CN114146935A

CN114146935A - Dual-camera identification device and method for detecting direction of product on carrying disc

Info

Publication number: CN114146935A
Application number: CN202111420058.8A
Authority: CN
Inventors: 刘呈明; 黄建斌; 蔡虎; 王雨; 刘卓静
Original assignee: Chengdu Homin Technology Co Ltd
Current assignee: Chengdu Homin Technology Co Ltd
Priority date: 2021-11-26
Filing date: 2021-11-26
Publication date: 2022-03-08

Abstract

The invention discloses double-camera identification equipment and a method for detecting the direction of a product on a carrying disc, and the equipment comprises a workbench (1), wherein a carrying disc storage mechanism (2), a first detection mechanism (3), a screw nut pair (4), a second detection mechanism (5) and a carrying disc collection mechanism (6) are sequentially arranged on the table top of the workbench (1) from left to right, the carrying disc storage mechanism (2) comprises four upright posts I (7) fixedly arranged on the table top of the workbench (1), four enclosing plates I (8) enclose a cavity I, the cavity I is consistent with the outline of a carrying disc (12), clamping cylinders (9) are fixedly arranged on the outer walls of the four enclosing plates I (8), and a lifting cylinder I (10) fixedly arranged on the table top of the workbench (1) is arranged right below the cavity I. The invention has the beneficial effects that: compact structure, improvement detection precision, improvement detection efficiency, alleviate workman working strength.

Description

Dual-camera identification device and method for detecting direction of product on carrying disc

Technical Field

The invention relates to the technical field of product direction detection, in particular to double-camera identification equipment and a method for detecting the direction of a product on a carrying disc.

Background

After asymmetric product production shaping, need put the product in advance and hold the intracavity at each of year dish, put the back that finishes, carry the dish again and carry CCD camera lens identification district, hold the direction of each product in the intracavity through CCD camera lens discernment, after the direction that certain product was discerned to the CCD camera lens is put in reverse, the CCD camera lens sends out the signal to the display screen to remind the workman to adjust the direction of this product, thereby ensure that the direction of each product in the year dish is unanimous. However, although this method of detecting the orientation of the products can ensure that all the products in each tray are oriented consistently, in actual operation, the following technical drawbacks are still present: 1. need the manual work to put the year dish that is equipped with the product in CCD camera lens identification area, after detecting, still need the manual work to take away the year dish, this is undoubtedly to increase workman's working strength, in addition, will use several hundreds year dishes every day, this further increase workman's input, increased the detection cost. 2. When detecting out the product that has the direction to put, still need the manual work to adjust the product to further increase workman's working strength. 3. Only through one-time detection of the CCD lens identification area, products which are missed to be detected still exist, namely, products with wrong placing directions still exist after the detection.

Disclosure of Invention

The invention aims to overcome the defects of the prior art and provides a double-camera identification device and a method thereof for detecting the direction of a product on a carrying disc, which have the advantages of compact structure, improved detection precision, improved detection efficiency and reduced working intensity of workers.

The purpose of the invention is realized by the following technical scheme: a double-camera identification device for detecting the direction of a product on a carrying disc comprises a workbench, wherein a carrying disc storage mechanism, a first detection mechanism, a screw-nut pair, a second detection mechanism and a carrying disc collection mechanism are sequentially arranged on the table surface of the workbench from left to right, the tray storage mechanism comprises four upright posts I fixedly arranged on a workbench surface, enclosing plates I are fixedly arranged on the four upright posts I, a cavity I is enclosed by the four enclosing plates I, the cavity I is consistent with the outline of a tray, clamping cylinders are fixedly arranged on the outer walls of the four enclosing plates I, a lifting cylinder I fixedly arranged on the workbench surface is arranged right below the cavity I, a lifting plate I is fixedly arranged on the action end of a piston rod of the lifting cylinder I, a plurality of trays containing products are sequentially stacked from bottom to top on the top surface of the lifting plate I, and the tray at the bottommost layer is pressed between piston rods of the clamping cylinders;

