CN115931872A

CN115931872A - Detection device of automobile sensor and operation method thereof

Info

Publication number: CN115931872A
Application number: CN202211552831.0A
Authority: CN
Inventors: 孙家良; 孙健
Original assignee: Nanjing Microgal Automation Technology Co ltd
Current assignee: Nanjing Microgal Automation Technology Co ltd
Priority date: 2022-12-05
Filing date: 2022-12-05
Publication date: 2023-04-07

Abstract

The invention discloses a detection device of an automobile sensor and an operation method thereof, and the detection device comprises a workbench, a feeding device, a transmission device, a progressive device, a transition device, a transverse detection device and a rotation detection device, wherein the feeding device, the transmission device, the progressive device and the transition device are sequentially arranged on the workbench, the transverse detection device is positioned right below the progressive device, the rotation detection device is arranged at the middle position of the workbench, the rotation detection device is provided with a placing station, a guide column detection station, a first idle station, a burr detection station, a marking detection station, a sensing surface foreign matter detection station, a taking-out station and a second idle station, the transition device is also arranged at one side of the taking-out station, the NG judgment device and a manipulator are both arranged on the workbench, and the manipulator takes out qualified workpieces which are subjected to the qualification judgment in the NG judgment device to the recovery side. The device realizes continuous detection operation of large-batch sensor shells, realizes automatic operation in the whole process, reduces manpower consumption, and improves the operation efficiency.

Description

Detection device of automobile sensor and operation method thereof

Technical Field

The invention belongs to the technical field of sensor shell detection, and particularly relates to a detection device of an automobile sensor and an operation method thereof.

Background

In the prior art, the automobile sensor is generally used for detecting the sensing aspect, but the automobile sensor is mainly manufactured by firstly manufacturing the shell and then assembling other components on the basis of the shell, so that the detection of the shell of the sensor is very important.

The automobile sensor needs to ensure the manufacturing accuracy and quality of the shell so as to reduce the errors of other parts during installation. The current automobile sensor shell mainly has two forms, but the prior art does not disclose a device for detecting the automobile sensor shell.

Disclosure of Invention

In view of the above problems in the prior art, an object of the present invention is to provide a detection apparatus of a sensor of an automobile and an operation method thereof.

The invention provides the following technical scheme:

a detection device of an automobile sensor comprises a workbench, a feeding device, a transfer device, a progressive device and a transition device which are sequentially installed on the workbench, a transverse detection device located right below the progressive device, wherein the transfer device is used for transferring workpieces from the feeding device to the transverse detection device, and a rotary detection device installed at the middle position of the workbench is arranged on the rotary detection device;

the transverse detection device comprises a core-pulling hole detection device, a sealing ring detection device, a buckle detection device, a sensing surface protrusion detection device, a NG box I and a placing platform in sequence.

The recovery device comprises two tray transportation devices, one tray transportation device is used for placing empty trays, the other tray transportation device is used for placing qualified workpieces, and the empty trays in one tray transportation device are conveyed to the other tray transportation device through a transfer tray device between the two tray transportation devices.

The feeding device comprises a first cylinder, a first moving block is arranged on the first cylinder, a first linear guide rail is arranged on the first cylinder, a first moving block is arranged on the first cylinder and the first linear guide rail, a placing table is arranged on the first moving block, a first photoelectric sensor is arranged on a workbench through a sensor support, the first photoelectric sensor is located at one end, close to the transmission device, of the first cylinder, and the first photoelectric sensor is used for sensing whether a workpiece reaches one end, close to the transmission device, of the first cylinder.

Specifically, the transmission device comprises a first supporting block, a second air cylinder and a second linear guide rail which are installed on the first supporting block, and a second moving block which is installed on the second air cylinder and the second linear guide rail, wherein a third air cylinder is installed on the second moving block, a first connecting block is installed on the third air cylinder, a first rotating air cylinder is installed on the first connecting block, and a first pneumatic clamping jaw is installed on the first rotating air cylinder.

Specifically, the transverse detection device comprises a core-pulling hole detection device, a sealing ring detection device, a buckle detection device, a sensing surface protrusion detection device, an NG box I and a placement table which are sequentially installed on a workbench from one end close to the transmission device, wherein the distance from the core-pulling hole to the sealing ring detection device, the distance from the sealing ring to the buckle detection device, the distance from the buckle to the sensing surface protrusion detection device and the distance from the sensing surface protrusion detection device to the placement table are equal, and the NG box I is located in the middle between the sensing surface protrusion detection device and the placement table.

Specifically, the core-pulling hole detection comprises a placing table, cameras which are respectively arranged on two sides of the placing table through camera mounting bases, and a lamp ring which is arranged between the cameras and the placing table and is arranged on the camera mounting bases, wherein the cameras on the two sides are on the same horizontal line.

Specifically, the sealing ring detection device comprises a placing table, a camera arranged on one side of the placing table through a camera mounting seat, and a baffle arranged on the other side of the placing table and arranged on a workbench.

Specifically, the buckle detection comprises a rest table and a 3D camera which is positioned on one side of the rest table and is installed on a workbench.

Specifically, the detection of the protrusion of the induction surface comprises a placing table, a camera arranged on one side of the placing table through a camera mounting seat, a telecentric lens arranged on the camera, and a baffle arranged on the other side of the placing table and arranged on a workbench.

The progressive device comprises a fixing plate which is installed on a workbench through a fixing support, a first motor and a limiting block are installed on the fixing plate, a limiting groove is formed in the limiting block, the first motor is located at the center line position of the limiting groove, the limiting groove is of a shape of 2086666, a sliding block is located in the limiting groove, a linear guide rail is transversely installed on the fixing plate, a linear guide rail is vertically installed on a linear guide rail III, a moving block III is installed on the linear guide rail IV, the moving block III is installed on the sliding block through a connecting shaft, the sliding block is installed on the first motor through the connecting shaft, a fixing seat is installed on the moving block III, four pneumatic clamping jaws II are uniformly installed on the fixing seat, the four pneumatic clamping jaws II correspond to core pulling hole detection, sealing ring detection, buckle detection and induction surface protrusion detection respectively, and the transverse length of the limiting groove is equal to the distance between core pulling hole detection and sealing ring detection.

Concretely, the transition device includes supporting shoe two, installs linear guide five and cylinder four on supporting shoe two, and the movable block four is installed on linear guide five and cylinder four simultaneously, and cylinder five is installed on the movable block four, and six movable mounting of linear guide are passed through on the movable block four to connecting block two, and connecting block two is installed on cylinder five, and pneumatic clamping jaw three is installed on connecting block two simultaneously.

