CN217007033U

CN217007033U - All-round appearance imperfections check out test set

Info

Publication number: CN217007033U
Application number: CN202123435568.0U
Authority: CN
Inventors: 周飞龙; 毛马明; 孔文靖
Original assignee: Shenzhen Yijing Technology Co ltd
Current assignee: Shenzhen Yijing Technology Co ltd
Priority date: 2021-12-30
Filing date: 2021-12-30
Publication date: 2022-07-19
Anticipated expiration: 2031-12-30

Abstract

The utility model discloses omnibearing appearance defect detection equipment which comprises a rack, a charging and discharging structure of a charging tray, a CCD detection structure and a multi-station shifting variable-pitch structure, wherein an installation cavity is arranged in the rack, the charging and discharging structure of the charging tray comprises a charging station and a discharging station, the charging station is used for charging products, the discharging station is used for discharging the products, the charging and discharging structure of the charging tray is arranged in the installation cavity, the CCD detection structure is arranged at the side part of the charging and discharging structure of the charging tray in the installation cavity, the CCD detection structure is used for omnibearing detection and judgment of the products in the charging station of the charging and discharging structure of the charging tray, and the multi-station shifting variable-pitch structure is arranged between the CCD detection structure and the charging and discharging structure in the installation cavity. The utility model has the advantages of reasonable design, high detection speed and efficiency, labor cost saving, omnibearing detection, no detection dead angle and the like.

Description

All-round appearance imperfections check out test set

Technical Field

The utility model belongs to the technical field of automatic detection devices, and particularly relates to omnibearing appearance defect detection equipment.

Background

In assembling the production process to the connection charging terminal isovolumetric less spare part of bluetooth headset, need carry out omnidirectional appearance defect to this less spare part of volume and detect to detect appearance defect defective products, the multiaxis linkage has not been taken yet on the existing market, carries out equipment that all-round appearance defect detected with the spare parts such as connection charging terminal to bluetooth headset.

SUMMERY OF THE UTILITY MODEL

In order to overcome the defects in the prior art, the utility model provides the omnibearing appearance defect detection equipment which carries out omnibearing detection and has no detection dead angle.

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

all-round appearance imperfections check out test set includes:

the device comprises a rack, wherein an installation cavity is arranged in the rack;

the charging and discharging structure of the charging tray comprises a charging station and a discharging station, the charging station is used for charging products, the discharging station is used for discharging the products, and the charging and discharging structure of the charging tray is arranged in the mounting cavity;

the CCD detection structure is arranged at the side part of the charging and discharging structure of the charging tray in the mounting cavity and is used for detecting and judging products in a charging station of the charging and discharging structure of the charging tray in an omnibearing manner; and

the multistation moves and carries the displacement structure, the multistation moves and carries the displacement structure setting to be in the installation cavity CCD detects the structure and reaches between the unloading structure on the charging tray, the multistation moves and carries the displacement structure and be used for with move to after the product displacement in the material loading station of unloading structure on the charging tray in the CCD detects the structure in detect just the multistation displacement structure be used for with the product that the detection finishes in the CCD detects the structure takes out the displacement and sends into in the unloading station of unloading structure on the charging tray.

Preferably, the CCD detecting structure includes an inner cavity detecting mechanism and a five-axis detecting mechanism, both the inner cavity detecting mechanism and the five-axis detecting mechanism are located at the side of the charging tray feeding and discharging structure in the mounting cavity, the inner cavity detecting mechanism is located between the five-axis detecting mechanism and the charging tray feeding and discharging structure, the inner cavity detecting mechanism is used for detecting the inner cavity side of the product, and the five-axis detecting mechanism is used for detecting the outer side of the product;

the multi-station shifting variable-pitch structure comprises a main shaft carrying mechanism, a feeding carrying mechanism, a discharging carrying mechanism, a feeding caching variable-pitch mechanism and a discharging caching variable-pitch mechanism, wherein the main shaft carrying mechanism, the feeding carrying mechanism, the discharging carrying mechanism, the feeding caching variable-pitch mechanism and the discharging caching variable-pitch mechanism are all arranged in the installation cavity between the CCD detection structure and the charging tray structure, the feeding carrying mechanism is used for conveying products in the feeding station to the feeding caching variable-pitch mechanism, the feeding caching variable-pitch mechanism is used for temporarily storing the variable pitch of the products, the main shaft carrying mechanism is used for conveying the products subjected to pitch variation by the feeding caching variable-pitch mechanism to the inner cavity side of the products detected by the inner cavity detection mechanism, conveying the products subjected to detection on the inner cavity side to the five-axis detection mechanism to the outer side, and conveying the products subjected to detection on the outer side to the discharging caching variable-pitch mechanism, the blanking buffer changing mechanism is used for temporarily storing product variable distances, and the blanking transfer mechanism is used for conveying products in the blanking buffer mechanism to a blanking station.

Preferably, the charging and discharging structure of the charging tray comprises a first support frame, a second support frame, a first servo tray mechanism, a first tray dividing mechanism, a vacuum chuck mechanism, a second servo tray mechanism, a first tray stacking mechanism and a plurality of charging trays, wherein each charging tray in the plurality of charging trays is provided with a plurality of first discharging grooves, the first discharging grooves of the charging trays are used for discharging products, the first support frame and the second support frame are arranged in a left-right symmetrical flush manner, the first support frame and the second support frame are arranged on the left side in the mounting cavity along the front-back direction, the first servo tray mechanism and the second servo tray mechanism are arranged at the bottom between the first support frame and the second support frame, the first servo tray mechanism is positioned on the right side of the second servo tray mechanism, the vacuum chuck mechanism is arranged in the middle of the first support frame, and the suction direction of the vacuum chuck mechanism is arranged towards the space between the first support frame and the second support frame, the device comprises a vacuum chuck mechanism, a first disc separating mechanism, a first disc stacking mechanism, a plurality of charging discs, a plurality of servo tray mechanisms, a second disc stacking mechanism and a plurality of discharging discs, wherein the vacuum chuck mechanism is used for sucking the charging discs, the first disc separating mechanism is arranged on the front side between a first support frame and a second support frame, the first disc stacking mechanism is arranged on the rear side between the first support frame and the second support frame, the upper part between the first support frame and the second support frame between the vacuum chuck mechanism and the first disc separating mechanism is a charging station, the upper parts between the first support frame and the second support frame between the vacuum chuck mechanism and the first disc stacking mechanism are discharging stations, the plurality of charging discs are arranged on the front side between the first support frame and the second support frame, the first servo tray mechanism is used for lifting and back-and-forth movement of the charging discs, and the second servo tray mechanism is used for lifting and back-forth movement of the charging discs;