the tray-carrying collection mechanism comprises four stand columns II fixedly arranged on the table top of the workbench, enclosing plates II are fixedly arranged on the four stand columns II, a cavity II is enclosed by the four enclosing plates II, self-locking mechanisms are arranged on the outer walls of the four enclosing plates II, each self-locking mechanism comprises a through groove formed in the corresponding enclosing plate II, a rotary block hinged to a pin shaft is arranged in each through groove, one end of each rotary block extends into the corresponding cavity II, the bottom surface and the top surface of each extending end are respectively a wedge-shaped surface and a plane, a lifting cylinder II fixedly arranged on the table top of the workbench is arranged right below the corresponding cavity II, and a lifting plate II is fixedly arranged on the action end of a piston rod of the lifting cylinder II;

the front side and the rear side of a connecting line among the lifting cylinder I, the screw-nut pair and the lifting cylinder II are respectively provided with a belt conveying mechanism, the left end parts of belts of the two belt conveying mechanisms are arranged under the cavity I, and the right end parts of the belts of the two belt conveying mechanisms are arranged under the cavity II.

The cavity II is consistent with the outer contour of the carrying disc.

The distance between each self-locking mechanism and the table top of the workbench is the same, and the distance between each clamping cylinder and the table top of the workbench is the same.

The two belt conveying mechanisms are symmetrically arranged in front and back.

The nut of the screw-nut pair is fixedly provided with a mounting plate, the top of the mounting plate is fixedly provided with a vertical cylinder, the acting end of a piston rod of the vertical cylinder is fixedly provided with a lifting plate, and the lifting plate is arranged between two belts.

The machine frame of the belt conveying mechanism is fixedly provided with a connecting plate which is fixedly arranged on the table-board.

Two crossbeams are fixedly arranged on the table top of the workbench, the two ends of the two crossbeams extend to the outside of the table top, and the cylinder barrels of the stand column I, the stand column II, the lifting cylinder I and the lifting cylinder II are fixedly arranged on the crossbeams.

The first detection mechanism and the second detection mechanism are identical in structure, the first detection mechanism comprises a portal frame erected on the table board, a light source cover located right above the belt is arranged in the portal frame, and a CCD identification lens communicated with the light source cover is arranged at the top of the light source cover.

The device comprises a table board, a first detection mechanism, a second detection mechanism, a controller and a lifting cylinder, wherein an SCAR robot arm fixedly arranged on the table board is arranged between the first detection mechanism and the second detection mechanism, and the controller is electrically connected with a belt conveying mechanism, a CCD recognition lens, the SCAR robot arm, an electromagnetic valve of the lifting cylinder and an electromagnetic valve of the vertical cylinder.

The method for detecting the direction of the product on the carrying disc by the double-camera identification device for detecting the direction of the product on the carrying disc comprises the following steps:

s1, a worker starts the two belt conveying mechanisms at the same time, and the two belts rotate clockwise at the same time;

s2, controlling the piston rod of the lifting cylinder I to retract downwards, driving the lifting plate I to move downwards by a distance which is equal to the thickness of the carrying disc, wherein the carrying disc at the penultimate layer is positioned between the piston rods of the clamping cylinders, and the carrying disc A at the bottommost layer is supported on the lifting plate I; a piston rod of the clamping cylinder is controlled to extend out, and the piston rod presses and fixes the outer edge of the penultimate layer of the loading disc; then, the piston rod of the lifting cylinder I is continuously controlled to continuously retract downwards, and after the lifting plate I passes through the belt downwards, the carrying disc A falls on the belt;

s3, when the carrier disc A is conveyed to the position right below a light source cover of the first detection mechanism along with a belt, the belt conveying mechanism is controlled to be closed, the CCD identification lens detects each product in the carrier disc A at the moment, the CCD identification lens conveys a detected result to the controller, after the detection is finished, the belt conveying mechanism is controlled to be continuously started, and when the carrier disc A passes through the SCAR robot arm, the SCAR robot arm takes out the product with the wrong placement;

