CN210676025U - Appearance detection equipment - Google Patents

Abstract

The utility model discloses an appearance detection device, which comprises a working table frame, a movable grabbing mechanism, a lower clamping mechanism and a camera component, wherein the working table frame is arranged on the ground, the movable grabbing mechanism is arranged on the surface of the working table frame, and the lower clamping mechanism is arranged on the working table frame and is positioned below the movable grabbing mechanism; the camera assembly is arranged around the workbench frame and used for shooting photos to detect whether the appearance is qualified. The advantage, this outward appearance check out test set adopts the double-stroke cylinder to promote to remove and snatchs the mechanism along the linear reciprocating motion of guide rail, with fixture cooperation centre gripping condenser down, the station that can supply to shoot that provides is many, is convenient for set up the shooting station in a flexible way as required.

Description

Appearance detection equipment

Technical Field

The utility model relates to an outward appearance check out test set.

Background

In the existing capacitor production, finished product appearance detection of the capacitor is mainly completed manually, no proper automatic detection equipment is provided, the work content is single, workers are easy to fatigue, and the omission detection is easy. It is necessary to design a suitable automated appearance inspection apparatus.

SUMMERY OF THE UTILITY MODEL

The utility model aims to solve the technical problem that, to mention among the background art existing condenser production, the finished product outward appearance of condenser detects mainly to depend on the manual work to accomplish, has work content singleness, and the workman is tired easily, leaks the technical problem who examines easily.

In order to solve the above problems, the utility model adopts the following technical proposal:

an appearance detection device comprises a working table frame, a movable grabbing mechanism, a lower clamping mechanism and a camera assembly, wherein the working table frame is arranged on the ground, the movable grabbing mechanism is arranged on the surface of the working table frame, and the lower clamping mechanism is arranged on the working table frame and is positioned below the movable grabbing mechanism; the camera assembly is arranged around the workbench stand and is used for shooting pictures to detect whether the appearance is qualified or not;

the working table frame comprises a support, a table top plate, a double-stroke cylinder and at least one linear guide rail, the support is arranged on the ground, the table top plate is horizontally arranged on the top of the support, the linear guide rails are horizontally fixed and arranged in parallel along the length direction of the table top plate, two strokes of the double-stroke cylinder are equal, and a single-cylinder stroke of the double-stroke cylinder is defined as a step pitch; a piston rod at one end of the double-stroke cylinder is fixed on a first cylinder support, the first cylinder support is arranged on the upper surface of the table panel, and a piston rod at the other end of the double-stroke cylinder is connected with the movable grabbing mechanism;

the movable grabbing mechanism comprises a movable box body, a second air cylinder support, five grabbing mechanisms, a first driving device and a second driving device, the movable box body is horizontally arranged on the upper surface of the table panel, the back surface of the movable box body is connected with a sliding block on the linear guide rail, the second air cylinder support is arranged on the front surface of the movable box body and is connected with a piston rod at the other end of the double-stroke air cylinder, the five grabbing mechanisms are equally arranged in the movable box body at intervals, and the interval between every two adjacent grabbing mechanisms is equal to twice step pitch; defining five grabbing mechanisms as a first grabbing mechanism, a second grabbing mechanism, a third grabbing mechanism, a fourth grabbing mechanism and a fifth grabbing mechanism respectively, wherein the first grabbing mechanism, the second grabbing mechanism, the third grabbing mechanism, the fourth grabbing mechanism and the fifth grabbing mechanism are sequentially arranged on the movable box body in sequence, the first grabbing mechanism, the second grabbing mechanism, the third grabbing mechanism and the fourth grabbing mechanism are driven by a first driving device to synchronously work, and the fifth grabbing mechanism is driven by a second driving device to work independently;

the five grabbing mechanisms respectively comprise a first slide rail, a first slide block, a first rack, a first V-shaped jaw plate, a second slide rail, a second slide block, a second rack, a second V-shaped jaw plate and a first gear, the first slide rail is in sliding connection with the first slide block, the first slide block is fixed on the box top of the inner cavity of the movable box body, the second slide rail is in sliding connection with the second slide block, the second slide block is fixed on the box bottom of the inner cavity of the movable box body, and the first slide rail and the second slide rail are arranged in parallel; the first V-shaped jaw plate is vertically arranged at the left end part of the first slide rail, the V-shaped jaw faces the first slide rail, the second V-shaped jaw plate is vertically arranged at the left end part of the second slide rail, the V-shaped jaw faces the first V-shaped jaw plate, and the first V-shaped jaw plate and the second V-shaped jaw plate are combined to form a jaw for clamping the electrolytic capacitor 001 of the workpiece to be tested; the first rack is arranged at the right end part of the first slide rail, the second rack is arranged at the right end part of the second slide rail, and the first gear is arranged between the first rack and the second rack and is meshed with the first gear;

the first driving device comprises a first motor and a first long shaft, the first motor is arranged on one side wall of the movable box body, first gears in the first grabbing mechanism, the second grabbing mechanism, the third grabbing mechanism and the fourth grabbing mechanism are all in key connection with the first long shaft, and one end of the first long shaft is connected with a motor shaft of the first motor through a coupler; the first long shaft is rotatably supported on the box bottom of the inner cavity of the movable box body through a plurality of bearing seats;

the second driving device comprises a second motor, the second motor is arranged on the side wall of the other side of the movable box body, and a motor shaft key of the second motor is connected with a first gear in the fifth grabbing mechanism;

the lower clamping mechanism comprises a fixed box body, a rotating mechanism, three clamping mechanisms and a third driving device for driving the three clamping mechanisms to synchronously work, the fixed box body is horizontally arranged on the lower surface of the table panel, four stations are defined on the fixed box body and are respectively a first station a, a second station b, a third station c and a fourth station d in sequence, the three clamping mechanisms are respectively arranged on the first station a, the second station b and the fourth station d, the three clamping mechanisms are respectively a first clamping mechanism arranged on the first station a, a second clamping mechanism arranged on the second station b and a fourth clamping mechanism arranged on the fourth station d, and the rotating mechanism is arranged on the third station c;