the vacuum chuck mechanism comprises a first connecting frame and a first vacuum chuck, the first connecting frame is arranged in the middle of a first supporting frame, the right part of the first connecting frame is positioned between the first supporting frame and a second supporting frame, a first air cylinder is arranged on the right side of the first connecting frame, the first vacuum chuck is arranged on an output shaft of the first air cylinder through a first connecting plate, and the suction direction of the first vacuum chuck is arranged towards the position between the first supporting frame and the second supporting frame;

the first distribution mechanism comprises a first mounting block, a second mounting block, a first fork frame and a second fork frame, the first mounting block is mounted on the front side of a first support frame, the second mounting block is mounted on the front side of a second support frame, a first slide rail and a second air cylinder are mounted on the first mounting block, a second slide rail and a third air cylinder are mounted on the second mounting block, the first fork frame is slidably connected onto the first slide rail, the second fork frame is slidably connected onto the second slide rail, the second air cylinder drives the first fork frame to slide left and right along the first slide rail, the third air cylinder drives the second fork frame to slide left and right along the second slide rail, the first fork frame is arranged towards the right, the second fork frame is arranged towards the left, the first fork frame and the second fork frame are arranged in a left-right flush and opposite mode, a first upright rod and a second upright rod are arranged on the front side part of the first support frame at a front-back interval, and a third upright rod and a fourth upright rod are arranged on the front side part of the second support frame at a front interval, the first upright rod and the third upright rod are oppositely arranged at the left and right, the second upright rod and the fourth upright rod are oppositely arranged at the left and right, a first sensor is arranged at the bottom of the second upright rod, the plurality of material trays are positioned among the first upright rod, the second upright rod, the third upright rod and the fourth upright rod, the first mounting block is positioned between the first upright rod and the second upright rod, and the second mounting block is positioned between the third upright rod and the fourth upright rod;

the first disc stacking mechanism comprises a third mounting block, a fourth mounting block, a third fork frame and a fourth fork frame, the third mounting block is mounted on the rear side of a first support frame, the fourth mounting block is mounted on the rear side of a second support frame, a third slide rail and a fourth cylinder are mounted on the third mounting block, a fourth slide rail and a fifth cylinder are mounted on the fourth mounting block, the third fork frame is slidably connected onto the third slide rail, the fourth fork frame is slidably connected onto the fourth slide rail, the fourth cylinder drives the third fork frame to slide left and right along the third slide rail, the fifth cylinder drives the fourth fork frame to slide left and right along the fourth slide rail, the third fork frame is arranged towards the right, the fourth fork frame is arranged towards the left, the third fork frame and the fourth fork frame are arranged in a left-right flush opposite mode, a fifth upright rod and a sixth upright rod are arranged on the rear side portion of the first support frame at a front-back interval, a seventh upright rod and an eighth upright rod are arranged on the rear side portion of the second support frame at a front-back interval, the fifth upright post and the seventh upright post are oppositely arranged left and right, the sixth upright post and the eighth upright post are oppositely arranged left and right, the first upright post, the second upright post, the third upright post, the fourth upright post, the fifth upright post, the sixth upright post, the seventh upright post and the eighth upright post are arranged in a height-equal manner along the vertical direction, a second sensor is arranged at the top of the sixth upright post, the third mounting block is positioned between the fifth upright post and the sixth upright post, and the fourth mounting block is positioned between the seventh upright post and the eighth upright post;

the first servo tray mechanism comprises a first servo motor and a first linear module, the first linear module is arranged on the right side between a first support frame and a second support frame along the front-back direction, a first sliding block is connected to the first linear module in a sliding mode, the first servo motor drives the first sliding block to slide back and forth along the first linear module, a first mounting frame is mounted on the first sliding block, a second servo motor and a first ball screw are mounted in the first mounting frame, the second servo motor drives the first ball screw to rotate through a first synchronous belt, a first bracket is mounted on a first screw nut of the first ball screw, the upper portion of the first bracket penetrates out of the first mounting frame upwards, and a second vacuum chuck is mounted at the top of the first bracket;

the second servo tray mechanism comprises a third servo motor and a second linear module, the second linear module is arranged on the left side between the first support frame and the second support frame along the front-back direction, a third sliding block is connected to the second linear module in a sliding mode, the third servo motor drives the third sliding block to slide back and forth along the second linear module, a second mounting frame is installed on the third sliding block, a fourth servo motor and a second ball screw are installed in the second mounting frame, the fourth servo motor drives the second ball screw through a first synchronous belt, a second bracket is installed on a second screw nut of the second ball screw, the upper portion of the second bracket upwards penetrates out of the second mounting frame, and a third vacuum chuck is installed at the top of the second bracket.

Preferably, the feeding transfer mechanism comprises a fifth servo motor and a third linear module, the third linear module is arranged on the front side in the installation cavity along the left-right direction through a third support frame, the third linear module is connected with a fifth sliding block in a sliding manner, the fifth servo motor drives the fifth sliding block to slide left and right along the third linear module, the bottom of the fifth sliding block extends downwards to the lower side of the third linear module, a plurality of sixth cylinders are installed at the bottom of the fifth sliding block, the height of the plurality of sixth cylinders is higher than the height of a feeding buffer distance-changing mechanism when a material tray is placed on a feeding station, the distance between two adjacent sixth cylinders in the plurality of sixth cylinders is equal to the distance between two adjacent first discharging grooves in the material tray, and the number of the sixth cylinders is equal to the number of first discharging grooves of the material tray which are arranged in a row along the front-back direction, when the sixth air cylinder moves to the position above the feeding station along the third linear module, the plurality of sixth air cylinders are arranged in one-to-one correspondence with the first feeding grooves in the row on the material tray, the number of the plurality of sixth air cylinders is equal to that of stations needing caching variable distance in the feeding caching variable distance mechanism, and when the feeding caching variable distance mechanism is not variable distance, the sixth air cylinder moves to the position right above the feeding caching variable distance mechanism along the third linear module, and then the sixth air cylinder can place the sucked product in the feeding caching variable distance mechanism;

the blanking transfer mechanism comprises a sixth servo motor and a fourth linear module, the fourth linear module is arranged at the rear side in the mounting cavity along the left-right direction through a fourth support frame, the fourth linear module is connected with a sixth sliding block in a sliding manner, the sixth servo motor drives the sixth sliding block to slide left and right along the fourth linear module, the bottom of the sixth sliding block extends downwards to the lower side of the fourth linear module, a plurality of seventh cylinders are arranged at the bottom of the sixth sliding block, the height of the seventh cylinders is higher than the height of a material tray placed on a blanking station and the height of a blanking cache displacement mechanism, the distance between two adjacent seventh cylinders in the plurality of seventh cylinders is equal to the distance between two adjacent first discharging grooves in the material tray, and the number of the seventh cylinders is equal to the number of the first discharging grooves of the material tray in a row along the front-back direction, when the seventh air cylinder moves to the upper part of the blanking station along the fourth linear module, the plurality of seventh air cylinders are arranged in one-to-one correspondence with the first blanking grooves in the row on the material tray, the number of the plurality of seventh air cylinders is equal to that of stations needing caching variable pitch in the blanking caching variable pitch mechanism, after the blanking caching variable pitch mechanism is subjected to variable pitch, the seventh air cylinder moves to the position right above the blanking caching variable pitch mechanism along the fourth linear module, and qualified products in the blanking caching variable pitch mechanism which can be sucked by the seventh air cylinder are then sent to the material tray of the blanking station and unqualified products are sent to the defective product classification and collection mechanism.