Specifically, the rotation detection device comprises a cam divider, a driving wheel is mounted on the cam divider, a driven wheel is mounted on a motor II, the driving wheel and the driven wheel are in transmission connection through a belt, a fixed disc and a rotating disc are mounted on the cam divider, eight stations are uniformly distributed on the rotating disc and respectively comprise a placing station, a guide post detection station, an empty station I, a burr detection station, a marking detection station, an induction surface foreign matter detection station, a taking-out station and an empty station II, and each station is provided with a support frame; meanwhile, a photoelectric sensor II and a photoelectric sensor III are respectively arranged at positions on the fixed disc corresponding to the placing station and the taking-out station; and correspond guide post detection station position and install the guide post detection device on the fixed disk, correspond deckle edge detection station position and install the deckle edge detection device on the workstation, mark detection station position and install the mark detection device of beating on the fixed disk is beaten in the correspondence, correspond the response face foreign matter detection station position and install the response face foreign matter detection device on the workstation.

Specifically, guide post detection device comprises the camera of installing on the fixed disk through the camera mount pad to and be located the lamp ring between camera and the support frame, and the structure of beating mark detection device is the same with guide post detection device's structure.

Specifically, the burr detection device is composed of a 3D camera and a mount thereof.

The sensing surface foreign matter detection device comprises a condensation auxiliary part and a camera which are sequentially located under a sensing surface foreign matter detection station, wherein the condensation auxiliary part is hemispherical, a condensation hole is formed in the condensation auxiliary part, the camera is located under the condensation hole, the condensation auxiliary part is installed on a workbench through a support, the camera is installed on an electric screw through a camera installation seat, and the electric screw is installed on the workbench.

The NG judging device comprises a sixth air cylinder installed on a workbench, a pushing block is installed on the sixth air cylinder and is movably installed on the workbench through a seven-matched drag chain of a linear guide rail, a fixed frame is installed on the pushing block and is located in the fixed frame, the rotary frame is movably installed on the fixed frame through a shaft matched bearing, a second rotary air cylinder is installed at the end of the shaft, the rotary frame is in a vertical state, namely the top surface of the rotary frame faces upwards during initial state, a clamping hole is formed in the top surface of the rotary frame and is used for placing a workpiece, a fifth pneumatic clamping jaw is installed on the rotary frame and is used for clamping the workpiece when the workpiece is placed in the clamping hole, the bottom surface of the rotary frame is not more than the position of the clamping hole, an NG hole is formed in the workbench, an NG box II is installed under the clamping hole through a box frame, and when the workpiece is loosened for the workpiece in the vertical state and the fifth pneumatic clamping jaw, the workpiece passes through the NG hole and falls into the NG box II.

Specifically, the robot comprises an industrial robot and a pneumatic clamping jaw IV arranged on the industrial robot.

The tray transferring device comprises a single-shaft robot which is installed on a workbench through a transferring support frame, a transferring seat which is installed on the single-shaft robot is installed, a connecting seat is installed on the transferring seat through seven movable installation devices of eight linear guide rail matching cylinders, a rotating cylinder is installed on the transferring seat, a sucker seat is installed on the rotating cylinder, the sucker seat is of an X type, and meanwhile a sucker is installed on each end of the sucker seat, proximity switches are installed on three sides of the rotating cylinder, and the proximity switches are used for judging whether the sucked tray is forward or reverse.

Specifically, tray conveyer includes electronic lead screw two, and electronic lead screw two passes through the screw base and installs on the workstation, and the tray seat passes through bracing piece cooperation flange seat and installs on electronic lead screw two, and the tray is placed on the tray seat, the angle steel is located the four corners department of tray seat, and the angle steel is installed on the workstation simultaneously, and the angle steel is used for spacing reciprocating of tray, and the angle steel of one of them angle department of tray seat is less than the tray seat simultaneously, and other triangular angle steels all are higher than the tray seat, and the angle steel department that is less than the tray seat is equipped with the fixture block, the fixture block is installed at cylinder eight, and cylinder eight passes through the cylinder block and installs on the screw base.

Based on the device, the invention also provides a using method of the detection device of the automobile sensor, which comprises the following steps:

s1, firstly, a workpiece is sent into a workbench through a feeding device, the workpiece is sent into a transverse detection device through a transfer device, and the workpiece is continuously sent into the transverse detection device;

s2, sequentially carrying out core-pulling hole detection, sealing ring detection, buckle detection and induction surface protrusion detection on the workpieces by matching the transverse detection device with the progressive device, wherein the progressive device drives the workpieces to carry out detection in the transverse detection device one by one, and finally, the workpieces fall onto a placing table, and unqualified workpieces are directly clamped into the NG box I through the progressive device; the qualified workpiece is clamped by the transition device and is placed on a placing station of the rotation detection device;

s3, driving the workpiece to sequentially perform guide post detection, burr detection, marking detection and sensing surface foreign matter detection by the rotary detection device;

s4, clamping the workpiece from the rotation detection device to the NG judgment device through a second transition device, wherein the unqualified workpiece directly passes through the NG judgment device and falls into the workbench, the qualified workpiece is left by the NG judgment device, and the qualified workpiece is transferred to the recovery device through the manipulator;

and S5, finally, the mechanical handles place the workpieces into the trays on the tray conveying device one by one, when no empty position exists in the tray, the transfer tray device and the tray conveying device are opened, the transfer tray device transfers the empty tray on the other tray conveying device to the position of the last tray of the tray conveying device, then the other tray conveying device is opened, and the other tray conveying device ejects the next empty tray to the position of the last empty tray.

