platform (6) and is used for placing material platform two (7) of empty charging tray, material platform (6) are used for depositing the charging tray of depositing the coil of having a problem, be equipped with on organism (1) and carry the charging tray on material platform two (7) to manipulator (8) on material platform (6), be equipped with sucking disc (81) that are used for absorbing the charging tray on manipulator (8).
2. The appearance inspection apparatus for wireless coil according to claim 1, wherein: the conveying mechanism (2) comprises a storage component (21) arranged on the top surface of the machine body (1), an adsorption component (22) used for conveying a tray in the storage component (21), a manipulator II (23) used for conveying a wireless coil in the tray and a material receiving component (24) used for storing the tray, wherein a plurality of suction nozzles I (231) used for adsorbing the wireless coil on the adsorption component (22) to the transfer mechanism (4) are arranged on the manipulator II (23), the storage component (21) comprises a shielding plate (211) arranged on the machine body (1), positioning seats I (212) arranged at two ends of the shielding plate (211), a lifting cylinder I (213) arranged on the positioning seats I (212), a pushing cylinder I (214) arranged at the piston end of the lifting cylinder I (213) and a positioning block I (215) arranged at the piston end of the pushing cylinder I (214), lifting cylinder (213) drive push cylinder (214) and reciprocate, the piston end of push cylinder (214) moves along shielding plate (211) length direction, two be equipped with between positioning seat (212) and place seat (9), it is equipped with a plurality of locating plates (91) to place one side that shielding plate (211) was kept away from in seat (9).
3. The appearance inspection apparatus for wireless coil according to claim 2, wherein: the adsorption component (22) comprises a second suction cup (221) arranged at the bottom of the placing seat (9), a second lifting cylinder (222) used for driving the second suction cup (221) to move up and down, a mounting plate (223) used for mounting the second lifting cylinder (222) and a first moving cylinder (224) arranged at two ends of the mounting plate (223), the piston end of the first moving cylinder (224) is arranged along the length direction of the machine body (1), a first mounting seat (10) used for mounting the first moving cylinder (224) is arranged on the machine body (1), a through groove (11) consistent with the conveying path of the second suction cup (221) is formed in the machine body (1), the storage component (21) is positioned at one end, away from the second manipulator (23), of the through groove (11), the component (24) is positioned at the other end of the through groove (11), the placing seat (9) is U-shaped, and a gap of the placing seat (9) is communicated with the through groove (11), conveying mechanism (2) still including setting up location cylinder (25) and setting up location clamp splice (26) at location cylinder (25) piston end in logical groove (11) length direction both sides, location cylinder (25) are located the top of receiving material subassembly (24).
4. The appearance inspection apparatus for wireless coil according to claim 3, wherein: receive material subassembly (24) including guide rail (241) that set up along organism (1) direction of height, guide holder (242) of setting in guide rail (241), set up at guide holder (242) both ends and be used for bearing bracket (243) of charging tray, set up and just be used for driving guide holder (242) in guide rail (241) bottom and carry out two (244) of the removal cylinder that reciprocate and set up conveyer belt (245) that just are used for conveying the charging tray in bracket (243) below, be equipped with supporting seat (12) that are used for supporting conveyer belt (245) in organism (1), be equipped with locating piece two (13) that are located conveyer belt (245) length direction both sides on supporting seat (12), be equipped with a plurality of suction nozzles two (2211) on sucking disc two (221).
5. The appearance inspection apparatus for wireless coil according to claim 1, wherein: the transfer mechanism (4) comprises a second mounting seat (41) arranged along the width direction of the machine body (1), a first transfer cylinder (42) arranged on the second mounting seat (41) and a second transfer cylinder (43) consistent with the moving direction of the piston end of the first transfer cylinder (42), the first transfer cylinder (42) is arranged on one side of the second mounting seat (41) far away from the detection mechanism (3), the second transfer cylinder (43) is arranged on one side of the second mounting seat (41) close to the detection mechanism (3), the piston ends of the first transfer cylinder (42) and the second transfer cylinder (43) are both provided with a placing block (14), the placing block (14) is provided with a plurality of mounting grooves (141) for mounting wireless coils, and a second pushing cylinder (421) used for pushing the placing block (14) to move to the second transferring cylinder (43) is arranged on the first transferring cylinder (42).