Preferably, the feeding buffer distance-changing mechanism comprises a seventh servo motor, a fifth linear module, an eighth cylinder and a ninth cylinder, the fifth linear module is arranged between the feeding station and the inner cavity detection mechanism along the front-back direction, the seventh servo motor is arranged at the front part of the right side of the fifth linear module, a first sliding plate is slidably arranged on the fifth linear module, the seventh servo motor drives the first sliding plate to slide back and forth along the fifth linear module, a first supporting plate is arranged at the left part of the first sliding plate along the front-back direction, a first guide rail is arranged on the first supporting plate, a second supporting plate is arranged at the right part of the first sliding plate along the front-back direction, a second guide rail is arranged on the second supporting plate, and a first step, a second step, a third step, a fourth step, a fifth step and a sixth step are sequentially arranged on the first guide rail from front to back at equal intervals, the first guide rail is provided with a seventh step, an eighth step, a ninth step, a tenth step, an eleventh step and a twelfth step at equal intervals from front to back in sequence, the first step and the seventh step are arranged in a left-right corresponding equal height mode, the second step and the eighth step are arranged in a left-right corresponding equal height mode, the third step and the ninth step are arranged in a left-right corresponding equal height mode, the fourth step and the tenth step are arranged in a left-right corresponding equal height mode, the fifth step and the eleventh step are arranged in a left-right corresponding equal height mode, the sixth step and the twelfth step are arranged in a left-right corresponding equal height mode, the first step and the sixth step are arranged in an equal height mode, the second step and the fifth step are arranged in an equal height mode, the first step is higher than the second step, the second step is higher than the third step, and the first variable-pitch block, the second variable-pitch block and the twelfth variable pitch block are sequentially arranged on the first guide rail and the second guide rail from front to back in sequence, The first variable-pitch block is installed on the first guide rail and the second guide rail through a first positioning square hole and a second positioning square hole, the second variable-pitch block is installed on the first guide rail and the second guide rail through a third positioning square hole and a fourth positioning square hole, the third variable-pitch block is installed on the first guide rail and the second guide rail through a fifth positioning square hole and a sixth positioning square hole, the fourth variable-pitch block is installed on the first guide rail and the second guide rail through a seventh positioning square hole and an eighth positioning square hole, the fifth variable-pitch block is installed on the first guide rail and the second guide rail through a ninth positioning square hole and a tenth positioning square hole, the sixth variable-pitch block is installed on the first guide rail and the second guide rail through an eleventh positioning square hole and a twelfth positioning square hole, and the first positioning square hole, The second positioning square hole, the eleventh positioning square hole and the twelfth positioning square hole are arranged in equal height, the third positioning square hole, the fourth positioning square hole, the ninth positioning square hole and the tenth positioning square hole are arranged in equal height, the fifth positioning square hole, the sixth positioning square hole, the seventh positioning square hole and the eighth positioning square hole are arranged in equal height, the height of the first positioning square hole is lower than that of the first step, the height of the first positioning square hole is higher than that of the second step, the height of the second positioning square hole is lower than that of the second step, the height of the second positioning square hole is higher than that of the third step, the height of the third positioning square hole is lower than that of the third step, the first variable pitch block is provided with a first driving hole in a front-back penetrating manner on the first variable pitch block, the second variable pitch block is provided with a second driving hole in a front-back penetrating manner on the second variable pitch block, and the third variable pitch block is provided with a third driving hole in a front-back penetrating manner on the third variable pitch block, the fourth distance changing block is provided with fourth driving holes penetrating through the fourth distance changing block from front to back, the fifth distance changing block is provided with fifth driving holes penetrating through the fifth distance changing block from front to back, the sixth distance changing block is provided with sixth driving holes penetrating through the sixth distance changing block from front to back, the first driving hole is equal to the sixth driving hole in diameter, the second driving hole is equal to the fifth driving hole in diameter, the third driving hole is equal to the fourth driving hole in diameter, the first driving hole is smaller than the second driving hole in diameter, the second driving hole is smaller than the third driving hole in diameter, a first step shaft and a second step shaft are arranged between the first guide rail and the second guide rail at left and right intervals, the extending direction of the first step shaft is arranged forward, the extending direction of the second step shaft is arranged backward, and the first step shaft comprises a first extending shaft, a second extending shaft and a third extending shaft, the third extension shaft is sleeved on the second extension shaft, the second extension shaft is sleeved on the first extension shaft, the second extension shaft and the third extension shaft sequentially penetrate through the third driving hole, the second driving hole and the first driving hole from back to front, the outer diameter of the first extension shaft is matched with the first driving hole, the outer diameter of the second extension shaft is matched with the second driving hole, the outer diameter of the third extension shaft is matched with the third driving hole, the second step shaft comprises a fourth extension shaft, a fifth extension shaft and a sixth extension shaft, the fourth extension shaft is sleeved on the fifth extension shaft, the fifth extension shaft is sleeved on the sixth extension shaft, the fifth extension shaft and the fourth extension shaft sequentially penetrate through the fourth driving hole, the fifth driving hole and the sixth driving hole from front to back, and the outer diameter of the sixth extension shaft is matched with the sixth driving hole, the outer diameter of the fifth extension shaft is matched with the fifth driving hole, the outer diameter of the fourth extension shaft is matched with the fourth driving hole, the eighth cylinder and the ninth cylinder are arranged between the fifth linear module, the first supporting plate and the second supporting plate and are positioned on the left side of the ninth cylinder, the output end of the eighth cylinder is fixed with the first extension shaft, the output end of the ninth cylinder is fixed with the sixth extension shaft, the eighth cylinder drives the first extension shaft to move back and forth, the ninth cylinder drives the sixth extension shaft to move back and forth, when the eighth cylinder extends forwards to the maximum working position and the ninth cylinder extends backwards to the maximum working position, the right side of the first variable pitch block is bonded with the first step and the seventh step, the right side of the second variable pitch block is bonded with the second step and the eighth step, and the right side of the third variable pitch block is bonded with the third step and the ninth step, The left side of a fourth variable-pitch block is attached to a fourth step and a tenth step, the left side of a fifth variable-pitch block is attached to a fifth step and an eleventh step, the left side of a sixth variable-pitch block is attached to a sixth step and a twelfth step, the distance between the first variable-pitch block and the second variable-pitch block, the distance between the second variable-pitch block and the third variable-pitch block, the distance between the third variable-pitch block and the fourth variable-pitch block, the distance between the fourth variable-pitch block and the fifth variable-pitch block and the distance between the fifth variable-pitch block and the sixth variable-pitch block are equal, the top surface middle parts of the first variable-pitch block, the second variable-pitch block, the third variable-pitch block, the fourth variable-pitch block, the fifth variable-pitch block and the sixth variable-pitch block are respectively provided with a second discharging groove, the distances between two adjacent second discharging grooves are equal, and when the eighth cylinder extends forwards to the maximum working position and the ninth cylinder extends backwards to the maximum position, the distance between two adjacent second discharging grooves is equal to the distance between adjacent suction nozzles on the main shaft moving mechanism, and when the eighth air cylinder retracts backwards and the ninth air cylinder retracts forwards, the first variable pitch block, the second variable pitch block, the third variable pitch block, the fourth variable pitch block, the fifth variable pitch block and the sixth variable pitch block are sequentially attached to each other;