s4, when the carrier disc A after the first detection enters a light source cover of a second detection mechanism, controlling a belt conveying mechanism to be closed, detecting each product in the carrier disc A for the second time by a CCD identification lens at the moment, conveying a detection result into a controller by the CCD identification lens, controlling a screw-nut pair to act by the controller if the product which is wrongly visited is still detected, driving a vertical cylinder to move to the position right below the carrier disc A by the screw-nut pair, then controlling a piston rod of the vertical cylinder to extend upwards, driving a lifting plate to move upwards by the piston rod, lifting the carrier disc A by the lifting plate to be far away from a belt, then controlling the screw-nut pair to rotate reversely, conveying the carrier disc A to the left by the screw-nut pair to a removing station of an SCAR robot arm, and taking out the product which is wrongly placed by the SCAR robot arm, thereby realizing the second detection;

s5, after detection is finished, the piston rod of the vertical cylinder is controlled to retract, after retraction, the carrier disc A falls on the belt and moves rightwards along with the belt, when the carrier disc A moves right above the lifting plate II, the piston rod of the lifting cylinder II is controlled to move upwards, the piston rod drives the lifting plate II to move upwards, the lifting plate II drives the carrier disc A to be separated from the belt and enter the cavity II, in the process that the carrier disc A enters the cavity II, the outer edge of the carrier disc A is pressed against the wedge-shaped surface of each rotating block and drives the rotating block to move towards the direction of the through groove, after the carrier disc A passes through the rotating block, the rotating block is blocked by the through groove and rotates reversely under self weight, and the rotating block resets; then the piston rod of the lifting cylinder II is controlled to retract downwards, and after retraction, the carrying disc A is supported on the plane of each rotating block, so that collection of the first carrying disc is finally realized;

s6, repeating the operations of the steps S2-S5, and detecting and collecting the products in each loading tray in the cavity I twice.

The invention has the following advantages: the invention has compact structure, improves the detection precision and the detection efficiency and lightens the working strength of workers.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a front view of FIG. 1;

FIG. 3 is a schematic structural view of the disc storage mechanism;

FIG. 4 is a schematic structural view of the boat collection mechanism;

FIG. 5 is a schematic view of the connection between the coaming II and the self-locking mechanism;

FIG. 6 is a schematic view of a structure of a rotary block;

in the figure, 1-a workbench, 2-a loading tray storage mechanism, 3-a first detection mechanism, 4-a screw-nut pair, 5-a second detection mechanism, 6-a loading tray collection mechanism, 7-a column I, 8-a coaming I, 9-a clamping cylinder, 10-a lifting cylinder I, 11-a lifting plate I, 12-a loading tray, 13-a column II, 14-a coaming II, 15-a self-locking mechanism, 16-a through groove, 17-a rotating block, 18-a wedge-shaped surface, 19-a plane, 20-a lifting cylinder II, 21-a lifting plate II, 22-a belt conveying mechanism, 23-a belt, 24-a mounting plate, 25-a lifting plate, 26-a vertical cylinder, 27-a rack, 28-a connecting plate, 29-a beam and 30-a portal frame, 31-light source cover, 32-CCD identification lens, 33-SCAR robot arm and 34-carrying disc A.

Detailed Description

The invention will be further described with reference to the accompanying drawings, without limiting the scope of the invention to the following:

as shown in fig. 1 to 6, a dual camera recognition apparatus for detecting the direction of products on a carrying tray comprises a workbench 1, a carrying tray storage mechanism 2, a first detection mechanism 3, a screw nut pair 4, a second detection mechanism 5 and a carrying tray collection mechanism 6 are sequentially arranged on the table top of the workbench 1 from left to right, the carrying tray storage mechanism 2 comprises four upright posts I7 fixedly arranged on the table top of the workbench 1, enclosing plates I8 are fixedly arranged on the four upright posts I7, a cavity I is enclosed by the four enclosing plates I8, the outer contour of the cavity I is consistent with that of the carrying tray 12, a clamping cylinder 9 is fixedly arranged on the outer wall of each enclosing plate I8, a lifting cylinder I10 fixedly arranged on the table top of the workbench 1 is arranged right below the cavity I, a lifting plate I11 is fixedly arranged on the action end of a piston rod of the lifting cylinder I10, a plurality of carrying trays 12 with products are sequentially stacked from top to bottom on the top surface of the lifting plate I11, wherein the load plate 12 at the bottom layer is pressed between the piston rods of the clamping cylinders 9.