the three clamping mechanisms comprise a third slide rail, a third slide block, a third rack, a third V-shaped jaw plate, a fourth slide rail, a fourth slide block, a fourth rack, a fourth V-shaped jaw plate and a second gear, the third slide rail is connected with the third slide block in a sliding manner, the third slide block is arranged on the bottom of the inner cavity of the fixed box body, the fourth slide rail is connected with the fourth slide block in a sliding manner, the fourth slide block is arranged on the top of the inner cavity of the fixed box body, and the third slide rail and the fourth slide rail are arranged in parallel; the third V-shaped jaw plate is vertically arranged at the left end part of the third slide rail, the V-shaped jaw faces the third slide rail, the fourth V-shaped jaw plate is vertically arranged at the left end part of the fourth slide rail, the V-shaped jaw faces the third V-shaped jaw plate, and the third V-shaped jaw plate and the fourth V-shaped jaw plate are combined to form a jaw for clamping the electrolytic capacitor of the workpiece to be tested; the third rack is arranged at the right end part of the third slide rail, the fourth rack is arranged at the right end part of the fourth slide rail, and the second gear is arranged between the third rack and the fourth rack and is meshed with the second gear;

the third driving device comprises a third motor and a second long shaft, the third motor is arranged on the side wall of one side of the fixed box body, second gears in the first clamping mechanism, the second clamping mechanism and the fourth clamping mechanism are in key connection with the second long shaft, and one end of the second long shaft is connected with a motor shaft of the third motor through a coupler; the second long shaft is rotatably supported on the box bottom of the inner cavity of the fixed box body through a plurality of bearing seats;

the rotating mechanism comprises a fixed frame, a fourth motor, a driving gear and a rotating clamping mechanism, the fixed frame is arranged on the lower surface of the fixed box body, the fourth motor is arranged on the fixed frame, the driving gear is arranged on a motor shaft of the fourth motor, and the rotating clamping mechanism is arranged on the fixed frame and is meshed with the driving gear;

the rotary clamping mechanism comprises a rotor part, a push rod cylinder and an annular mounting seat, the annular mounting seat is vertically inserted into a mounting hole of the fixing frame and fixed, the push rod cylinder is fixed with the lower end face of the annular mounting seat, the rotor part is rotatably connected with the annular mounting seat and positioned above the annular mounting seat, and a piston rod of the push rod cylinder is supported on the rotor part;

the rotor part comprises an ejector rod, a guide sleeve, a driven gear, a base plate, two pressure springs and two clamp bodies, wherein the driven gear is horizontally arranged, the guide sleeve penetrates through the driven gear and is fixed, the driven gear and the guide sleeve are coaxial, and the guide sleeve is rotatably arranged in the annular mounting seat through a bearing; the base plate is connected with an end face flange of the guide sleeve, a hole is formed in the center of the base plate for the ejector rod to penetrate through, a left hinged support and a right hinged support are symmetrically arranged on two sides of the center hole of the base plate, and a left spring guide cylinder and a right spring guide cylinder are vertically arranged on the outer sides of the left hinged support and the right hinged support on the base plate respectively; the two pressure springs are respectively a left pressure spring and a right pressure spring, the left pressure spring and the right pressure spring are respectively arranged in a left spring guide cylinder and a right spring guide cylinder, and the tops of the left pressure spring and the right pressure spring are respectively sleeved in a left spring seat and a right spring seat;

the ejector rod is inserted into the central hole of the base plate and penetrates through the guide sleeve, and the bottom of the ejector rod props against a piston rod of the push rod cylinder; the ejector rod is in sliding fit with the guide sleeve, a cylinder is arranged at the top of the ejector rod, and the axis of the cylinder is vertical to the ejector rod;

the two clamp bodies are respectively a left clamp body and a right clamp body, and the left clamp body and the right clamp body are symmetrically arranged around the ejector rod; an inverted V-shaped slideway matched with the outer surface of the cylinder is formed between the left clamp body and the right clamp body, a left clamp plate and a right clamp plate are respectively arranged on the inner side surfaces of the upper ends of the left clamp body and the right clamp body, and the left clamp plate and the right clamp plate are opened and closed to form a clamp opening which can be clamped or loosened and is used for clamping an electrolytic capacitor pin; the lower ends of the left clamp body and the right clamp body are respectively hinged with the left hinged support and the right hinged support through pin shafts, the outer side walls of the left clamp body and the right clamp body are respectively and horizontally provided with a left push plate and a right push plate, a left spring seat is vertically and movably arranged on the back surface of the left push plate through an adjusting screw, and a right spring seat is vertically and movably arranged on the back surface of the right push plate through an adjusting screw;

the camera component comprises five station cameras which are respectively a station one camera, a station two camera, a station three camera, a station four camera and a station five camera,

the station-I camera is fixed through the camera support, and a shooting end of the station-I camera shoots the outer surface of the electrolytic capacitor of the workpiece to be detected, which is clamped by the rotary clamping mechanism in the rotating mechanism;

the station two camera is fixed through a camera support, and a shooting end of the station two camera shoots the electrolytic capacitor pin leg of the workpiece to be detected clamped by the second grabbing mechanism;

the station three camera is fixed through a camera support, and a shooting end of the station three camera shoots the electrolytic capacitor pin surface of the workpiece to be detected clamped by the second grabbing mechanism;

the station four-camera is fixed through a camera support, and a shooting end of the station four-camera shoots the top surface of the electrolytic capacitor of the workpiece to be detected, which is clamped by the second clamping mechanism at the second station b;

the five-station camera is fixed through the camera support, and the shooting end of the five-station camera is inclined upwards to shoot the electrolytic capacitor pin face of the workpiece to be detected clamped by the first grabbing mechanism.

The technical proposal of the utility model is optimized, the movable box body is a box body which is enclosed by a lower panel, an upper panel and three side panels and has an opening at one side; a first sliding block in the grabbing mechanism is fixed on the inner side plate surface of the lower panel, and a second sliding block is fixed on the inner side plate surface of the upper panel.

According to the technical scheme of the utility model, the outer edges of the upper ends of the left spring seat and the right spring seat are respectively provided with a flange plate, and the left spring seat and the right spring seat are respectively provided with a unthreaded hole matched with the adjusting screw along the axial direction; the lower end part of the adjusting screw always props against the bottom surface of the spring seat, threads of the adjusting screw are arranged on the left push plate and the right push plate, and the adjusting screw is screwed in to push the pre-compression amount of the adjusting spring seat to the spring, so that the compression force of the jaw is adjusted.

The technical proposal of the utility model is optimized, the lower ends of the left forceps body and the right forceps body are both provided with two pin shaft tubes, and a gap is arranged between the two pin shaft tubes; the left hinged support and the right hinged support are respectively inserted into the notches and are hinged through the inserted pin shafts.