The beneficial effects of the invention are:

1. the device realizes continuous detection operation on the sensor shells in large batch, realizes automatic operation in the whole process, reduces the consumption of manpower, and improves the operation efficiency;

2. the device realizes eight items of detection of a core-pulling hole, a sealing ring, a buckle, a sensing surface protrusion, a guide post, a burr, a marking and a foreign matter on the sensing surface of the shell of the automobile sensor;

3. the quality of car sensor shell has been guaranteed to the at utmost to this device, carries out qualified and unqualified classification to the work piece after detecting simultaneously, in the tray is retrieved in all orders with qualified work piece at last, has realized full automation and has detected and retrieve.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:

FIG. 1 is a three-dimensional view of an automotive sensor housing;

FIG. 2 is a three-dimensional view of another automotive sensor housing;

FIG. 3 is a three-dimensional view of the present invention;

FIG. 4 is a schematic structural view of the present invention;

FIG. 5 is a schematic top view of the structure of the present invention;

FIG. 6 is a three-dimensional view of the rotation detecting device of the present invention;

FIG. 7 is a three-dimensional view of the feed assembly of the present invention;

FIG. 8 is a three-dimensional view of the delivery device of the present invention;

FIG. 9 is a three-dimensional view of the lateral inspection device of the present invention;

FIG. 10 is a three-dimensional view of the seal ring inspection of the present invention;

FIG. 11 is a three-dimensional view of the buckle detection of the present invention;

FIG. 12 is a three-dimensional view of the advancing device of the present invention;

FIG. 13 is a three-dimensional view of the transition device of the present invention;

FIG. 14 is a view showing the installation relationship of the cam divider, the fixed disk and the rotating disk in the present invention;

FIG. 15 is a top view of an automotive sensor housing;

FIG. 16 is a three-dimensional view of the sensing surface foreign object detection apparatus of the present invention;

fig. 17 is a three-dimensional view of an NG determination device in the present invention;

fig. 18 is a plan view of the NG judging means in the present invention;

FIG. 19 is an enlarged view at A in FIG. 5;

FIG. 20 is a three-dimensional view of a robot hand of the present invention;

FIG. 21 is a three-dimensional view of a recycling apparatus according to a second embodiment of the present invention;

fig. 22 is a three-dimensional view of a transfer tray device according to a second embodiment of the present invention.

Detailed Description

As shown in fig. 1 and 2, the device is suitable for detecting the automobile sensors with two different shapes on the shell, wherein the automobile sensors are in two shapes; specifically, the device can ensure the production quality and prolong the service life of the shell by detecting the shell in multiple directions; the detection comprises the steps of coring hole testing, sealing ring detection, buckle detection, induction surface protrusion detection, guide post detection, burr detection, marking detection and induction surface foreign matter detection.

Example one

As shown in fig. 3 to 6, the present invention provides a detection device for an automobile sensor, comprising a workbench 1, a feeding device 2, a transfer device 3, a progressive device 4, a transition device 5 and a transverse detection device 10 located right below the progressive device 4, wherein the transfer device 3 is used for transferring workpieces from the feeding device 2 to the transverse detection device 10, the rotary detection device 6 is installed in the middle of the workbench 1, the rotary detection device 6 is provided with a placing station 610, a guide post detection station 611, a blank station one 612, a burr detection station 614, a marking detection station 615, a sensing surface foreign matter detection station 616, a taking-out station 617 and a blank station two 618, the transition device 5 is used for transferring workpieces from the transverse detection device 10 to the placing station 610 of the rotary detection device 6, the transition device 5 is also arranged on one side of the taking-out station 617, the transition device 5 is used for transferring workpieces from the taking-out station 617 of the rotary detection device 6 to an NG judgment device 7, the NG judgment device 7 and a manipulator 8 are both installed on the workbench 1, and the manipulator 8 is used for performing qualified workpiece recovery from the NG judgment device 7.

Firstly, a workpiece is sent into a workbench 1 through a feeding device 2, the workpiece is transmitted into a transverse detection device 10 through a transmission device 3, wherein the transverse detection device 10 sequentially comprises a coring hole detection 1001, a sealing ring detection 1002, a buckle detection 1003, an induction surface protrusion detection 1004, a first NG box 1005 and a placing table 1006, so that a progressive device 4 drives the workpiece to carry out detection in the transverse detection device 10 one by one, and finally the workpiece falls onto the placing table 1006, wherein unqualified workpieces are directly clamped into the first NG box 1005 through the progressive device 4; then, the transition device 5 clamps and places the workpieces on the placing table 1006 on the placing station 610 of the rotation detection device 6, and then the rotation detection device 6 drives the workpieces to carry out detection in the rotation detection device 6 one by one; finally, the workpiece is clamped from the rotation detection device 6 into the NG judgment device 7 by the second transition device 5, the qualified workpiece is left by the NG judgment device 7, and then the qualified workpiece is transferred to the recovery side by the manipulator 8.

Please refer to fig. 7, the feeding device 2 includes a first cylinder 201, a first moving block 203 is disposed on the first cylinder 201, a first linear guide 202 is mounted on the first cylinder 201, and a first moving block 203 is mounted on the first cylinder 201 and the first linear guide 202, a placing table 204 is mounted on the first moving block 203, a first photoelectric sensor 205 is mounted on the workbench 1 through a sensor support 206, the first photoelectric sensor 205 is located at one end of the first cylinder 201 close to the transfer device 3, and the first photoelectric sensor 205 is used for sensing whether a workpiece reaches one end of the first cylinder 201 close to the transfer device 3, so that the transfer device 3 can transfer the workpiece conveniently.

Referring to fig. 8, the transmission device 3 includes a first support block 301, a second cylinder 302 and a second linear guide 303 mounted on the first support block 301, a second moving block 306 mounted on the second cylinder 302 and the second linear guide 303, a third cylinder 304 mounted on the second moving block 306, a first connecting block 305 mounted on the third cylinder 304, a first rotating cylinder 307 mounted on the first connecting block 305, and a first pneumatic clamping jaw 308 mounted on the first rotating cylinder 307.

In the initial state, the first pneumatic clamping jaw 308 is in an open state, when the first photoelectric sensor 205 senses a workpiece, the second air cylinder 302 is opened, the first pneumatic clamping jaw 308 is moved to a position right above the placing table 204, then the third air cylinder 304 is opened, the workpiece is placed in the first pneumatic clamping jaw 308, then the first pneumatic clamping jaw 308 is opened, the workpiece is clamped to a position right above the transverse detection device 10, finally the first rotary air cylinder 307 is opened, the workpiece is rotated to a corresponding position and then placed on the transverse detection device 10.

Referring to fig. 9, the lateral detecting apparatus 10 includes a core-out hole detecting 1001, a seal detecting 1002, a snap detecting 1003, a sensing surface protrusion detecting 1004, a NG box 1005, and a rest table 1006, which are sequentially installed on the table 1 from the end near the transferring apparatus 3, and the distance from the core-out hole detecting 1001 to the seal detecting 1002, the distance from the seal detecting 1002 to the snap detecting 1003, the distance from the snap detecting 1003 to the sensing surface protrusion detecting 1004, and the distance from the sensing surface protrusion detecting 1004 to the rest table 1006 are all equal, and the NG box 1005 is located at the middle position between the sensing surface protrusion detecting 1004 and the rest table 1006.