It includes four stands II13 that set firmly on the 1 mesa of workstation to carry dish collection mechanism 6, all set firmly bounding wall II14 on four stands II13, four bounding walls II14 enclose into cavity II, cavity II is unanimous with the outline that carries the dish, all be provided with self-locking mechanism 15 on four bounding walls II 14's the outer wall, self-locking mechanism 15 is including seting up logical groove 16 on bounding wall II14, distribute the articulated rotatory piece 17 of axis in the logical groove 16, the one end of rotatory piece 17 stretches into in cavity II, and the bottom surface and the top surface of extension end are wedge face 18 and plane 19 respectively, be provided with the lift cylinder II20 that sets firmly on the 1 mesa of workstation under cavity II, the effect of lift cylinder II20 piston rod is served and is set firmly lifter II 21.

The front side and the rear side of a connecting line between the lifting cylinder I10, the screw-nut pair 4 and the lifting cylinder II20 are respectively provided with a belt conveying mechanism 22, the two belt conveying mechanisms 22 are symmetrically arranged front and rear, the left end parts of the belts 23 of the two belt conveying mechanisms 22 are arranged under the cavity I, and the right end parts of the belts 23 of the two belt conveying mechanisms 22 are arranged under the cavity II. The distance from each self-locking mechanism 15 to the table surface of the workbench 1 is the same, and the distance from each clamping cylinder 9 to the table surface of the workbench 1 is the same. The nut of the feed screw nut pair 4 is fixedly provided with a mounting plate 24, the top of the mounting plate 24 is fixedly provided with a vertical cylinder 26, the acting end of a piston rod of the vertical cylinder 26 is fixedly provided with a lifting plate 25, and the lifting plate 25 is arranged between the two belts 23.

The frame 27 of the belt conveying mechanism 22 is fixedly provided with a connecting plate 28, and the connecting plate 28 is fixedly arranged on the table top. Two crossbeams 29 are fixedly arranged on the table surface of the workbench 1, two ends of the two crossbeams 29 extend to the outside of the table surface, and the cylinder barrels of the upright post I7, the upright post II13, the lifting cylinder I10 and the lifting cylinder II20 are fixedly arranged on the crossbeams 29.

The first detection mechanism 3 and the second detection mechanism 5 are identical in structure, the first detection mechanism 3 comprises a portal frame 30 erected on a table board, a light source cover 31 located right above the belt 23 is arranged in the portal frame 30, and a CCD identification lens 32 communicated with the light source cover 31 is arranged at the top of the light source cover 31. An SCAR robot arm 33 fixedly arranged on the table top is arranged between the first detection mechanism 3 and the second detection mechanism 5, the device further comprises a controller, and the controller is electrically connected with the belt conveying mechanism 22, the CCD identification lens 32, the SCAR robot arm 33, the electromagnetic valve of the lifting cylinder and the electromagnetic valve of the vertical cylinder 26.