The technical proposal of the utility model is optimized, one end of the bearing inner ring limits the axial position through the backing ring sleeved on the outer surface of the guide sleeve, and the other end of the bearing inner ring limits the axial position through the axial retainer ring; both ends of the bearing outer ring are limited on the annular mounting seat.

The utility model has the advantages that:

this outward appearance check out test set adopts two stroke cylinder to promote to remove and snatchs mechanism along the linear reciprocating motion of guide rail, with fixture cooperation centre gripping condenser down, the station that can supply to shoot that provides is many, is convenient for set up the shooting station in a flexible way as required.

Drawings

Fig. 1 is a first general view of the appearance inspection apparatus (the upper and lower nips are aligned, initial state).

Fig. 2 is a schematic structural view of the work bench.

Fig. 3 is a schematic view (with the upper panel cut away) of a first structure of the moving gripper mechanism.

Fig. 4 is a second structural schematic diagram of the mobile gripping mechanism.

Fig. 5 is a schematic structural view of the grasping mechanism.

Fig. 6 is a schematic structural view of the lower clamp mechanism (the upper panel of the fixed box is cut away in the figure).

Fig. 7 is a schematic structural view of the rotating mechanism.

Fig. 8 is a cross-sectional view of fig. 7.

Fig. 9 is a schematic structural view of the rotor portion.

Fig. 10 is a cross-sectional view of fig. 9.

Fig. 11 is a first front view (initial stage) of the appearance inspection apparatus.

Fig. 12 is a second front view (advancing station) of the appearance inspection apparatus.

Fig. 13 is a third front view (gripping station) of the appearance inspection apparatus.

Fig. 14 is a fourth front view (return station) of the appearance inspection apparatus.

Fig. 15 is a side view of the appearance inspection apparatus.

Detailed Description

The technical solution of the present invention is explained in detail below, but the scope of protection of the present invention is not limited to the embodiments.

In order to make the disclosure of the present invention more comprehensible, the following description is further made in conjunction with the accompanying drawings 1 to 15 and the detailed description.

In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the invention.

As shown in fig. 1, the appearance inspection apparatus in this embodiment includes a work bench 1000, a mobile gripping mechanism 2000, a lower gripping mechanism 3000, and a camera assembly 5000, wherein the work bench 1000 is placed on the ground, the mobile gripping mechanism 2000 is placed on the surface of the work bench 1000, and the lower gripping mechanism 3000 is disposed on the work bench 1000 and below the mobile gripping mechanism 2000; the camera assembly 5000 is disposed around the work stage 1000 for taking a picture to detect whether the appearance is qualified.

As shown in fig. 2, the workbench 1000 comprises a support 1001, a table panel 1002, a double-stroke cylinder 1020 and at least one linear guide rail 1011, wherein the support 1001 is placed on the ground, the table panel 1002 is horizontally arranged on the top of the support 1001, the linear guide rail 1011 is horizontally fixed and arranged in parallel along the length direction of the table panel 1002, two strokes of the double-stroke cylinder 1020 are equal, and a single-cylinder stroke of the double-stroke cylinder 1020 is defined as a step pitch; the piston rod of one end of the double-stroke cylinder 1020 is fixed on the first cylinder support 1023, the first cylinder support 1023 is arranged on the upper surface of the table board 1002, and the piston rod of the other end of the double-stroke cylinder 1020 is connected with the moving grabbing mechanism 2000.

As shown in fig. 1, in an implementation of the working platform 1000 of this embodiment, in order to perform automatic loading and unloading, a capacitor distribution chute 1030 and a finished capacitor discharge chute 1040 may be respectively disposed at two ends of the working platform 1000, where both the capacitor distribution chute 1030 and the finished capacitor discharge chute 1040 are known in the prior art.

The double-stroke cylinder 1020 in the working bench 1000 of this embodiment is a purchased part, and the model sold by the Wenzhou Yiyou hydropneumatic company Limited is preferably purchased as follows: SCTJ125 two position adjustable cylinders.

In this embodiment, the double-stroke cylinder promotes to move and snatchs mechanism 2000 and along the linear reciprocating motion of guide rail, with fixture cooperation centre gripping electrolytic capacitor 001 down, the station that can supply to shoot that provides is many, is convenient for set up the shooting station in a flexible way as required.

The operation flow of the two-stroke cylinder 1020 in the present embodiment:

firstly, retracting the double-stroke cylinder to be in an initial state; secondly, pushing out a piston at one end of the double-stroke cylinder; pushing out the piston at the other end of the double-stroke cylinder; thirdly, retracting the piston at the other end of the double-stroke cylinder; finally, the piston at one end of the double-stroke cylinder retracts.

As shown in fig. 3, the mobile grabbing mechanism 2000 comprises a mobile box 2010, a second cylinder support 2014, five grabbing mechanisms, a first driving device and a second driving device, wherein the mobile box 2010 is horizontally arranged on the upper surface of the table panel 1002, the back surface of the mobile box 2010 is connected with a slide block 1012 on a linear guide rail 1011, the second cylinder support 2014 is arranged on the front surface of the mobile box 2010 and is connected with a piston rod at the other end of a double-stroke cylinder 1020, the five grabbing mechanisms are equally spaced in the mobile box 2010, and the spacing between every two adjacent grabbing mechanisms is equal to twice the step pitch; the five grabbing mechanisms are respectively defined as a first grabbing mechanism 2100, a second grabbing mechanism 2200, a third grabbing mechanism 2300, a fourth grabbing mechanism 2400 and a fifth grabbing mechanism 2500, the first grabbing mechanism 2100, the second grabbing mechanism 2200, the third grabbing mechanism 2300, the fourth grabbing mechanism 2400 and the fifth grabbing mechanism 2500 are sequentially arranged on the movable box body 2010, wherein the first grabbing mechanism 2100, the second grabbing mechanism 2200, the third grabbing mechanism 2300 and the fourth grabbing mechanism 2400 are driven by a first driving device to synchronously work, and the fifth grabbing mechanism 2500 is driven by a second driving device to work independently.