the blanking cache distance-changing mechanism comprises an eighth servo motor, a sixth linear module, a tenth air cylinder and an eleventh air cylinder, the sixth linear module is arranged between the feeding cache distance-changing mechanism and the inner cavity detection mechanism along the front-back direction, the eighth servo motor is arranged at the rear part of the left side of the sixth linear module, a second sliding plate is arranged on the sixth linear module in a sliding manner, the eighth servo motor drives the second sliding plate to slide back and forth along the sixth linear module, a third guide rail is arranged on the left part of the second sliding plate along the front-back direction through a third support plate, a fourth guide rail is arranged on the right part of the second sliding plate along the front-back direction through a fourth support plate, and a thirteenth step, a fourteenth step, a fifteenth step, a sixteenth step, a seventeenth step and an eighteenth step are sequentially arranged on the third guide rail at equal intervals from front to back, the fourth guide rail is sequentially provided with a nineteenth step, a twentieth step, a twenty-first step, a twenty-second step, a twenty-third step and a twenty-fourth step at equal intervals from front to back, the thirteenth step is arranged at the left and right corresponding to the nineteenth step in an equal height manner, the fourteenth step is arranged at the left and right corresponding to the twentieth step in an equal height manner, the fifteenth step is arranged at the left and right corresponding to the twenty-first step in an equal height manner, the sixteenth step is arranged at the left and right corresponding to the twenty-second step in an equal height manner, the seventeenth step is arranged at the left and right corresponding to the twenty-third step in an equal height manner, the eighteenth step is arranged at the left and right corresponding to the twenty-fourth step in an equal height manner, the thirteenth step is arranged at the same height as the eighteenth step, the second step is arranged at the seventeenth step in an equal height manner, the fifteenth step is arranged at the same height as the sixteenth step, the thirteenth step is higher than the fourteenth step, and the fourteenth step is higher than the fifteenth step, seventh displacement block, eighth displacement block, ninth displacement block, tenth displacement block, eleventh displacement block and twelfth displacement block are installed from front to back on third guide rail and the fourth guide rail in proper order, seventh displacement block passes through thirteenth location square hole and fourteenth location square hole and installs on third guide rail and fourth guide rail, eighth displacement block passes through fifteenth location square hole and sixteenth location square hole and installs on third guide rail and fourth guide rail, ninth displacement block passes through seventeenth location square hole and eighteenth location square hole and installs on third guide rail and fourth guide rail, tenth displacement block passes through nineteenth location square hole and twentieth location square hole and installs on third guide rail and fourth guide rail, eleventh displacement block passes through twenty first location square hole and twenty second location square hole and installs on third guide rail and fourth guide rail, twelfth displacement block passes through second location thirteen square hole and twenty fourth location square hole and installs on third guide rail and fourth guide rail The thirteenth positioning square hole, the fourteenth positioning square hole, the twenty-third positioning square hole and the twenty-fourth positioning square hole are arranged at the same height, the fifteenth positioning square hole, the sixteenth positioning square hole, the twenty-first positioning square hole and the twenty-second positioning square hole are arranged at the same height, the seventeenth positioning square hole, the eighteenth positioning square hole, the nineteenth positioning square hole and the twentieth positioning square hole are arranged at the same height, the thirteenth positioning square hole is lower than the thirteenth step, the thirteenth positioning square hole is higher than the fourteenth step, the fourteenth positioning square hole is lower than the fourteenth step, the fourteenth positioning square hole is higher than the fifteenth step, the fifteenth positioning square hole is lower than the fifteenth step, a seventh driving hole is arranged on the seventh distance varying block in a manner of penetrating through the seventh distance varying block from front to back, the eighth variable pitch block is provided with eighth driving holes penetrating through the eighth variable pitch block from front to back, the ninth variable pitch block is provided with ninth driving holes penetrating through the ninth variable pitch block from front to back, the tenth variable pitch block is provided with tenth driving holes penetrating through the tenth variable pitch block from front to back, the eleventh variable pitch block is provided with eleventh driving holes penetrating through the eleventh variable pitch block from front to back, the twelfth variable pitch block is provided with twelfth driving holes penetrating through the twelfth variable pitch block from front to back, the seventh driving hole is equal to the twelfth driving hole in diameter, the eighth driving hole is equal to the eleventh driving hole in diameter, the ninth driving hole is equal to the tenth driving hole in diameter, the seventh driving hole is smaller than the eighth driving hole in diameter, the eighth driving hole is smaller than the ninth driving hole in diameter, a third stepped shaft and a fourth stepped shaft are arranged between the third guide rail and the fourth guide rail at a left-right interval, the third step shaft is arranged forwards, the fourth step shaft is arranged backwards, the third step shaft comprises a seventh extension shaft, an eighth extension shaft and a ninth extension shaft, the ninth extension shaft is sleeved on the eighth extension shaft, the eighth extension shaft is sleeved on the seventh extension shaft, the eighth extension shaft and the ninth extension shaft sequentially penetrate through a ninth driving hole, an eighth driving hole and a seventh driving hole from back to front, the seventh extension shaft is matched with the seventh driving hole in outer diameter, the eighth extension shaft is matched with the eighth driving hole in outer diameter, the ninth extension shaft is matched with the ninth driving hole in outer diameter, the fourth step shaft comprises a tenth extension shaft, an eleventh extension shaft and a twelfth extension shaft, the tenth extension shaft is sleeved on the eleventh extension shaft, and the eleventh extension shaft is sleeved on the twelfth extension shaft, the twelfth extension shaft, the eleventh extension shaft and the tenth extension shaft sequentially penetrate through the tenth driving hole, the eleventh driving hole and the twelfth driving hole from front to back, the outer diameter of the twelfth extension shaft is matched with the twelfth driving hole, the outer diameter of the eleventh extension shaft is matched with the eleventh driving hole, the outer diameter of the tenth extension shaft is matched with the tenth driving hole, the tenth air cylinder and the eleventh air cylinder are installed among the sixth linear module, the third supporting plate and the fourth supporting plate, the tenth air cylinder is located on the left side of the eleventh air cylinder, the output end of the tenth air cylinder is fixed with the seventh extension shaft, the output end of the eleventh air cylinder is fixed with the twelfth extension shaft, the tenth air cylinder drives the seventh extension shaft to move back and forth, the eleventh air cylinder drives the twelfth extension shaft to move back and forth, the tenth air cylinder extends forwards to the maximum working position and the eleventh air cylinder extends backwards to the maximum position, the right side of a seventh variable pitch block is attached to a thirteenth step and a nineteenth step, the right side of an eighth variable pitch block is attached to a fourteenth step and a twentieth step, the right side of a ninth variable pitch block is attached to a fifteenth step and a twenty-first step, the left side of a tenth variable pitch block is attached to a sixteenth step and a twenty-second step, the left side of an eleventh variable pitch block is attached to a seventeenth step and a twenty-third step, the left side of a twelfth variable pitch block is attached to an eighteenth step and a twenty-fourth step, the distance between the seventh variable pitch block and the eighth variable pitch block, the distance between the eighth variable pitch block and the ninth variable pitch block, the distance between the ninth variable pitch block and the tenth variable pitch block, the distance between the tenth variable pitch block and the eleventh variable pitch block and the distance between the eleventh variable pitch block and the twelfth variable pitch block are equal, the seventh variable pitch block, the eighth variable pitch block, the ninth variable pitch block, the tenth variable pitch block, the eleventh variable pitch block and the twelfth variable pitch block are equal in distance, the seventh variable pitch block, the eighth variable pitch block, the ninth variable pitch block, the tenth variable block, the twelfth variable pitch block, the twelfth variable pitch block, the twelfth variable block, the eleventh variable block, the second variable block, And when the tenth cylinder retracts backwards and the eleventh cylinder retracts forwards, the seventh variable pitch block, the eighth variable pitch block, the ninth variable pitch block, the tenth variable pitch block, the eleventh variable pitch block and the twelfth variable pitch block are sequentially attached to one another, so that the discharging transfer mechanism can move detected products to a discharging station.