s1, the worker starts the two belt conveying mechanisms 22 simultaneously, and the two belts 23 rotate clockwise simultaneously;

s2, controlling the piston rod of the lifting cylinder I10 to retract downwards, driving the lifting plate I11 to move downwards for a distance which is equal to the thickness of the carrying discs 12, wherein the carrying disc 12 at the penultimate layer is positioned between the piston rods of the clamping cylinders 9, and the carrying disc A34 at the bottommost layer is supported on the lifting plate I11; the piston rod of the clamping cylinder 9 is controlled to extend out, and the piston rod presses and fixes the outer edge of the penultimate layer of the loading disc 12; then the piston rod of the lifting cylinder I10 is continuously controlled to continuously retract downwards, and after the lifting plate I11 passes through the belt 23 downwards, the loading disc A34 falls on the belt 23;

s3, when the carrying disc A34 is conveyed to the position right below the light source cover 31 of the first detection mechanism 3 along with the belt 23, the belt conveying mechanism 22 is controlled to be closed, the CCD identification lens 32 detects each product in the carrying disc A34 at the moment, the CCD identification lens 32 conveys the detected result to the controller, after the detection is finished, the belt conveying mechanism 22 is controlled to be continuously started, and when the carrying disc A34 passes through the SCAR robot arm 33, the SCAR robot arm 33 takes out the product with the wrong placement;

s4, when the tray A34 which is detected for the first time enters the light source cover 31 of the second detection mechanism 5, the belt conveying mechanism 22 is controlled to be closed, the CCD identification lens 32 carries out second detection on each product in the tray A34 at the moment, the CCD identification lens 32 conveys the detected result to the controller, if the wrong visited product is detected, the controller controls the screw nut pair 4 to act, the screw nut pair 4 drives the vertical cylinder 26 to move to the position right below the tray A34, then the piston rod of the vertical cylinder 26 is controlled to extend upwards, the piston rod drives the lifting plate 25 to move upwards, the lifting plate 25 lifts the tray A34 to be far away from the belt 23, then the screw nut pair 4 is controlled to rotate reversely, the tray A34 is conveyed to the left by the screw nut pair 4 to the removing station of the SCAR robot arm 33, the SCAR robot arm 33 takes out the wrongly placed product, thereby realizing the second detection;

s5, after detection, controlling the piston rod of the vertical cylinder 26 to retract, after retraction, the carrying disc A34 falls on the belt 23 and moves rightwards along with the belt 23, when the carrying disc A34 moves right above the lifting plate II21, controlling the piston rod of the lifting cylinder II20 to move upwards, the piston rod drives the lifting plate II21 to move upwards, the lifting plate II21 drives the carrying disc A34 to separate from the belt 23 and enter the cavity II, in the process that the carrying disc A34 enters the cavity II, the outer edge of the carrying disc A34 is pressed on the wedge-shaped surface 18 of each rotating block 17 and drives the rotating block 17 to move towards the direction of the through groove 16, after the carrying disc A34 passes through the rotating block 17, the rotating block 17 is blocked by the through groove 16 and rotates reversely under self weight, and the rotating block 17 resets; then the piston rod of the lifting cylinder II20 is controlled to retract downwards, and after retraction, the loading disc A34 is supported on the plane 19 of each rotating block 17, so that the collection of the first loading disc is finally realized;

s6, repeating the operations of the steps S2-S5, the products in each loading tray 12 in the cavity I can be detected and collected twice. Therefore, in the whole detection process, the carrying disc does not need to be placed or taken away manually, the carrying disc is automatically loaded and collected, the working intensity of workers is greatly reduced, continuous detection is realized, and the detection efficiency is greatly improved. In addition, the device realizes twice detection of the product, avoids the product with wrong direction placement from flowing into the subsequent process, and greatly improves the detection precision.

Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A dual camera identification device for detecting the orientation of a product on a boat, comprising: the automatic loading and unloading device comprises a workbench (1), a loading disc storage mechanism (2), a first detection mechanism (3), a screw nut pair (4), a second detection mechanism (5) and a loading disc collection mechanism (6) are sequentially arranged on a table board of the workbench (1) from left to right, the loading disc storage mechanism (2) comprises four upright posts I (7) fixedly arranged on the table board of the workbench (1), enclosing plates I (8) are fixedly arranged on the four upright posts I (7), four enclosing plates I (8) enclose a cavity I, the cavity I is consistent with the outer contour of the loading disc (12), clamping cylinders (9) are fixedly arranged on the outer walls of the four enclosing plates I (8), a lifting cylinder I (10) fixedly arranged on the table board of the workbench (1) is arranged under the cavity I, a lifting plate I (11) is fixedly arranged on the action end of a piston rod of the lifting cylinder I (10), the loading discs (12) provided with a plurality of products are sequentially stacked from top to bottom up on the top surface of the lifting plate I (11), wherein, the load disc (12) at the bottommost layer is pressed between the piston rods of the clamping cylinders (9);