As shown in fig. 4, the mobile grasping mechanism 2000 is slidably coupled to two parallel linear guides 1011 provided on the table board 1002 in the work gantry 1000 by four sliders 1012 fixedly provided on the lower surface of the mobile case 2010, and the mobile grasping mechanism 2000 slides along the linear guides 1011. The piston at one end of the double-stroke cylinder is pushed out, the movable grabbing mechanism 2000 slides by one step along the linear guide rail 1011, and the piston at the other end of the double-stroke cylinder pushes out the movable grabbing mechanism 2000 to slide by another step along the linear guide rail 1011.

As shown in fig. 3, the mobile box 2010 is a box with one side opened and surrounded by a lower panel 2011, an upper panel 2012 and three side panels 2013; the first slider 2212 in the grabbing mechanism is fixed on the inner board surface of the lower panel 2011, and the second slider 2222 is fixed on the inner board surface of the upper panel 2012.

As shown in FIG. 5, the V-shaped clamping openings of the five grabbing mechanisms of the present embodiment are downward and have the same height, and the distances between the clamping openings are equal to twice the step distance.

As shown in fig. 5, each of the five grasping mechanisms includes a first slide rail 2211, a first slide block 2212, a first rack 2213, a first V-shaped jaw plate 2214, a second slide rail 2221, a second slide block 2222, a second rack 2223, a second V-shaped jaw plate 2224, and a first gear 2604, the first slide rail 2211 is slidably connected to the first slide block 2212, the first slide block 2212 is fixed to the top of the inner cavity of the mobile box 2010, the second slide rail 2221 is slidably connected to the second slide block 2222, the second slide block 2222 is fixed to the bottom of the inner cavity of the mobile box 2010, and the first slide rail 2211 and the second slide rail 2221 are arranged in parallel; the first V-shaped jaw plate 2214 is vertically arranged at the left end of the first slide rail 2211, the V-shaped jaw faces the first slide rail 2211, the second V-shaped jaw plate 2224 is vertically arranged at the left end of the second slide rail 2221, the V-shaped jaw faces the first V-shaped jaw plate 2214, and the first V-shaped jaw plate 2214 and the second V-shaped jaw plate 2224 are combined to form a jaw for clamping the electrolytic capacitor 001 of the workpiece to be tested; the first rack 2213 is arranged at the right end of the first slide rail 2211, the second rack 2223 is arranged at the right end of the second slide rail 2221, and the first gear 2604 is arranged between the first rack 2213 and the second rack 2223 and is meshed with the first gear 2604.

As shown in fig. 3, the first driving device includes a first motor 2601 and a first long shaft 2603, the first motor 2601 is disposed on a side wall of the movable box 2010, first gears 2604 in the first grasping mechanism 2100, the second grasping mechanism 2200, the third grasping mechanism 2300 and the fourth grasping mechanism 2400 are all keyed with the first long shaft 2603, and the left end of the first long shaft 2603 is connected to a motor shaft of the first motor 2601 through a coupling; the right end of the first long shaft 2603 is rotatably supported by a bearing housing 2605 on the bottom of the inner chamber of the movable case 2010.

As shown in fig. 3, the second driving means includes a second motor 2701, the second motor 2701 is disposed on the other side wall of the movable housing 2010, and a motor shaft of the second motor 2701 is keyed to the first gear 2604 in the fifth grip mechanism 2500.

As shown in fig. 6, the lower clamping mechanism 3000 includes a fixed box 3010, a rotating mechanism 4000, three clamping mechanisms and a third driving device for driving the three clamping mechanisms to work synchronously, the fixed box 3010 is horizontally disposed on the lower surface of the table panel 1002, and the fixed box 3010 is defined to have four stations, which are a first station a, a second station b, a third station c and a fourth station d, respectively, the three clamping mechanisms are disposed on the first station a, the second station b and the fourth station d, respectively, the three clamping mechanisms are a first clamping mechanism 3100 disposed on the first station a, a second clamping mechanism 3200 disposed on the second station b, and a fourth clamping mechanism 3400 disposed on the fourth station d, and the rotating mechanism 4000 is disposed on the third station c.

The lower clamp mechanism 3000 is fixed to the lower surface of the table 1002 via a fixed case 3010 and is located below the movable clamp mechanism 2000.

As shown in fig. 6, each of the three gripping mechanisms includes a third slide rail 3411, a third slide block, a third rack, a third V-shaped jaw plate 3414, a fourth slide rail 3421, a fourth slide block 3422, a fourth rack 3423, a fourth V-shaped jaw plate 3424, and a second gear 3604, the third slide rail 3411 is connected to the third slide block in a sliding manner, the third slide block is disposed at the bottom of the inner cavity of the fixed box 3010, the fourth slide rail 3421 is connected to the fourth slide block 3422 in a sliding manner, the fourth slide block 3422 is disposed at the top of the inner cavity of the fixed box 3010, and the third slide rail 3411 and the fourth slide rail 3421 are disposed in parallel; the third V-shaped jaw plate 3414 is vertically arranged at the left end of the third slide rail 3411, the V-shaped jaw faces the third slide rail 3411, the fourth V-shaped jaw plate 3424 is vertically arranged at the left end of the fourth slide rail 3421, the V-shaped jaw faces the third V-shaped jaw plate 3414, and the third V-shaped jaw plate 3414 and the fourth V-shaped jaw plate 3424 are combined to form a jaw for clamping the electrolytic capacitor 001 of the workpiece to be tested; a third rack is provided at a right end portion of third slide rail 3411, a fourth rack 3423 is provided at a right end portion of fourth slide rail 3421, and second gear 3604 is interposed between third and fourth racks 3423 and both are engaged with second gear 3604.

As shown in fig. 6, the third driving device includes a third motor 3601 and a second long shaft 3603, the third motor 3601 is disposed on a side wall of the fixed box 3010, the second gears 3604 in the first clamping mechanism 3100, the second clamping mechanism 3200 and the fourth clamping mechanism 3400 are all keyed on the second long shaft 3603, and one end of the second long shaft 3603 is connected with a motor shaft of the third motor 3601 through a coupling; second long shaft 3603 is rotatably supported on the bottom of the cavity of stationary box 3010 by a plurality of bearing blocks 2605.

As shown in fig. 7 and 8, the rotating mechanism 4000 includes a fixed frame 4001, a fourth motor 4101, a driving gear 4102, and a rotating clamp mechanism 4300, the fixed frame 4001 is disposed on a lower surface of the fixed case 3010, the fourth motor 4101 is disposed on the fixed frame 4001, the driving gear 4102 is disposed on a motor shaft of the fourth motor 4101, and the rotating clamp mechanism 4300 is disposed on the fixed frame 4001 and engages with the driving gear 4102.