Preferably, the spindle carrying mechanism comprises a ninth servo motor and a seventh linear module, the seventh linear module is installed between the third linear module and the fourth linear module along the left-right direction through a fifth support frame, the seventh linear module is located above the second discharging groove and the third discharging groove, a first sliding seat is slidably installed at the bottom side of the seventh linear module, the ninth servo motor is installed at the left side of the seventh linear module and drives the first sliding seat to slide left and right along the seventh linear module, a second connecting plate is fixed at the bottom of the first sliding seat along the front-back vertical direction, an eighth linear module is installed on the right side of the second connecting plate along the vertical direction, a second sliding seat is slidably installed at the right side of the eighth linear module, and a tenth servo motor is installed at the rear side of the eighth linear module, the tenth servo motor drives the second sliding seat to slide up and down along an eighth straight line module, the bottom of the second sliding seat is horizontally provided with a first mounting plate along the front-back direction, the bottom surface of the first mounting plate is provided with a first vertical plate along the vertical direction, the second sliding seat is provided with a twelfth cylinder, six groups of discharging suction nozzle assemblies are arranged on the first mounting plate at intervals of equal distances from front to back, the six groups of discharging suction nozzle assemblies are positioned on the right side of the first vertical plate, the twelfth cylinder is pneumatically connected with each group of discharging suction nozzle assemblies of the six groups of discharging suction nozzle assemblies, the first vertical plate is provided with an eleventh servo motor and six groups of feeding suction nozzle assemblies on the left side, the six groups of feeding suction nozzle assemblies are arranged at intervals of equal distances from front to back, the eleventh servo motor drives each group of feeding suction nozzle assemblies of the six groups of feeding suction nozzle assemblies to rotate, and the discharging suction nozzle assemblies are used for taking out products which finish the detection of a five-axis detection mechanism, the feeding suction nozzle assembly is used for taking out the products in the feeding cache pitch-changing mechanism and sending the products to the inner cavity detection mechanism for detection, and after the inner cavity detection mechanism finishes detection, sending the products to the five-axis detection mechanism for detection;

each blanking suction nozzle assembly in the six groups of blanking suction nozzle assemblies comprises a pipe joint, a bushing and a lifting shaft, the pipe joint is positioned above the bushing, the lifting shaft is installed in the bushing through a first floating spring, a first suction nozzle is installed at the bottom of the lifting shaft and communicated with the pipe joint, and the pipe joint is pneumatically connected with a twelfth air cylinder;

every group of feeding suction nozzle assemblies in the six groups of feeding suction nozzle assemblies all comprise a fifth mounting block, a first rotating shaft, a first rotating seat and a first rotary joint, the first rotating shaft is rotatably mounted in the first rotating seat, the upper part of the first rotating shaft extends to the upper part of the first rotating seat, the lower part of the first rotating shaft extends to the lower part of the first rotating seat, the lower part of the first rotating shaft is sleeved with the fifth mounting block, the right side of the fifth mounting block is fixed on a first vertical plate, the upper side of the fifth mounting block is fixed with the first rotating seat, an eleventh servo motor is mounted at the top of a first mounting plate at the rear side of a second sliding seat, an output shaft of the eleventh servo motor penetrates out of the lower part of the first mounting plate to the first mounting plate downwards, a suction nozzle transfer block is mounted at the bottom of the first rotating shaft, and a second suction nozzle is mounted at the bottom of the suction nozzle transfer block, a second floating spring is arranged between the suction nozzle adapter block and the bottom of the first rotating shaft, the second floating spring is positioned below a fifth mounting block, the middle upper part of the second floating spring is sleeved on the bottom of the first rotating shaft, a first synchronous belt pulley is mounted on the upper part of the first rotating shaft, the first rotating joint is connected with the first rotating shaft through a joint adapter piece, the joint adapter piece is positioned above the first synchronous belt pulley, and a group of first idle wheel assemblies are arranged between two adjacent groups of feeding suction nozzle assemblies;