the tray collecting mechanism (6) comprises four upright posts II (13) fixedly arranged on the table top of the workbench (1), enclosing plates II (14) are fixedly arranged on the four upright posts II (13), a cavity II is enclosed by the four enclosing plates II (14), self-locking mechanisms (15) are arranged on the outer walls of the four enclosing plates II (14), each self-locking mechanism (15) comprises a through groove (16) formed in the enclosing plate II (14), a rotating block (17) is hinged in the through groove (16) through a pin shaft, one end of each rotating block (17) extends into the cavity II, the bottom surface and the top surface of each extending end are respectively a wedge surface (18) and a plane (19), a lifting cylinder II (20) fixedly arranged on the table top of the workbench (1) is arranged right below the cavity II, and a lifting plate II (21) is fixedly arranged on the action end of a piston rod of the lifting cylinder II (20);

the front side and the rear side of a connecting line among the lifting cylinder I (10), the lead screw nut pair (4) and the lifting cylinder II (20) are respectively provided with a belt conveying mechanism (22), the left end parts of belts (23) of the two belt conveying mechanisms (22) are arranged under the cavity I, and the right end parts of the belts (23) of the two belt conveying mechanisms (22) are arranged under the cavity II.

2. A dual camera identification device for detecting orientation of a product on a boat as claimed in claim 1 wherein: the cavity II is consistent with the outer contour of the carrying disc.

3. A dual camera identification device for detecting orientation of a product on a boat as claimed in claim 1 wherein: the distance between each self-locking mechanism (15) and the table surface of the workbench (1) is the same, and the distance between each clamping cylinder (9) and the table surface of the workbench (1) is the same.

4. A dual camera identification device for detecting orientation of a product on a boat as claimed in claim 1 wherein: the two belt conveying mechanisms (22) are symmetrically arranged in front and back.

5. A dual camera identification device for detecting orientation of a product on a boat as claimed in claim 1 wherein: the screw rod nut pair (4) is characterized in that a mounting plate (24) is fixedly arranged on a nut, a vertical cylinder (26) is fixedly arranged at the top of the mounting plate (24), a lifting plate (25) is fixedly arranged on an acting end of a piston rod of the vertical cylinder (26), and the lifting plate (25) is arranged between two belts (23).

6. A dual camera identification device for detecting orientation of a product on a boat as claimed in claim 1 wherein: and a connecting plate (28) is fixedly arranged on a rack (27) of the belt conveying mechanism (22), and the connecting plate (28) is fixedly arranged on the table top.

7. A dual camera identification device for detecting orientation of a product on a boat as claimed in claim 1 wherein: two crossbeams (29) are fixedly arranged on the table board of the workbench (1), the two ends of the two crossbeams (29) extend to the outside of the table board, and the cylinder barrels of the upright column I (7), the upright column II (13), the lifting cylinder I (10) and the lifting cylinder II (20) are fixedly arranged on the crossbeams (29).

8. A dual camera identification device for detecting orientation of a product on a boat as claimed in claim 1 wherein: the structure of the first detection mechanism (3) is the same as that of the second detection mechanism (5), the first detection mechanism (3) comprises a portal frame (30) erected on the table board, a light source cover (31) located right above the belt (23) is arranged in the portal frame (30), and a CCD recognition lens (32) communicated with the light source cover (31) is arranged at the top of the light source cover (31).