Please refer to fig. 1 and 9, wherein the coring inspection 1001 includes a rest 1006, cameras 1009 respectively mounted on two sides of the rest 1006 through camera mounts 1008, and a lamp ring 1007 located between the cameras 1009 and the rest 1006 and mounted on the camera mounts 1008, and the cameras 1009 on two sides are on the same horizontal line. The camera 1009 is used for shooting the shapes of the core pulling holes 1101 on the two sides of the workpiece to judge whether the core pulling holes of the workpiece are qualified or not, and any core pulling hole 1101 is possibly provided with a crack, so that the camera is used for shooting a picture of the core pulling holes 1101 to judge whether the cracks exist in the core pulling holes 1101, and when the cracks exist in the core pulling holes 1101, the workpieces which are unqualified are judged.

Referring back to fig. 1, 2, 9 and 10, the seal ring inspection 1002 includes a rest 1006, a camera 1009 mounted on one side of the rest 1006 by a camera mount 1008, and a bezel 1011 on the other side of the rest 1006 and mounted on the table 1 for facilitating focusing of the camera 1009. The camera 1009 shoots the position of the workpiece O-ring 1102 to judge whether the workpiece sealing ring is qualified, the workpiece may have the condition of neglected installation or multiple installation of the O-ring 1102, and when the shot picture has the above condition, the workpiece is judged to be unqualified.

Referring with emphasis to fig. 1, 2, 9 and 11, the snap detection 1003 includes a rest 1006, a 3D camera 1010 located on one side of the rest 1006 and mounted on the work table 1. The positions of the workpiece buckles 1103 are shot by the 3D camera 1010 to judge whether the workpiece buckles are qualified, the buckles 1103 on two sides of the workpiece can be in shortage or broken, and the unqualified workpiece is judged when the shot pictures are stored in the conditions.

Referring now to FIGS. 1, 2 and 9, sensing surface protrusion detection 1004 includes a rest 1006, a camera 1009 mounted on one side of rest 1006 via a camera mount 1008, a telecentric lens mounted on camera 1009 to more closely capture the position of sensing surface 1104, and a stop 1011 located on the other side of rest 1006 and mounted on table 1. The position of the workpiece sensing surface 1104 is shot by the camera 1009 to judge whether the workpiece sensing surface is qualified, the workpiece sensing surface 1104 may have a protrusion, and when the shot picture has the above condition, the unqualified workpiece is judged.

Please refer to fig. 12, the progressive apparatus 4 includes a fixing plate 402 mounted on the worktable 1 through a fixing support 412, a first motor 401 is mounted on the fixing plate 402, a limiting block 405 mounted on the fixing plate 402, a limiting groove 406 is provided on the limiting block 405, the first motor 401 is located at a central line position of the limiting groove 406, the limiting groove 406 is in a shape of a letter \208666666, a sliding block is located in the limiting groove 406, a third linear guide rail 403 is transversely mounted on the fixing plate 402, the fourth linear guide rail 404 is vertically mounted on the third linear guide rail 403, a third moving block 408 is mounted on the fourth linear guide rail 404, the third moving block 408 is mounted on the sliding block through a connecting shaft 409, and the sliding block is mounted on the first motor 401 through the connecting shaft 409, so that when the first motor 401 is opened, the first motor 401 drives the sliding block to move along the limiting groove 406, thereby driving the third moving block 408 to move along the limiting groove 406; a fixed seat 410 is installed on a third moving block 408, four pneumatic clamping jaws 411 are evenly installed on the fixed seat 410, the four pneumatic clamping jaws 411 correspond to the core-pulling hole detection 1001, the sealing ring detection 1002, the buckle detection 1003 and the sensing surface protrusion detection 1004 respectively, and meanwhile the transverse length of the limiting groove 406 is equal to the distance between the core-pulling hole detection 1001 and the sealing ring detection 1002.

In an initial state, the four pneumatic clamping jaws 411 of the progressive device 4 respectively fall on the sealing ring detection 1002, the buckle detection 1003, the sensing surface protrusion detection 1004 and the rest 1006, so that when the photoelectric sensor one 205 senses a workpiece, the transfer device 3 clamps the workpiece to the core-pulling hole detection 1001 to start detecting the core-pulling hole 1101 of the workpiece; after the detection is finished, starting a first motor 401, transferring the workpiece for playing the core-pulling hole detection to a sealing ring detection 1002 by the progressive device 4, and simultaneously clamping the next workpiece to a core-pulling hole detection 1001 by the transfer device 3; repeating the above operations until the detection of the workpiece on the transverse detection device 10 is completed; and then judging whether the workpiece is qualified or not through a photo, if the workpiece is unqualified, when the first motor 401 moves the third moving block 408 to the midpoint position of the limiting groove 406, the second pneumatic clamping jaw 411 which is right over the first NG box 1005 is opened, so that the unqualified workpiece falls into the first NG box 1005, if the workpiece is qualified, the first motor 401 sends the workpiece to the placing table 1006, and the placing table 1006 in the position mainly plays a transition role, so that the subsequent transition device 5 can transfer the workpiece conveniently, and the workpiece is transferred to the rotation detection device 6 for workpiece detection.

Referring to fig. 13, the transition device 5 includes a second support block 508, a fifth linear guide rail 502 and a fourth cylinder 501 mounted on the second support block 508, a fourth moving block 505 mounted on the fifth linear guide rail 502 and the fourth cylinder 501, a fifth cylinder 503 mounted on the fourth moving block 505, a second connection block 506 movably mounted on the fourth moving block 505 through a sixth linear guide rail 507, a second connection block 506 mounted on the fifth cylinder 503, and a third pneumatic clamping jaw 504 mounted on the second connection block 506.

In an initial state, the third pneumatic clamping jaw 504 is located right above the rotation detection device 6, when the workpiece is located on the rest table 1006, the fourth air cylinder 501 is opened, so that the third pneumatic clamping jaw 504 is driven to reach the position right above the rest table 1006, then the fifth air cylinder 503 is opened, the third pneumatic clamping jaw 504 is close to the workpiece, then the third pneumatic clamping jaw 504 is opened, the workpiece is clamped, finally the fourth air cylinder 501 is opened, and the workpiece is sent to the rotation detection device 6.