the first idler wheel component comprises a first idler wheel seat and a first idler wheel, the left side of the first idler wheel seat is fixed on a first vertical plate, the right part of the first idler wheel seat is vertically and upwardly rotatably provided with a first idler wheel shaft, the first idler wheel is arranged on the first idler wheel shaft, the top of the first idler wheel shaft is provided with a first check ring, an output shaft of the eleventh servo motor is provided with a first driving wheel, the first driving wheel is positioned below the first mounting plate, the rear side of the first driving wheel is adjacently provided with a first auxiliary wheel, the first auxiliary wheel is rotatably arranged on the right side of the first vertical plate through a third mounting frame, the first driving wheel and the first synchronous pulley are sleeved with a first synchronous belt, the left side surface of the left half width of the first synchronous belt is in abutting connection with the right side of the first idler wheel and the right side of the first auxiliary wheel, the right side surface of the left half width of the first synchronous belt is in abutting connection with the left side surface of the first driving wheel and the first synchronous pulley, the left side surface of the right half width of the first synchronous belt is connected with the right sides of the first driving wheel and the first synchronous belt wheel in an abutting mode.

Preferably, the inner cavity detection mechanism comprises a ninth linear module and a twelfth servo motor, the five-axis detection mechanism is located on the right side in the installation cavity, the ninth linear module is arranged between the sixth linear module and the five-axis detection mechanism in the front-back direction, a third sliding seat is slidably mounted on the ninth linear module, a second vertical plate is vertically mounted on the left portion of the top surface of the third sliding seat in the front-back direction, the twelfth servo motor is arranged on the front side of the ninth linear module and drives the third sliding seat to slide back and forth along the ninth linear module, six groups of first CCD unit assemblies are arranged at the rear portion of the second vertical plate at equal intervals, a first driving assembly is arranged at the front portion of the second vertical plate, and the first driving assembly is in transmission connection with the six groups of first CCD unit assemblies;

each group of first CCD unit components in the six groups of first CCD unit components comprises a first industrial camera, a first round top light, a first telecentric lens, a second rotating shaft and a first bearing seat, the first bearing seat is installed on a second vertical plate along the left-right direction, the right part of the first bearing seat penetrates out of the second vertical plate to the right side and extends to the right side of the second vertical plate, the second rotating shaft is rotatably installed in the first bearing seat in a rotating manner, the left part of the second rotating shaft extends to the left side of the first bearing seat leftwards, a first camera adjusting support is installed on the left side of the second rotating shaft, a first camera support is arranged on the upper part of the left side of the first camera adjusting support, the first industrial camera is installed in the first camera support along the vertical direction, the shooting direction of the first industrial camera is upwards arranged, the first telecentric lens is installed on the top of the first industrial camera, a first light source adjusting support is upwards arranged on the left side of the first camera support, the first dome light is arranged in the first light source adjusting bracket, the first dome light and the first telecentric lens are positioned on the same straight line, the right side of the first bearing seat is connected with a first zero back clearance gear through the right side of a first locking nut, and the first locking nut is positioned on the right side of a second vertical plate;

the first driving assembly comprises a thirteenth servo motor and a second bearing seat, the second bearing seat is installed on the front side of the second vertical plate, the right part of the second bearing seat penetrates out of the second vertical plate to the right side of the second vertical plate, the thirteenth servo motor is located on the left side of the second vertical plate, a first speed reducer is installed on the left side of the second bearing seat, the first speed reducer is in transmission connection with an output shaft of the thirteenth servo motor, the right side of the second bearing seat is connected with a second zero back clearance gear through a second locking nut, the first speed reducer is in transmission connection with the second zero back clearance gear, a first origin induction sheet is installed on the right side of the second zero back clearance gear, a fifth sensor and a sixth sensor are respectively arranged on the front side of the right part of the third sliding seat and on the rear side of the right part of the third sliding seat, a third sensor and a fourth sensor are respectively arranged on the front side of the left side and on the rear side of the left side of the second vertical plate, the first zero back clearance gear is in transmission connection with the second zero back clearance gear through a first rack, the first rack is located above the first zero back clearance gear and the second zero back clearance gear, and a first shield is sleeved above the first rack.

Preferably, the five-axis detection mechanism comprises a third mounting plate, a dome light source lifting assembly and a second CCD unit assembly, the dome light lifting assembly is mounted above the second CCD unit assembly, the second CCD unit assembly is mounted on the right side in the mounting cavity, the second CCD unit assembly is located on the right side of the third mounting plate, the third mounting plate is located between the second CCD unit assembly and a ninth linear module in the mounting cavity, a fifth slide rail and a sixth slide rail are mounted on the front portion and the rear portion of the top surface of the third mounting plate along the left-right horizontal direction, a tenth linear module and a fourteenth servo motor are mounted in the middle of the third mounting plate between the fifth slide rail and the sixth slide rail along the left-right direction, the fourteenth servo motor is located on the rear side of the tenth linear module, and a fourth mounting plate is slidably connected to the tenth linear module, the fifth slide rail and the sixth slide rail, the fourteenth servo motor drives the fourth mounting plate to slide left and right along a tenth linear module, a fifth slide rail and a sixth slide rail, a fifth support plate and a sixth support plate are vertically mounted at the front part and the rear part of the top surface of the fourth mounting plate respectively, a rotating rod is rotatably mounted between the fifth support plate and the sixth support plate, a fifteenth servo motor and a second speed reducer are mounted at the rear side of the rotating rod, the fifteenth servo motor is in transmission connection with the second speed reducer, the second speed reducer is in transmission connection with the rotating rod, a sixteenth servo motor is mounted at the front part of the rotating rod, an output shaft of the sixteenth servo motor is arranged downwards, a second synchronous belt wheel is mounted on an output shaft of the sixteenth servo motor through a deep groove ball bearing, a second origin induction sheet is mounted below the second synchronous belt wheel, and six groups of self-rotating shaft assemblies are arranged on the rotating rod at equidistant intervals at the rear side of the sixteenth servo motor, the sixteenth servo motor drives the six groups of self-rotating shaft assemblies to rotate through the second synchronous belt wheel;

each group of the six groups of the rotating shaft components comprises a rotating shaft and a third bearing seat, the third bearing seat is arranged on the rotating rod, the rotating shaft is rotatably connected in a third bearing seat, a third synchronous belt wheel is arranged below the third bearing seat, a second rotary joint is arranged below the third synchronous belt wheel, the third synchronous belt wheel is in transmission connection with the rotating shaft, the rotating rod is sleeved with a second protective cover, a third shield and a fourth shield are respectively sleeved on the fifteenth servo motor and the sixteenth servo motor, the upper part of the rotation shaft penetrates out of the second shield upwards and extends to the upper part of the second shield, a rotation shaft fixture is arranged on the upper part of the rotation shaft, the rotating shaft jig is positioned above the second shield, and second idler wheel assemblies are respectively arranged between the sixteenth servo motor and the rotating shaft assembly positioned at the foremost side in the six groups of rotating shaft assemblies and between two adjacent groups of rotating shaft assemblies;