The fourth motor 4101 drives the rotary clamping mechanism 4300 to rotate through the driving gear 4102, and the rotary clamping mechanism 4300 clamps the electrolytic capacitor 001 to rotate, so that the industrial camera can perform appearance detection after taking a picture.

As shown in fig. 8, the rotary clamping mechanism 4300 includes a rotor portion, a push rod cylinder 4210 and an annular mounting seat 4213, the annular mounting seat 4213 is vertically inserted into a mounting hole of the fixed frame 4001 and fixed, the push rod cylinder 4210 is fixed to a lower end surface of the annular mounting seat 4213, the rotor portion is rotatably connected to the annular mounting seat 4213 and located above the annular mounting seat 4213, and a piston rod 4212 of the push rod cylinder 4210 is supported on the rotor portion.

The working process of the rotating clamping mechanism 4300 is as follows:

the push rod cylinder 4210 is controlled by a control valve, air is fed from the lower cavity of the push rod cylinder 4210, the piston rod 4212 moves upwards to push the ejector rod 4301 to move upwards, the cylindrical surface at the top end of the ejector rod 4301 jacks two clamp bodies, the jaw is opened, and the electrolytic capacitor 001 is loosened or clamping preparation for the electrolytic capacitor 001 is well performed.

Otherwise, the push rod cylinder 4210 is controlled by the control valve, air enters an upper cavity of the push rod cylinder 4210, the piston rod 4212 moves downwards, the two clamp bodies are closed towards the center under the thrust action of the two compression springs, the ejector rod 4301 moves downwards, the jaws are closed, and the electrolytic capacitor 001 is clamped.

As shown in fig. 9 and 10, the rotor part includes a top rod 4301, a guide sleeve 4304, a driven gear 4305, a base plate 4306, two pressure springs and two clamp bodies, the driven gear 4305 is horizontally arranged, the guide sleeve 4304 penetrates through the driven gear 4305 and is fixed, the driven gear 4305 is coaxial with the guide sleeve 4304, and the guide sleeve 4304 is rotatably arranged in an annular mounting seat 4213 through a bearing 4302; one end of the inner ring of the bearing 4302 limits the axial position through a cushion ring 4303 sleeved on the outer surface of the guide sleeve 4304, and the other end of the inner ring of the bearing 4302 limits the axial position through an axial retainer ring; both ends of the outer ring of the bearing 4302 are constrained to an annular mount 4213. The base plate 4306 is connected with an end face flange of the guide sleeve 4304, the center of the base plate 4306 is provided with a hole for the ejector rod 4301 to pass through, a left hinge support 4307 and a right hinge support 4308 are symmetrically arranged on two sides of the center hole of the base plate 4306, and a left spring guide cylinder 4309 and a right spring guide cylinder 4310 are respectively and vertically arranged on the base plate 4306 and at the outer sides of the left hinge support 4307 and the right hinge support 4308; the two compression springs are respectively a left compression spring 4311 and a right compression spring 4312, the left compression spring 4311 and the right compression spring 4312 are respectively arranged in the left spring guide cylinder 4309 and the right spring guide cylinder 4310, and the tops of the left compression spring 4311 and the right compression spring 4312 are respectively sleeved in the left spring seat 4313 and the right spring seat 4314.

The ejector rod 4301 is inserted into the central hole of the base plate 4306 and penetrates through the guide sleeve 4304, and the bottom of the ejector rod 4301 abuts against a piston rod 4212 of the push rod cylinder 4210; the ejector rod 4301 is in sliding fit with the guide sleeve 4304, a cylinder 4323 is arranged at the top of the ejector rod 4301, and the axis of the cylinder 4323 is perpendicular to the ejector rod 4301.

The two clamp bodies are respectively a left clamp body 4315 and a right clamp body 4316, and the left clamp body 4315 and the right clamp body 4316 are symmetrically arranged around the ejector rod 4301; an inverted V-shaped slideway matched with the outer surface of the cylinder 4323 is formed between the left clamp body 4315 and the right clamp body 4316, a left clamp plate 4317 and a right clamp plate 4318 are respectively arranged on the inner side surfaces of the upper ends of the left clamp body 4315 and the right clamp body 4316, and the left clamp plate 4317 and the right clamp plate 4318 are opened and closed to form a clamp opening which can be clamped or loosened and is used for clamping the base pin of the electrolytic capacitor 001; the lower ends of the left clamp body 4315 and the right clamp body 4316 are respectively hinged with the left hinge support 4307 and the right hinge support 4308 through a pin shaft 4322, the outer side walls of the left clamp body 4315 and the right clamp body 4316 are respectively and horizontally provided with a left push plate 4319 and a right push plate 4320, the left spring seat 4313 is vertically and movably arranged on the back surface of the left push plate 4319 through an adjusting screw 4321, and the right spring seat 4314 is vertically and movably arranged on the back surface of the right push plate 4320 through an adjusting screw 4321.

As shown in fig. 8, flanges are disposed on the outer edges of the upper ends of the left spring seat 4313 and the right spring seat 4314, and unthreaded holes matched with the adjusting screws 4321 are disposed on the left spring seat 4313 and the right spring seat 4314 in the axial direction; the lower end part of the adjusting screw always props against the bottom surface of the spring seat, threads of the adjusting screw are arranged on the left push plate 4319 and the right push plate 4320, and the adjusting screw is screwed in to push the pre-compression amount of the adjusting spring seat to the spring, so that the compression force of the jaw is adjusted.

As shown in fig. 9, the lower ends of the left forceps body 4315 and the right forceps body 4316 are respectively provided with two pin shaft tubes, and a gap is formed between the two pin shaft tubes; the left hinge support 4307 and the right hinge support 4308 are inserted into the notches respectively, and the insertion pin shaft 4322 is hinged.

As shown in fig. 11, 12, 13, 14, and 15, camera assembly 5000 includes five station cameras, respectively station one camera 5001, station two camera 5002, station three camera 5003, station four camera 5004, and station five camera 5005,

the station-one camera 5001 is fixed through a camera support, and a shooting end of the station-one camera 5001 shoots the outer surface of the electrolytic capacitor 001 to be detected, which is clamped by the rotating clamping mechanism 4300 in the rotating mechanism 4000.