Referring to fig. 6 and 14, the rotation detecting device 6 includes a cam divider 601, a driving wheel 603 is mounted on the cam divider 601, a driven wheel 604 is mounted on the second motor 602, the driving wheel 603 and the driven wheel 604 are connected by a belt 605, a fixed disc 606 and a rotating disc 607 are both mounted on the cam divider 601, and when the second motor 602 is turned on, the fixed disc 606 is fixed and the rotating disc 607 rotates under the action of the cam divider 601; eight stations are uniformly distributed on the rotating disc 607, namely a placing station 610, a guide post detecting station 611, a first idle station 612, a burr detecting station 614, a marking detecting station 615, a sensing surface foreign matter detecting station 616, a taking-out station 617 and a second idle station 618, wherein each station is provided with a support frame 613; meanwhile, a photoelectric sensor II 608 and a photoelectric sensor III 609 are respectively arranged on the fixed disc 606 corresponding to the placing station 610 and the taking-out station 617; and correspond guide post detection station 611 position and install guide post detection device 619 on fixed disk 606, correspond burr detection station 614 position and install burr detection device 620 on workstation 1, correspond to beat mark detection station 615 position and install the mark detection device 621 of beating on fixed disk 606, correspond to the sensing face foreign matter detection station 616 position and install the sensing face foreign matter detection device 622 on workstation 1.

Wherein the cam divider acts as an intermittent divider for intermittently diverting work pieces to eight stations, thereby enabling the rotating disk 607 to act as an indexing disk.

The guide post detection device 619 is composed of a camera 1009 mounted on the fixing plate 606 through the camera mounting base 1008, and a lamp ring 1007 located between the camera 1009 and the support frame 613, please refer to fig. 15, the position of the workpiece guide post 1105 is photographed by the camera 1009 to determine whether the workpiece guide post 1105 is qualified, the workpiece guide post 1105 may not be in a designated position, and when the photographed photo has the above condition, the workpiece is determined to be unqualified.

Referring to fig. 1, the burr detecting device 620 is composed of a 3D camera 1010 and a mounting base thereof, and the camera 1009 is used for photographing a position 1106 of the workpiece where burrs occur to determine whether the workpiece is qualified, and when burrs occur in the photographed picture, the workpiece is determined to be an unqualified workpiece.

Please refer to fig. 1 and 2, the marking detection device 621 is composed of a camera 1009 mounted on the fixing plate 606 through a camera mounting base 1008, and a lamp ring 1007 located between the camera 1009 and the supporting frame 613, the camera 1009 shoots a workpiece marking position 1107 to determine whether the workpiece is qualified, the workpiece marking position 1107 may have abnormal marking position or offset marking identifier, that is, the two-dimensional code contacts the joint line, and when the shot picture is stored in the above condition, the workpiece is determined to be unqualified.

Please refer to fig. 1, 2 and 16, the sensing surface foreign object detecting device 622 includes a light-gathering auxiliary part 6221 and a camera 1009 sequentially located right below the sensing surface foreign object detecting station 616, wherein the light-gathering auxiliary part 6221 is hemispherical, a light-gathering hole 6222 is disposed on the light-gathering auxiliary part 6221, the camera 1009 is located right below the light-gathering hole 6222, the light-gathering auxiliary part 6221 is mounted on the worktable 1 through a bracket 6224, the camera 1009 is mounted on a first electric lead screw 6225 through a camera mounting base 1008, the first electric lead screw 6225 is mounted on the worktable 1, and the camera 1009 can adjust the focusing distance through the first electric lead screw 6225. The position of the workpiece sensing surface 1104 is photographed by the camera 1009 to judge whether the workpiece sensing surface is qualified, the workpiece sensing surface 1104 may have white exposure or a foreign matter, that is, the color of the sensing surface 1104 is inconsistent, and when the photographed picture has the above condition, the unqualified workpiece is judged.

When the transition device 5 moves the workpiece from the placing table 1006 to the placing station 610 of the rotation detection device 6, the second motor 602 is turned on, so as to drive the rotation disc 607 to perform intermittent rotation operation, thereby sequentially performing guide post detection, burr detection, marking detection and sensing surface foreign matter detection, and when the detection of the workpiece on the rotation detection device 6 is completed; the detected workpieces are then conveyed by the second transition device 5 to an NG determination device 7, which NG determination device 7 is used to separately process the non-defective workpieces from the non-defective workpieces.

Referring to fig. 17 and 18, the ng determination device 7 includes a sixth air cylinder 701 mounted on the workbench 1, a pushing block 704 is mounted on the sixth air cylinder 701, the pushing block 704 is movably mounted on the workbench 1 by a seventh linear guide 703 in cooperation with a drag chain 702, a fixing frame 707 is mounted on the pushing block 704, the rotating frame 708 is located in the fixing frame 707, the rotating frame 708 is movably mounted on the fixing frame 707 by a shaft 706 in cooperation with a bearing, a second rotating air cylinder 711 is mounted at an end of the shaft 706, the rotating frame 708 is in a horizontal state, and in an initial state, the rotating frame 708 is in a vertical state, that is, the top surface of the rotating frame 708 faces upward.

The top surface of the rotating frame 708 is provided with a clamping hole 710, the clamping hole 710 is used for placing a workpiece, the rotating frame 708 is provided with a pneumatic clamping jaw five 709, the pneumatic clamping jaw five 709 is used for clamping the workpiece when the workpiece is placed in the clamping hole 710, the workpiece is prevented from falling off, and meanwhile, the bottom surface of the rotating frame 708 is not larger than the position of the clamping hole 710, so that the workpiece can be directly separated from the NG judgment device 7 when the rotating frame 708 is in a vertical state and the pneumatic clamping jaw five 709 loosens the workpiece.

Referring to fig. 19 and 4, the NG determination device 7 further includes a NG hole 702 provided in the table 1, and a NG box ii 712 mounted directly below the NG hole 702 through a box frame 713, and when the rotary frame 708 is in the vertical state and the pneumatic chuck jaws penta709 release the workpiece, the workpiece drops into the NG box ii 712 through the NG hole 702.