6. The appearance inspection apparatus for wireless coil according to claim 1, wherein: detection mechanism (3) are including setting up carousel one (31), carousel two (32) on organism (1), set up on organism (1) and be used for detecting wireless coil's on carousel one (31) detecting component one (33) and set up on organism (1) and be used for detecting wireless coil's on carousel two (32) detecting component two (34), be equipped with on organism (1) and be used for driving carousel one (31) and carry out pivoted driving motor one (15), be equipped with on organism (1) and be used for driving carousel two (32) and carry out pivoted driving motor two (16), the top surface of carousel one (31) evenly is equipped with a plurality of platforms one (311) of placing along the rotation path, the top surface of carousel two (32) evenly is equipped with a plurality of platforms two (321) of placing along the rotation path.
7. The appearance inspection apparatus for wireless coil according to claim 6, wherein: the first detection component (33) comprises a first detection camera (331), a second detection camera (332) and a third detection camera (333) which are arranged on the machine body (1) and arranged along the periphery of the first rotary disc (31) in sequence, the detection surfaces of the first detection camera (331) and the second detection camera (332) correspond to the first placing table (311), the third detection camera (333) is arranged below the first rotary table (31), the machine body (1) is provided with a detection platform (17) which is positioned right above the third detection camera (333), the machine body (1) is provided with a rotating component (18) which is used for moving the wireless coil on the first placing table (311) to the detection table (17), the second detection assembly (34) comprises a fourth detection camera (341), a fifth detection camera (342) and a sixth detection camera (343) which are arranged on the machine body (1) and are sequentially arranged along the periphery of the second rotary disc (32).
8. The appearance inspection apparatus for wireless coil according to claim 7, wherein: rotating assembly (18) including setting up support frame (181) on organism (1), set up on support frame (181) and be located the rotation motor (182) of examining test table (17) top, set up at the lifting cylinder three (183) of rotation motor (182) output and set up the sucking disc three (184) at lifting cylinder three (183) piston end, sucking disc three (184) set up two and two sucking disc three (184) symmetries and set up the piston end at lifting cylinder three (183), the detection of examining test table (17) personally submits the transparence.
9. The appearance inspection apparatus for wireless coil according to claim 7, wherein: the synchronous carrying mechanism (5) comprises a moving cylinder III (51) arranged along the length direction of the machine body (1), a positioning seat II (52) arranged on the moving cylinder III (51), a lifting cylinder IV (53) arranged on the positioning seat II (52), a connecting plate (54) arranged at the piston end of the lifting cylinder IV (53) and a plurality of suckers IV (55) sequentially arranged along the length direction of the connecting plate (54), four suckers (55) are arranged, a transfer seat (19) corresponding to the sucker (55) is arranged between the first rotating disc (31) and the second rotating disc (32), the middle rotary seat (19), the first placing platform (311) close to the synchronous conveying mechanism (5) and the second placing platform (321) close to the synchronous conveying mechanism (5) are all positioned on the same straight line, and the fourth sucker (55) is positioned above the middle rotary seat (19), the first placing table (311) and the second placing table (321).
10. A wireless coil appearance detecting method according to any one of claims 1 to 9, characterized in that: the method comprises the following implementation processes:
material supply: placing a plurality of wireless coils in a material tray, and placing the material tray filled with the wireless coils in a storage assembly (21) at the feeding end of the machine body (1);
material conveying: the material tray filled with the materials is adsorbed into the grabbing range of a second manipulator (23) by utilizing an adsorption component (22);
and (3) recovering an empty tray: the material receiving assembly (24) is used for recovering the material tray carried by the second manipulator (23);
transferring materials: the second manipulator (23) conveys the wireless coil to the transit mechanism (4), and then the wireless coil on the transit mechanism (4) is conveyed to the detection mechanism (3) through the synchronous conveying mechanism (5) for detection;
material detection: the wireless coil is detected in the detection mechanism (3), the wireless coil without abnormity is detected, and the wireless coil without abnormity is collected through the conveying mechanism (2) at the discharge end; detecting abnormal wireless coils, and grabbing the abnormal wireless coils to a material tray in the material table I (6) through a manipulator II (23); when the material tray on the first material platform (6) is full, the first manipulator (8) grabs the empty material tray on the second material platform (7) onto the first material platform (6);
collecting materials: the wireless coil is collected through a material receiving component (24) at the discharge end of the machine body (1).
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