The second station camera 5002 is fixed through a camera support, and a shooting end of the second station camera 5002 shoots the pin legs of the electrolytic capacitor 001 of the workpiece to be detected clamped by the second grabbing mechanism 2200.

The three-station camera 5003 is fixed through a camera support, and a shooting end of the three-station camera 5003 shoots the pin surface of the electrolytic capacitor 001 of the workpiece to be detected clamped by the second grabbing mechanism 2200.

The station four-camera 5004 is fixed through a camera support, and a shooting end of the station four-camera 5004 shoots the top surface of the workpiece electrolytic capacitor 001 to be detected clamped by the second clamping mechanism 3200 at the second station b.

The five-station camera 5005 is fixed through a camera support, and a shooting end of the five-station camera 5005 inclines upwards to shoot the pin surface of the electrolytic capacitor 001 of the workpiece to be detected clamped by the first grabbing mechanism 2100.

In the embodiment, the five station cameras are adopted to take pictures of the pin, the pin surface, the top surface and the outer surface of the workpiece electrolytic capacitor 001 to be detected respectively, so that the workpiece electrolytic capacitor 001 to be detected is subjected to more comprehensive appearance detection.

In this embodiment, five station cameras are used for photographing and checking, and the application of the station cameras is a conventional technology in the prior art, and this embodiment is not described.

The working process of the appearance detection of the electrolytic capacitor 001 of the embodiment is as follows:

the electrolytic capacitor 001 is fed into the capacitor distributing chute 1030.

The double-stroke cylinder is retracted so that the V-shaped jaws of the mobile gripping mechanism 2000 are aligned with the jaws of the lower gripper mechanism 3000 in an initial state (see fig. 1).

One end of the double-stroke cylinder is pushed out, and the movable grabbing mechanism 2000 moves one step left along the guide rail (see figure 12). At this time, the rotating mechanism 4000 rotates for a circle, and the station-one camera 5001 is matched with the rotating mechanism 4000 to shoot the periphery of the capacitor; meanwhile, the station four-camera 5004 shoots the top surface of the capacitor.

The piston at the other end of the double-stroke cylinder is pushed out, and the movable grabbing mechanism 2000 moves one more step left along the guide rail (see fig. 13). At this time, the jaws of the movable gripper mechanism 2000 are clamped, and simultaneously the jaws of the lower gripper mechanism 3000 are loosened; the first gripper mechanism 2100 in the movable gripper mechanism 2000 holds an electrolytic capacitor 001 from the capacitor distribution chute 1030. The second grabbing mechanism 2200 in the movable grabbing mechanism 2000 grabs the electrolytic capacitor 001 clamped by the first grabbing mechanism 3100 positioned at the first station a;

the piston at the other end of the double-stroke cylinder retracts to move the gripper mechanism 2000 one step to the right along the guide rail (see fig. 13). The second station camera 5002 shoots the pin legs of the electrolytic capacitor 001 of the workpiece to be detected clamped by the second grabbing mechanism 2200; the station three-phase machine 5003 is used for shooting the pin surface of the electrolytic capacitor 001 of the workpiece to be detected (namely the end surface where the pin of the electrolytic capacitor 001 is located) clamped by the second grabbing mechanism 2200; the five-station camera 5005 obliquely shoots the pin surface of the electrolytic capacitor 001 of the workpiece to be detected clamped by the first grabbing mechanism 2100. At this time, it is determined whether or not the electrolytic capacitor 001 held by the fifth grasping mechanism 2500 of the movable grasping mechanism 2000 has an appearance defect; if the appearance defect exists, the second motor 2701 of the station reverses the rotation angle, the clamping opening is loosened, and the defective electrolytic capacitor 001 falls into a defective collecting box (not shown in the figure) below under the gravity; if the product is genuine, the second motor 2701 is not operated.

One end of the double-stroke cylinder is retracted, and the movable gripper mechanism 2000 moves to the right by one step along the guide rail and returns to the initial position (see fig. 1 and 11). At this time, all the jaws of the movable grasping mechanism 2000 are loosened, and simultaneously, the jaws of the lower grasping mechanism 3000 are clamped; and the qualified electrolytic capacitors 001 held by the fifth grabbing mechanism 2500 of the movable grabbing mechanism 2000 are placed in a finished capacitor discharge chute 1040. At this point, the two-stroke cylinder is retracted, in the initial state (see fig. 1).

The piston at one end of the double-stroke cylinder is pushed out, and the movable grabbing mechanism 2000 moves one step (see figure 12) … … leftwards along the guide rail, and the actions are repeated.

Where not otherwise indicated herein, it will be appreciated that the invention is not limited to or by the prior art, but is capable of modifications and variations as will be apparent to those skilled in the art, and all such modifications and variations are intended to be included within the scope of the invention as defined in the appended claims.

Claims (5)

1. An appearance inspection apparatus characterized by: the device comprises a working bench (1000), a movable grabbing mechanism (2000), a lower clamping mechanism (3000) and a camera assembly (5000), wherein the working bench (1000) is arranged on the ground, the movable grabbing mechanism (2000) is arranged on the surface of the working bench (1000), and the lower clamping mechanism (3000) is arranged on the working bench (1000) and is positioned below the movable grabbing mechanism (2000); the camera assembly (5000) is arranged around the workbench stand (1000) and is used for shooting pictures to detect whether the appearance is qualified or not;

the working table frame (1000) comprises a support (1001), a table panel (1002), a double-stroke cylinder (1020) and at least one linear guide rail (1011), wherein the support (1001) is arranged on the ground, the table panel (1002) is horizontally arranged at the top of the support (1001), the linear guide rail (1011) is horizontally fixed and arranged in parallel along the length direction of the table panel (1002), two strokes of the double-stroke cylinder (1020) are equal, and a single-cylinder stroke of the double-stroke cylinder (1020) is defined as a step pitch; a piston rod at one end of the double-stroke cylinder (1020) is fixed on a first cylinder support (1023), the first cylinder support (1023) is arranged on the upper surface of the table board (1002), and a piston rod at the other end of the double-stroke cylinder (1020) is connected with the movable grabbing mechanism (2000);