the second idler wheel assembly comprises a second idler wheel seat and a second idler wheel, the second idler wheel seat is installed on the rotating rod, a second idler wheel shaft is vertically and downwards rotatably installed at the bottom of the second idler wheel seat, the second idler wheel is installed on the second idler wheel shaft, a second synchronous belt is sleeved on the second idler wheel, a second synchronous belt wheel and a third synchronous belt wheel, and the sixteenth servo motor drives the third synchronous belt wheel to rotate through the second synchronous belt on the second synchronous belt wheel;

the dome light source assembly comprises a sixth supporting frame, the sixth supporting frame is installed on the right side of a tenth linear module in the installation cavity, a third vertical plate is arranged on the left side of the top of the sixth supporting frame, an eleventh linear module and a seventeenth servo motor are installed in the middle of the left side of the third vertical plate along the vertical direction, a third sliding plate is connected onto the eleventh linear module in a sliding mode, the seventeenth servo motor drives the third sliding plate to slide up and down along the eleventh linear module, six height adjusting frames are installed on the front side and the rear side of the left side of the third sliding plate at intervals, each height adjusting frame in the six height adjusting frames is provided with a second dome light through an angle adjusting frame, and the light emitting direction of the second dome light faces the self-rotating shaft jig;

the second CCD unit component comprises an eighteenth servo motor and a fourth mounting frame, the eighteenth servo motor is positioned below the fourth mounting frame, the fourth mounting frame is positioned in the mounting cavity and on the right side of the rotating rod, a third speed reducer is mounted on an output shaft of the eighteenth servo motor, a fourth bearing seat is arranged in the mounting frame, a third ball screw is rotationally connected in the fourth bearing seat, the third speed reducer is in transmission connection with the third ball screw, a fifth mounting plate is connected to the outer side of a third screw nut of the third ball screw, the fifth mounting plate is positioned in the fourth mounting frame, a plurality of guide rods are vertically and upwards arranged on the top surface of the fifth mounting plate, a linear bearing is arranged at the top of each guide rod in the plurality of guide rods, the linear bearing upwards penetrates through the fourth mounting frame to extend to the upper side of the fourth mounting frame, and a sixth mounting plate is horizontally fixed at the top of the linear bearing, a seventh slide rail and an eighth slide rail are arranged on the left part of the top surface and the right part of the top surface of the sixth installation plate along the front-back direction, a nineteenth servo motor and a fifth bearing seat are arranged on the front part of the top surface of the sixth installation plate between the seventh slide rail and the eighth slide rail, the fifth bearing seat is positioned on the rear side of the nineteenth servo motor, an output shaft of the nineteenth servo motor is arranged backwards, a fourth ball screw is connected in the fifth bearing seat in a rotating manner, the nineteenth servo motor is connected with the fourth ball screw in a transmission manner, a first slide block and a second slide block are arranged on the seventh slide rail at a front-back interval, a third slide block and a fourth slide block are arranged on the eighth slide rail at a front-back interval, a seventh installation plate is horizontally fixed on the top surface of a fourth screw nut of the fourth ball screw, the top surface of the first slide block, the top surface of the second slide block, the top surface of the third slide block and the top surface of the fourth slide block, a twentieth servo motor and a twelfth linear module are arranged in the middle of the top surface of the seventh mounting plate, the twelfth linear module is arranged along the left-right direction, the twentieth servo motor is positioned at the rear side of the twelfth linear module, a fourth sliding plate is connected on the twelfth linear module in a sliding way, the twentieth servo motor drives the fourth sliding plate to slide left and right, six second industrial cameras are arranged on the top surface of the fourth sliding plate at equal intervals from front to back, the shooting directions of the six second industrial cameras are arranged towards the left, a second telecentric lens is arranged at the left end of each second industrial camera of the six second industrial cameras, the left side of second telecentric mirror head is equipped with third circle top light, the left side front portion and the left side rear portion of third circle top light are equipped with a bar light source respectively, second circle top light is located the top of third circle top light.

Preferably, still include defective products classified collection mechanism, defective products classified collection mechanism sets up the left side of first support frame, defective products classified collection mechanism includes the seventh support frame, be equipped with the double faced tooth hold-in range in the seventh support frame, the right side is equipped with step motor in the seventh support frame, step motor's output shaft sets up and step motor drive towards a left side the double faced tooth hold-in range rotates, be equipped with a plurality of on the double faced tooth hold-in range and separate the groove, the interval is equipped with a plurality of letter sorting box and the double faced tooth hold-in range that separates on the left side of seventh support frame is anterior around, the interval is equipped with a plurality of air jet around the right side of double faced tooth hold-in range, a plurality of air jet equals and the left and right sides corresponds the setting with a plurality of letter sorting box quantity.

Preferably, top and bottom are equipped with an electric cabinet respectively in the frame, frame top front side left part is equipped with the tristimulus lamp, radiator fan is installed at the top of frame, operating panel, display, mouse and keyboard are installed to the frame front side, radiator fan, operating panel, tristimulus lamp and display all are connected with the electric cabinet electricity, mouse and keyboard with the display electricity is connected, the bottom surface four corners department of frame is equipped with universal wheel and supporting legs.

By adopting the technical scheme, the utility model has the following beneficial effects:

(1) the utility model is provided with an inner cavity detection mechanism and a five-axis detection mechanism, when in use, the inner cavity detection mechanism can detect the inner cavity side of products such as a charging terminal connected with the Bluetooth headset, the five-axis detection mechanism can detect the appearance side of the products such as the charging terminal connected with the Bluetooth headset, when the Bluetooth headset is used, the six groups of first CCD unit components of the inner cavity detection mechanism can swing back and forth under the action of the first driving component, the first industrial camera of the six groups of first CCD unit components can shoot pictures of inner cavity sides, connected with the charging terminals, of the Bluetooth headset at more angles so as to be judged, the second CCD unit component of the five-axis detection mechanism can be adjusted at multiple angles so that the second industrial camera can shoot pictures of appearance sides, connected with the charging terminals, of the Bluetooth headset at more angles so as to be judged, the design is reasonable, the detection can be carried out in all directions, and no detection dead angle exists;

(2) the automatic feeding and discharging device is provided with parts such as a feeding and discharging structure of a material tray, a CCD detection structure, a multi-station shifting variable-pitch structure and the like, so that manual feeding and discharging and detection are replaced when the automatic feeding and discharging device is used, high integration automation is achieved, the detection is fast and efficient, and the labor cost is reduced;

(3) the utility model is also provided with a defective product classifying and collecting mechanism, and defective products can be classified and put into different areas through the mechanism through judgment of the utility model when in use, so that the later-stage maintenance and recycling are facilitated;

in conclusion, the utility model has the advantages of reasonable design, high detection speed and efficiency, labor cost saving, capability of carrying out all-around detection, no detection dead angle and the like.