In the initial state, the rotating frame 708 is in the vertical state and the cylinder 701 is in the full stroke state; when the pictures shot by the camera are transmitted to the controller, and whether the workpieces are qualified is judged, the second transition device 5 sends the detected workpieces to the clamping hole 710 in the NG judgment device 7, and simultaneously opens the pneumatic clamping jaw five 709 to clamp the workpieces, and when the workpieces are judged to be unqualified, opens the pneumatic clamping jaw five 709 to release the workpieces, and the workpieces pass through the NG hole 702 and fall into the NG box two 712; when the workpiece is judged to be qualified, the second rotary cylinder 711 is started, the second rotary cylinder 711 drives the rotary frame 708 to rotate, so that the rotary frame 708 is in a transverse state, meanwhile, the sixth rotary cylinder 701 is started, the sixth rotary cylinder 701 drives the whole fixing frame 707 to retract, and then the robot 8 is waited to grab the workpiece.

Referring with emphasis to fig. 20, the robot hand 8 includes an industrial robot 801 and a pneumatic gripper jaw four 802 mounted on the industrial robot 801. The industrial robot 801 moves the pneumatic gripper four 802 to the workpiece in the spin stand 708, opens the pneumatic gripper four 802 to pick up the workpiece, and then moves the workpiece out to the recovery side by the industrial robot 801.

The control panel is communicatively coupled with a first photoelectric sensor 205, a first air cylinder 201, a second air cylinder 302, a third air cylinder 304, a first rotating air cylinder 307, a first pneumatic clamping jaw 308, a camera 1009, a lamp ring 1007, a 3D camera 1010, a first motor 401, a second pneumatic clamping jaw 411, a fifth air cylinder 503, a fourth air cylinder 501, a third pneumatic clamping jaw 504, a second motor 602, a second photoelectric sensor 608, a third photoelectric sensor 609, a first electric lead screw 6225, an industrial robot 801, a fourth pneumatic clamping jaw 802, a sixth air cylinder 701, a second rotating air cylinder 711, a fourth photoelectric sensor 705 and a fifth pneumatic clamping jaw 709.

The control panel is internally provided with a PLC controller, the PLC controller can program the numerical control system, the PLC is used as a central control system, the touch screen is used for realizing the program input and the operation control of the whole machine, and the full automation of the transportation process is realized. The control system can be used as a system for connecting each execution element to move according to a logic track, and the execution elements are controlled to operate according to the required operation steps through programming.

Based on the above device, the first embodiment of the present invention further provides an operation method using the detection device of the automobile sensor, including the following steps:

firstly, a workpiece is fed into a workbench 1 through a feeding device 2, and the workpiece is conveyed into a transverse detection device 10 through a conveying device 3;

step two, the transverse detection device 10 is matched with the progressive device 4 to sequentially perform core-pulling hole detection 1001, sealing ring detection 1002, buckle detection 1003 and induction surface protrusion detection 1004 on the workpieces, wherein the progressive device 4 drives the workpieces to perform detection in the transverse detection device 10 one by one, and finally the workpieces fall onto a placing table 1006, wherein unqualified workpieces are directly clamped into a NG box I1005 through the progressive device 4; the qualified workpiece is clamped by the transition device 5 and placed on the placing station 610 of the rotation detection device 6;

driving the workpiece to sequentially perform guide post detection, burr detection, marking detection and foreign matter detection on the sensing surface by using the rotation detection device 6;

and step four, clamping the workpiece from the rotation detection device 6 into the NG judgment device 7 through the second transition device 5, wherein the unqualified workpiece directly passes through the NG judgment device 7 and falls into the workbench 1, the qualified workpiece is left by the NG judgment device 7, and then the qualified workpiece is transferred to a recovery side through the manipulator 8.

Example two

As shown in fig. 3-5, the second embodiment of the present disclosure provides a detection device for an automotive sensor, which includes a recovery device 9 mounted on a working platform 1, and the other devices, the mounting positions, and the using method are the same as those of the first embodiment.

The robot 8 moves the acceptable work into the recovery device 9.

Referring to fig. 21, the recycling apparatus 9 includes two tray transporters 902 installed in the workbench 1 and having one end passing through the workbench 1, wherein one tray transporter 902 is used for placing empty trays, the other tray transporter 902 is used for placing qualified workpieces, and the empty trays in the one tray transporter 902 are transported to the other tray transporter 902 by a transfer tray device 901 between the two tray transporters 902.

Referring to fig. 22, the transfer tray device 901 includes a single-axis robot 9011 mounted on the work table 1 through a transfer support frame 9012, a transfer base 9013 mounted on the single-axis robot 9011, a connection base 9015 movably mounted on the transfer base 9013 through a linear guide rail eight 9014 and a cylinder seven 9015, a rotary cylinder three 9016 mounted on the transfer base 9013, a suction cup seat 9017 mounted on the rotary cylinder three 9016, the suction cup 9017 being X-shaped, a suction cup 9018 mounted on each end of the suction cup 9017, and a proximity switch 9019 mounted on a side surface of the rotary cylinder three 9016, the proximity switch 9019 being configured to determine whether a sucked tray is in a forward direction or not, and when the tray is determined to be in a reverse direction, the rotary cylinder three 9016 is turned on to rotate the tray in the forward direction.

Please refer to fig. 21, the tray transporting device 902 includes a second electric lead screw 9021, the second electric lead screw 9021 is mounted on the workbench 1 through a lead screw seat 9022, the tray seat 9028 is mounted on the second electric lead screw 9021 through a support rod 9029 in cooperation with the flange seat 90210, the tray is placed on the tray seat 9028, angle steels 9024 are located at four corners of the tray seat 9028, meanwhile, the angle steels 9024 are mounted on the workbench 1, the angle steels 9024 are used for limiting the tray to move up and down, meanwhile, the angle steel 9024 at one corner of the tray seat 9028 is lower than the tray seat 9028, and the other triangular angle steels 9024 are all higher than the tray seat 9028, so that the tray is convenient to position, a fixture block 9027 is arranged at the position of the angle steel 9024 lower than the tray seat 9028, the fixture block 9027 is mounted on an eight cylinder 9025, and the eight cylinder 9025 is mounted on the lead screw seat 9022 through a cylinder seat 9026.

Therefore, when the empty tray is placed on the tray seat 9028, the air cylinder eight 9025 is started, the empty tray is moved to the same position through the clamping block 9027, and therefore the tray conveying device 902 is convenient to position.

The manipulator 8 places the workpieces into the trays on the tray transport device 902 one by one, when no vacancy exists in the tray, the single-shaft robot 9011 and the electric screw II 9021 are started, the electric screw II 9021 moves the tray down to one station, meanwhile, the single-shaft robot 9011 drives the suction cup 9018 to move right above the other tray transport device 902 for placing the empty tray, the suction cup 9018 sucks the empty tray to the tray transport device 902 without the vacancy, and the empty tray replaces the position of the previous tray, so that the manipulator 8 can continue to transport the qualified workpieces; meanwhile, the second electric lead screw 9021 at the other tray transporting device 902 is opened, so that the empty tray rises to one station, and the next tray transferring device 901 can conveniently suck the empty tray.