the movable grabbing mechanism (2000) comprises a movable box body (2010), a second air cylinder support (2014), five grabbing mechanisms, a first driving device and a second driving device, the movable box body (2010) is horizontally arranged on the upper surface of the table panel (1002), the back surface of the movable box body (2010) is connected with a sliding block (1012) on the linear guide rail (1011), the second air cylinder support (2014) is arranged on the front surface of the movable box body (2010) and is connected with a piston rod at the other end of the double-stroke air cylinder (1020), the five grabbing mechanisms are equally spaced in the movable box body (2010), and the spacing between every two adjacent grabbing mechanisms is equal to twice the step pitch; defining five grabbing mechanisms as a first grabbing mechanism (2100), a second grabbing mechanism (2200), a third grabbing mechanism (2300), a fourth grabbing mechanism (2400) and a fifth grabbing mechanism (2500), wherein the first grabbing mechanism (2100), the second grabbing mechanism (2200), the third grabbing mechanism (2300), the fourth grabbing mechanism (2400) and the fifth grabbing mechanism (2500) are sequentially arranged on a movable box body (2010), the first grabbing mechanism (2100), the second grabbing mechanism (2200), the third grabbing mechanism (2300) and the fourth grabbing mechanism (2400) are driven by a first driving device to synchronously work, and the fifth grabbing mechanism (2500) is driven by a second driving device to work independently;

the five grabbing mechanisms respectively comprise a first sliding rail (2211), a first sliding block (2212), a first rack (2213), a first V-shaped jaw plate (2214), a second sliding rail (2221), a second sliding block (2222), a second rack (2223), a second V-shaped jaw plate (2224) and a first gear (2604), the first sliding rail (2211) is in sliding connection with the first sliding block (2212), the first sliding block (2212) is fixed to the top of the inner cavity of the movable box body (2010), the second sliding rail (2221) is in sliding connection with the second sliding block (2222), the second sliding block (2222) is fixed to the bottom of the inner cavity of the movable box body (2010), and the first sliding rail (2211) and the second sliding rail (2221) are arranged in parallel; the first V-shaped jaw plate (2214) is vertically arranged at the left end of the first slide rail (2211), the V-shaped jaw faces the first slide rail (2211), the second V-shaped jaw plate (2224) is vertically arranged at the left end of the second slide rail (2221), the V-shaped jaw faces the first V-shaped jaw plate (2214), and the first V-shaped jaw plate (2214) and the second V-shaped jaw plate (2224) are combined to form a jaw for clamping the electrolytic capacitor (001) of the workpiece to be detected; the first rack (2213) is arranged at the right end of the first sliding rail (2211), the second rack (2223) is arranged at the right end of the second sliding rail (2221), and the first gear (2604) is arranged between the first rack (2213) and the second rack (2223) and is meshed with the first gear (2604);

the first driving device comprises a first motor (2601) and a first long shaft (2603), the first motor (2601) is arranged on one side wall of the movable box body (2010), first gears (2604) in the first grabbing mechanism (2100), the second grabbing mechanism (2200), the third grabbing mechanism (2300) and the fourth grabbing mechanism (2400) are all in key connection with the first long shaft (2603), and the left end of the first long shaft (2603) is connected with a motor shaft of the first motor (2601) through a coupler; the right end of the first long shaft (2603) is rotatably supported on the bottom of the inner cavity of the movable box body (2010) through a bearing seat (2605);

the second driving device comprises a second motor (2701), the second motor (2701) is arranged on the other side wall of the movable box body (2010), and a motor shaft key of the second motor (2701) is connected with a first gear (2604) in the fifth grabbing mechanism (2500);

the lower clamping mechanism (3000) comprises a fixed box body (3010), a rotating mechanism (4000), three clamping mechanisms and a third driving device for driving the three clamping mechanisms to synchronously work, the fixed box body (3010) is horizontally arranged on the lower surface of the table panel (1002), four stations are defined on the fixed box body (3010) and sequentially comprise a first station a, a second station b, a third station c and a fourth station d respectively, the three clamping mechanisms are respectively arranged on the first station a, the second station b and the fourth station d, the three clamping mechanisms are respectively a first clamping mechanism (3100) arranged on the first station a, a second clamping mechanism (3200) arranged on the second station b and a fourth clamping mechanism (3400) arranged on the fourth station d, and the rotating mechanism (4000) is arranged on the third station c;

the three clamping mechanisms respectively comprise a third sliding rail (3411), a third sliding block, a third rack, a third V-shaped jaw plate (3414), a fourth sliding rail (3421), a fourth sliding block (3422), a fourth rack (3423), a fourth V-shaped jaw plate (3424) and a second gear (3604), the third sliding rail (3411) is connected with the third sliding block in a sliding manner, the third sliding block is arranged on the bottom of the inner cavity of the fixed box body (3010), the fourth sliding rail (3421) is connected with the fourth sliding block (3422) in a sliding manner, the fourth sliding block (3422) is arranged on the top of the inner cavity of the fixed box body (3010), and the third sliding rail (3411) and the fourth sliding rail (3421) are arranged in parallel; the third V-shaped jaw plate (3414) is vertically arranged at the left end part of the third slide rail (3411), the V-shaped jaw faces the third slide rail (3411), the fourth V-shaped jaw plate (3424) is vertically arranged at the left end part of the fourth slide rail (3421), the V-shaped jaw faces the third V-shaped jaw plate (3414), and the third V-shaped jaw plate (3414) and the fourth V-shaped jaw plate (3424) are combined to form a jaw for clamping the electrolytic capacitor (001) of the workpiece to be detected; the third rack is arranged at the right end part of the third sliding rail (3411), the fourth rack (3423) is arranged at the right end part of the fourth sliding rail (3421), and the second gear (3604) is arranged between the third rack and the fourth rack (3423) and is meshed with the second gear (3604);

the third driving device comprises a third motor (3601) and a second long shaft (3603), the third motor (3601) is arranged on one side wall of the fixed box body (3010), second gears (3604) in the first clamping mechanism (3100), the second clamping mechanism (3200) and the fourth clamping mechanism (3400) are all in key connection with the second long shaft (3603), and one end of the second long shaft (3603) is connected with a motor shaft of the third motor (3601) through a coupler; the second long shaft (3603) is rotatably supported on the bottom of the inner cavity of the fixed box body (3010) through a plurality of bearing seats (2605);

the rotating mechanism (4000) comprises a fixed frame (4001), a fourth motor (4101), a driving gear (4102) and a rotating clamping mechanism (4300), the fixed frame (4001) is arranged on the lower surface of the fixed box body (3010), the fourth motor (4101) is arranged on the fixed frame (4001), the driving gear (4102) is arranged on a motor shaft of the fourth motor (4101), and the rotating clamping mechanism (4300) is arranged on the fixed frame (4001) and is meshed with the driving gear (4102);