9. A dual camera identification device for detecting orientation of a product on a boat as claimed in claim 1 wherein: an SCAR robot arm (33) fixedly arranged on the table top is arranged between the first detection mechanism (3) and the second detection mechanism (5), the device further comprises a controller, and the controller is electrically connected with the belt conveying mechanism (22), the CCD recognition lens (32), the SCAR robot arm (33), the electromagnetic valve of the lifting cylinder and the electromagnetic valve of the vertical cylinder (26).

10. The method for detecting the direction of a product on a boat with the dual camera identification device for detecting the direction of a product on a boat as claimed in any one of claims 1 to 9, wherein: it comprises the following steps:

s1, a worker starts the two belt conveying mechanisms (22) at the same time, and the two belts (23) rotate clockwise at the same time;

s2, controlling a piston rod of the lifting cylinder I (10) to retract downwards, driving the lifting plate I (11) to move downwards for a distance which is equal to the thickness of the carrying disc (12), wherein the carrying disc (12) at the penultimate layer is positioned between the piston rods of the clamping cylinders (9), and the carrying disc A (34) at the bottommost layer is supported on the lifting plate I (11); a piston rod of the clamping cylinder (9) is controlled to extend out, and the piston rod presses and fixes the outer edge of the penultimate layer of the carrying disc (12); then, the piston rod of the lifting cylinder I (10) is continuously controlled to continuously retract downwards, and after the lifting plate I (11) passes through the belt (23) downwards, the carrying disc A (34) falls on the belt (23);

s3, when the carrier disc A (34) is conveyed to the position right below the light source cover (31) of the first detection mechanism (3) along with the belt (23), the belt conveying mechanism (22) is controlled to be closed, the CCD identification lens (32) detects each product in the carrier disc A (34), the CCD identification lens (32) conveys a detected result to the controller, after the detection is finished, the belt conveying mechanism (22) is controlled to be started continuously, and when the carrier disc A (34) passes through the SCAR robot arm (33), the SCAR robot arm (33) takes out the product with the wrong placement;

s4, when the carrier disc A (34) after the first detection enters the light source cover (31) of the second detection mechanism (5), the belt conveying mechanism (22) is controlled to be closed, the CCD identification lens (32) carries out second detection on each product in the carrier disc A (34), the CCD identification lens (32) conveys the detected result to the controller, if the wrong visited product is detected, the controller controls the screw nut pair (4) to act, the screw nut pair (4) drives the vertical cylinder (26) to move to the position right below the carrier disc A (34), then the piston rod of the vertical cylinder (26) is controlled to extend upwards, the piston rod drives the lifting plate (25) to move upwards, the lifting plate (25) lifts the carrier disc A (34) to be far away from the belt (23), then the screw nut pair (4) is controlled to rotate reversely, the screw nut pair (4) conveys the carrier disc A (34) to the left to the station of the SCAR robot arm (33) for removing, the SCAR robot arm (33) takes out the products with wrong placement, thereby realizing the second detection;

s5, after the detection is finished, the piston rod of the vertical cylinder (26) is controlled to retract, after the piston rod retracts, the carrying disc A (34) falls on the belt (23) and moves rightwards along with the belt (23), when the carrying disc A (34) moves right above the lifting plate II (21), a piston rod of the lifting cylinder II (20) is controlled to move upwards, the piston rod drives the lifting plate II (21) to move upwards, the lifting plate II (21) drives the carrying disc A (34) to be separated from the belt (23) and enter the cavity II, and in the process that the carrying disc A (34) enters the cavity II, the outer edge of the carrying disc A (34) is pressed against the wedge-shaped surface (18) of each rotating block (17) and drives the rotating blocks (17) to move towards the through groove (16), when the carrying disc A (34) passes through the rotating block (17), the rotating block (17) is blocked by the through groove (16) and rotates reversely under the self weight, and the rotating block (17) resets; then the piston rod of the lifting cylinder II (20) is controlled to retract downwards, and after retraction, the carrying discs A (34) are supported on the plane (19) of each rotating block (17), so that collection of the first carrying disc is finally realized;

s6, repeating the operations of the steps S2-S5, and detecting and collecting the products in each loading tray (12) in the cavity I twice.