The control panel is communicatively coupled with a first photoelectric sensor 205, a first air cylinder 201, a second air cylinder 302, a third air cylinder 304, a first rotating air cylinder 307, a first pneumatic clamping jaw 308, a camera 1009, a lamp ring 1007, a 3D camera 1010, a first motor 401, a second pneumatic clamping jaw 411, a fifth air cylinder 503, a fourth air cylinder 501, a third pneumatic clamping jaw 504, a second motor 602, a second photoelectric sensor 608, a third photoelectric sensor 609, a first electric lead screw 6225, an industrial robot 801, a fourth pneumatic clamping jaw 802, a sixth air cylinder 701, a second rotating air cylinder 711, a fourth photoelectric sensor 705, a fifth pneumatic clamping jaw 709, a single-axis robot 9011, a seventh air cylinder 9015, a third rotating air cylinder 9016, a proximity switch 9019, a sucker 9018, an eighth air cylinder 9025 and a second electric lead screw 9021.

Based on the device, the second embodiment of the invention also provides an operation method of the detection device using the automobile sensor, which comprises the following steps:

firstly, a workpiece is sent into a workbench 1 through a feeding device 2, the workpiece is sent into a transverse detection device 10 through a transfer device 3, and the workpiece is continuously sent into the transverse detection device 10;

driving the workpiece to sequentially perform guide post detection, burr detection, marking detection and induction surface foreign matter detection by the rotation detection device 6;

step four, clamping the workpieces from the rotation detection device 6 into the NG judgment device 7 through the second transition device 5, wherein unqualified workpieces directly pass through the NG judgment device 7 and fall into the workbench 1, qualified workpieces are left by the NG judgment device 7, and then the qualified workpieces are transferred to the recovery device 9 through the manipulator 8;

and step five, finally, the manipulator 8 places the workpieces into the trays on the tray transport device 902 one by one, when no empty position exists in the tray, the transfer tray device 901 and the tray transport device 902 are opened, the transfer tray device 901 transfers the empty tray on the other tray transport device 902 to the previous tray of the tray transport device 902, then the other tray transport device 902 is opened, and the other tray transport device 902 ejects the next empty tray to the position of the previous empty tray.

The device realizes continuous detection operation of large-batch sensor shells, realizes automatic operation in the whole process, reduces manpower consumption, and improves the operation efficiency.

This device has realized that the coring hole to automobile sensor shell detects 1001, the sealing washer detects 1002, the buckle detects 1003, the response face is protruding to be detected 1004, the guide post detects, deckle edge detects, beat eight items that mark detected and response face foreign matter detected detect, the quality of furthest's assurance automobile sensor shell, carry out qualified and unqualified classification to the work piece after detecting simultaneously, at last with qualified whole orderly recovery to the tray in of work piece, whole automatic detection and recovery have been realized.

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 detection device of an automobile sensor comprises a workbench (1), a feeding device (2), a transfer device (3), a progressive device (4) and a transition device (5) which are sequentially arranged on the workbench (1),

it is characterized by also comprising

The device comprises a transverse detection device (10) located right below a progressive device (4), a transfer device (3) used for transferring workpieces from a feeding device (2) to the transverse detection device (10), and a rotation detection device (6) installed at the middle position of a workbench (1), wherein the rotation detection device (6) is provided with a placing station (610), a guide column detection station (611), a blank station I (612), a burr detection station (614), a marking detection station (615), a sensing surface foreign matter detection station (616), a taking-out station (618) and a blank station II (618), the transition device (5) is used for transferring the workpieces from the transverse detection device (10) to the placing station (610) of the rotation detection device (6), the transition device (5) is also arranged on one side of the taking-out station (617), the transition device (5) is used for transferring the workpieces from the taking-out station (617) of the rotation detection device (6) to an NG judgment device (7), the NG judgment device (7) and the NG judgment device (7) are both installed on the workbench (1), and the manipulator (8) is used for taking out the qualified workpieces in the judgment device (7) to be recovered;

the transverse detection device (10) sequentially comprises a coring hole detection device (1001), a sealing ring detection device (1002), a buckle detection device (1003), a sensing surface protrusion detection device (1004), a first NG box (1005) and a placing table (1006).

2. The detecting device for the automobile sensor according to claim 1, characterized by further comprising a recovering device (9) installed on the working table (1), wherein the manipulator (8) moves the qualified workpieces into the recovering device (9), the recovering device (9) comprises two tray transporting devices (902) installed in the working table (1) and one end of the two tray transporting devices passes through the working table (1), one tray transporting device (902) is used for placing empty trays, the other tray transporting device (902) is used for placing the qualified workpieces, and the empty trays in one tray transporting device (902) are transported to the other tray transporting device (902) by the transferring tray device (901) between the two tray transporting devices (902).

3. The detection device for the automobile sensor is characterized in that the feeding device (2) comprises a first cylinder (201), a first moving block (203) is arranged on the first cylinder (201), a first linear guide rail (202) is arranged on the first cylinder (201), the first moving block (203) is arranged on the first cylinder (201) and the first linear guide rail (202), a placing table (204) is arranged on the first moving block (203), a first photoelectric sensor (205) is arranged on the workbench (1) through a sensor support (206), the first photoelectric sensor (205) is located at one end, close to the transmission device (3), of the first cylinder (201), and the first photoelectric sensor (205) is used for sensing whether a workpiece reaches one end, close to the transmission device (3), of the first cylinder (201).

4. The detecting device of the automobile sensor according to claim 1, characterized in that the transmitting device (3) comprises a first supporting block (301), a second cylinder (302) and a second linear guide rail (303) which are installed on the first supporting block (301), and a second moving block (306) which is installed on the second cylinder (302) and the second linear guide rail (303), wherein a third cylinder (304) is installed on the second moving block (306), meanwhile, a first connecting block (305) is installed on the third cylinder (304), a first rotating cylinder (307) is installed on the first connecting block (305), and a first pneumatic clamping jaw (308) is installed on the first rotating cylinder (307).