the rotary clamping mechanism (4300) comprises a rotor part, a push rod cylinder (4210) and an annular mounting seat (4213), the annular mounting seat (4213) is vertically inserted into a mounting hole of the fixing frame (4001) and fixed, the push rod cylinder (4210) is fixed with the lower end face of the annular mounting seat (4213), the rotor part is rotatably connected with the annular mounting seat (4213) and located above the annular mounting seat (4213), and a piston rod (4212) of the push rod cylinder (4210) is supported on the rotor part;

the rotor part comprises a mandril (4301), a guide sleeve (4304), a driven gear (4305), a base plate (4306), two pressure springs and two clamp bodies, wherein the driven gear (4305) is horizontally arranged, the guide sleeve (4304) penetrates through the driven gear (4305) and is fixed, the driven gear (4305) and the guide sleeve (4304) are coaxial, and the guide sleeve (4304) is rotatably arranged in an annular mounting seat (4213) through a bearing (4302); the base plate (4306) is connected with an end face flange of the guide sleeve (4304), a hole is formed in the center of the base plate (4306) for the ejector rod (4301) to pass through, a left hinge support (4307) and a right hinge support (4308) are symmetrically arranged on two sides of the center hole of the base plate (4306), and a left spring guide cylinder (4309) and a right spring guide cylinder (4310) are vertically arranged on the base plate (4306) and positioned on the outer sides of the left hinge support (4307) and the right hinge support (4308) respectively; the two pressure springs are respectively a left pressure spring (4311) and a right pressure spring (4312), the left pressure spring (4311) and the right pressure spring (4312) are respectively arranged in a left spring guide cylinder (4309) and a right spring guide cylinder (4310), and the tops of the left pressure spring (4311) and the right pressure spring (4312) are respectively sleeved in a left spring seat (4313) and a right spring seat (4314);

the ejector rod (4301) is inserted into the central hole of the base plate (4306) and penetrates through the guide sleeve (4304), and the bottom of the ejector rod (4301) abuts against a piston rod (4212) of a push rod cylinder (4210); the ejector rod (4301) is in sliding fit with the guide sleeve (4304), a cylinder (4323) is arranged at the top of the ejector rod (4301), and the axis of the cylinder (4323) is vertical to the ejector rod (4301);

the two clamp bodies are respectively a left clamp body (4315) and a right clamp body (4316), and the left clamp body (4315) and the right clamp body (4316) are symmetrically arranged around the ejector rod (4301); an inverted V-shaped slideway matched with the outer surface of the cylinder (4323) is formed between the left clamp body (4315) and the right clamp body (4316), the inner side surfaces of the upper ends of the left clamp body (4315) and the right clamp body (4316) are respectively provided with a left clamp plate (4317) and a right clamp plate (4318), and the left clamp plate (4317) and the right clamp plate (4318) are opened and closed to form a clamp opening which can be clamped or loosened and is used for clamping a pin of an electrolytic capacitor (001) of a workpiece to be detected; the lower ends of a left clamp body (4315) and a right clamp body (4316) are respectively hinged with a left hinged support (4307) and a right hinged support (4308) through a pin shaft (4322), the outer side walls of the left clamp body (4315) and the right clamp body (4316) are respectively and horizontally provided with a left push plate (4319) and a right push plate (4320), a left spring seat (4313) is vertically and movably arranged on the back surface of the left push plate (4319) through an adjusting screw (4321), and a right spring seat (4314) is vertically and movably arranged on the back surface of the right push plate (4320) through an adjusting screw (4321);

the camera assembly (5000) comprises five station cameras which are respectively a station one camera (5001), a station two camera (5002), a station three camera (5003), a station four camera (5004) and a station five camera (5005),

the first station camera (5001) is fixed through a camera support, and a shooting end of the first station camera (5001) shoots the outer surface of the electrolytic capacitor (001) of the workpiece to be detected clamped by the rotary clamping mechanism (4300) in the rotating mechanism (4000);

the second station camera (5002) is fixed through a camera support, and a shooting end of the second station camera (5002) shoots pin legs of the electrolytic capacitor (001) of the workpiece to be detected clamped by the second grabbing mechanism (2200);

the three-station camera (5003) is fixed through a camera support, and a shooting end of the three-station camera (5003) shoots a pin surface of the electrolytic capacitor (001) of the workpiece to be detected clamped by the second grabbing mechanism (2200);

the station four-camera (5004) is fixed through a camera support, and a shooting end of the station four-camera (5004) shoots the top surface of the electrolytic capacitor (001) of the workpiece to be detected clamped by the second clamping mechanism (3200) at the second station b;

the five-station camera (5005) is fixed through the camera support, and the shooting end of the five-station camera (5005) inclines upwards to shoot the pin surface of the workpiece electrolytic capacitor (001) to be detected clamped by the first grabbing mechanism (2100).

2. The appearance inspection apparatus according to claim 1, wherein the moving box (2010) is a box having one side opened and surrounded by a lower panel (2011), an upper panel (2012) and three side panels (2013); a first sliding block (2212) in the grabbing mechanism is fixed on the inner side plate surface of the lower panel (2011), and a second sliding block (2222) is fixed on the inner side plate surface of the upper panel (2012).

3. The appearance inspection apparatus according to claim 1, wherein flanges are provided on outer edges of upper ends of the left spring seat (4313) and the right spring seat (4314), and unthreaded holes engaged with the adjusting screws (4321) are provided on the left spring seat (4313) and the right spring seat (4314) in an axial direction.

4. The appearance inspection apparatus according to claim 1, wherein the lower ends of the left caliper body (4315) and the right caliper body (4316) are provided with two pin shaft tubes, and a gap is formed between the two pin shaft tubes; the left hinged support (4307) and the right hinged support (4308) are respectively inserted into the notches, and the inserted pin shaft (4322) is hinged.

5. The appearance inspection apparatus according to claim 1, wherein one end of the inner ring of the bearing (4302) is axially limited by a backing ring (4303) fitted over the outer surface of the guide sleeve (4304), and the other end of the inner ring of the bearing (4302) is axially limited by an axial retainer ring; both ends of the outer ring of the bearing (4302) are limited on the annular mounting seat (4213).

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