5. The detecting device of the automobile sensor according to claim 1, wherein the lateral detecting device (10) comprises a coring hole detection (1001), a seal ring detection (1002), a snap detection (1003), a sensing surface protrusion detection (1004), an NG box I (1005) and a rest table (1006) which are sequentially installed on the worktable (1) from one end near the transferring device (3), and simultaneously, the distance from the coring hole detection (1001) to the seal ring detection (1002), the distance from the seal ring detection (1002) to the snap detection (1003), the distance from the snap detection (1003) to the sensing surface protrusion detection (1004) and the distance from the sensing surface protrusion detection (1004) to the rest table (1006) are all equal, and the NG box I (1005) is located at the middle position between the sensing surface protrusion detection (1004) and the rest table (1006).

6. The detection device of the automobile sensor is characterized in that the rotation detection device (6) comprises a cam divider (601), a driving wheel (603) is installed on the cam divider (601), a driven wheel (604) is installed on a second motor (602), the driving wheel (603) and the driven wheel (604) are in transmission connection through a belt (605), a fixed disc (606) and a rotating disc (607) are installed on the cam divider (601), eight stations are uniformly distributed on the rotating disc (607) and respectively comprise a placing station (610), a guide column detection station (611), an idle station I (612), a burr detection station (614), a marking detection station (615), a sensing surface foreign matter detection station (616), a taking-out station (617) and an idle station II (618), and a support frame (613) is installed at each station; meanwhile, a photoelectric sensor II (608) and a photoelectric sensor III (609) are respectively arranged on the fixed disc (606) at positions corresponding to the placing station (610) and the taking-out station (617); and correspond guide post detection station (611) position and install guide post detection device (619) on fixed disk (606), correspond burr detection station (614) position and install burr detection device (620) on workstation (1), correspond and beat mark detection station (615) position and install and beat mark detection device (621) on fixed disk (606), correspond and respond to face foreign matter detection station (616) position and install response face foreign matter detection device (622) on workstation (1).

7. The detection device of the automobile sensor according to claim 1, wherein the NG judgment device (7) comprises a sixth air cylinder (701) installed on the workbench (1), a pushing block (704) is installed on the sixth air cylinder (701), the pushing block (704) is movably installed on the workbench (1) through a seventh linear guide rail (703) in cooperation with a drag chain (702), a fixed frame (707) is installed on the pushing block (704), the rotating frame (708) is located in the fixed frame (707), the rotating frame (708) is movably installed on the fixed frame (707) through a shaft (706) in cooperation with a bearing, a second rotating air cylinder (711) is installed at the end of the shaft (706), in an initial state, the rotating frame (708) is in a vertical state, namely the top surface of the rotating frame (708) faces upwards, a clamping hole (710) is formed in the top surface of the rotating frame (708), the clamping hole (710) is used for placing the workpiece, a fifth pneumatic clamping jaw (709) is installed on the rotating frame (708), when the workpiece is placed in the clamping hole (710), and when the rotating frame (702) is not more than the vertical state, the clamping hole (712) is installed on the workbench (702), and when the clamping jaw (713) is loosened, the workpiece drops through the NG hole (702) into the NG box two (712).

8. The detection device of the automobile sensor as claimed in claim 2, wherein the transfer tray device (901) comprises a single-shaft robot (9011) mounted on the workbench (1) through a transfer support frame (9012), a transfer seat (9013) mounted on the single-shaft robot (9011), a connecting seat (9015) is movably mounted on the transfer seat (9013) through a linear guide rail eight (9014) in cooperation with a cylinder seven (9015), a rotary cylinder three (9016) is mounted on the transfer seat (9013), a sucker seat (9017) is mounted on a rotary cylinder three (9016), the sucker seat (9017) is of an X shape, a sucker (9018) is mounted at each end of the sucker seat (9017), a proximity switch (9019) is mounted on the side of the rotary cylinder three (9016), and the proximity switch (9019) is used for judging whether the sucked tray is forward or backward.

9. The detection device of the automobile sensor as claimed in claim 2, wherein the tray transportation device (902) includes a second electric lead screw (9021), the second electric lead screw (9021) is mounted on the workbench (1) through a lead screw seat (9022), the tray seat (9028) is mounted on the second electric lead screw (9021) through a support rod (9029) in cooperation with a flange seat (90210), the tray is placed on the tray seat (9028), angle steels (9024) are located at four corners of the tray seat (9028), the angle steels (9024) are mounted on the workbench (1), the angle steels (9024) are used for limiting the tray in an up-and-down movement mode, the angle steel (9024) at one corner of the tray seat (9028) is lower than the tray seat (9028), the angle steels (9024) at the other corners are higher than the tray seat (9028), a clamping block (27) is arranged at the angle steel (24) lower than the tray seat (9028), the clamping block (9027) is mounted on an eight cylinder (9025), and the eight cylinders (9026) are mounted on the cylinder seat (9026).

10. An operation method using a detecting device of a sensor for an automobile according to claim 2, characterized by comprising the steps of:

s1, firstly, a workpiece is sent into a workbench (1) through a feeding device (2), the workpiece is sent into a transverse detection device (10) through a transfer device (3), and the workpiece is continuously sent into the transverse detection device (10);

s2, the transverse detection device (10) is matched with the progressive device (4) to sequentially perform core-pulling hole detection (1001), sealing ring detection (1002), buckle detection (1003) and induction surface protrusion detection (1004) on the workpiece, wherein the progressive device (4) drives the workpiece to perform detection in the transverse detection device (10) one by one, and finally the workpiece falls onto a placing table (1006), and unqualified workpieces are directly clamped into a NG box I (1005) through the progressive device (4); the qualified workpieces are clamped by the transition device (5) and placed on a placing station (610) of the rotation detection device (6);

s3, driving the workpiece to sequentially perform guide post detection, burr detection, marking detection and sensing surface foreign matter detection by the rotary detection device (6);

s4, clamping the workpiece from the rotation detection device (6) into the NG judgment device (7) through the second transition device (5), wherein the unqualified workpiece directly passes through the NG judgment device (7) and falls into the workbench (1), the qualified workpiece is left by the NG judgment device (7), and the qualified workpiece is transferred to the recovery device (9) through the manipulator (8);

s5, finally, the mechanical arm (8) places the workpieces into the trays on the tray conveying device (902) one by one, when no empty position exists in the tray, the transfer tray device (901) and the tray conveying device (902) are started, and the transfer tray device (901) transfers the empty tray on the other tray conveying device (902) to the empty tray conveying device (902)

At the previous tray of this tray transporter (902), then the other tray transporter (902) is opened,

another tray transport (902) ejects the next empty tray to the position of the last empty tray.