Drawings

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

FIG. 2 is a schematic mechanism diagram of the charging and discharging structure of the tray, the CCD detection mechanism and the multi-station shifting pitch-changing structure of the present invention integrated together;

FIG. 3 is a top view of FIG. 2;

FIG. 4 is a schematic structural view of the charging tray loading and unloading structure of the present invention;

FIG. 5 is a schematic structural view of the vacuum chuck mechanism of the present invention;

FIG. 6 is a schematic structural diagram of a first servo tray mechanism of the present invention;

FIG. 7 is a schematic structural view of a second servo tray mechanism of the present invention;

FIG. 8 is a schematic structural view of a first tray dividing mechanism of the present invention;

FIG. 9 is a schematic structural view of the spindle carrier mechanism of the present invention;

FIG. 10 is a schematic structural diagram of a feed buffer pitch change mechanism of the present invention;

FIG. 11 is a schematic structural diagram of a blanking buffer pitch-changing mechanism of the present invention;

FIG. 12 is a left side view of the first drive block of the present invention;

FIG. 13 is a left side view of a second drive block of the present invention;

FIG. 14 is a left side view of the third drive block of the present invention;

fig. 15 is a schematic structural view of a loading transfer mechanism of the present invention;

fig. 16 is a schematic structural view of a blanking transfer mechanism of the present invention;

FIG. 17 is a schematic structural view of a lumen detection mechanism of the present invention;

FIG. 18 is a schematic view of the first shield of FIG. 17 with the first shield removed;

FIG. 19 is a schematic view of the structure of FIG. 18 in another orientation;

fig. 20 is a schematic structural view of a first CCD unit assembly of the present invention;

FIG. 21 is a schematic structural view of a five axis sensing mechanism of the present invention;

FIG. 22 is a schematic view of the dome light source lift assembly, second CCD unit assembly, second idler wheel assembly, second shroud, third shroud, and fourth shroud of FIG. 21, removed;

FIG. 23 is a schematic structural view of a dome light source lift assembly of the present invention;

fig. 24 is a schematic structural view of a second CCD unit assembly of the present invention;

fig. 25 is a schematic configuration diagram of a defective product sorting and collecting mechanism according to the present invention.

Detailed Description

The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it is to be understood that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.

The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the utility model, as claimed, but is merely representative of selected embodiments of the utility model.

All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in a specific case to those of ordinary skill in the art.

In the present invention, six detection stations are exemplified, such as six height adjusting frames, six second industrial cameras, six sets of blanking suction nozzle assemblies, six sets of feeding suction nozzle assemblies, six sets of first CCD unit assemblies, six sets of spinning shaft assemblies, and the like, but the arrangement of six detection stations is not limited, and any technical solution that is the same as the present invention and that is provided with a plurality of parts that are adapted to the detection stations should be covered within the protection scope of the present invention.

For convenience of description, the left, right, front, back, up and down directions defined in the present invention are left, right, front, back, up and down directions in fig. 2.

As shown in fig. 1-25, in one embodiment of the present invention, the all-directional appearance defect detecting apparatus of the present invention comprises:

a frame 1, wherein a mounting cavity is arranged in the frame 1, a supporting plate 181 can be arranged in the mounting cavity, the charging and discharging structure of the charging tray, the CCD detecting structure, the multi-station transferring and distance-changing structure and the defective product classifying and collecting mechanism are all arranged on the supporting plate 181, the middle lower part of a second CCD unit component of the CCD detecting structure is positioned below the supporting plate 181, the middle upper part of the second CCD unit component is positioned above the supporting plate 181, the defective product classifying and collecting mechanism is positioned on the left side of the charging and discharging structure of the charging tray, the right side of the charging and discharging structure of the charging tray is provided with a charging and buffering distance-changing mechanism, the right side of the charging and buffering distance-changing mechanism is provided with a discharging and buffering distance-changing mechanism, the right side of the discharging and buffering distance-changing mechanism is provided with an inner cavity detecting mechanism, the right side of the inner cavity detecting mechanism is provided with a five-axis detecting mechanism, the charging and distance-changing mechanism is arranged on the front part of the charging and buffering distance-changing mechanism along the left and right direction, the unloading moves and carries the mechanism to set up in the rear portion of the defective products classification collection mechanism, the rear portion and unloading between the buffer pitch-changing mechanism of unloading of the charging tray, the said main axis carries the mechanism to locate between said loading moves and carries the mechanism and unloading and carries the mechanism and main axis carries the mechanism to locate between buffer pitch-changing mechanism of loading, buffer pitch-changing mechanism of unloading, inner chamber side detection mechanism and five detection mechanisms;

the feeding and discharging structure of the material tray comprises a feeding station 2 and a discharging station 3, wherein the feeding station 2 is used for feeding products, the discharging station 3 is used for discharging the products, and the feeding and discharging structure of the material tray is arranged in the mounting cavity;

the CCD detection structure is arranged at the side part, namely the right side part, of the charging and discharging structure of the charging tray in the mounting cavity, and is used for detecting and judging products in a charging station 2 of the charging and discharging structure of the charging tray in an all-dimensional manner, namely detecting the appearance side and the inner cavity side of the products; and

the multistation moves and carries the displacement structure, the multistation moves and carries the displacement structure setting to be in the installation cavity CCD detects the structure and reaches between the unloading structure on the charging tray, the multistation moves and carries the displacement structure and be used for with move to behind the product displacement in the material loading station 2 of unloading structure on the charging tray in the CCD detects and detect in the structure just the multistation displacement structure be used for with the product that the detection finishes in the CCD detects the structure takes out the displacement and sends into in the unloading station 3 of unloading structure on the charging tray.

The CCD detection structure comprises an inner cavity detection mechanism and a five-axis detection mechanism, the inner cavity detection mechanism and the five-axis detection mechanism are both positioned at the side part, namely the right side part, of the charging and discharging structure on the charging tray in the mounting cavity, the inner cavity detection mechanism is positioned between the five-axis detection mechanism and the charging and discharging structure on the charging tray, the inner cavity detection mechanism is used for detecting the inner cavity side of the product, and the five-axis detection mechanism is used for detecting the outer side of the product;

the multi-station shifting pitch structure comprises a main shaft carrying mechanism, a feeding shifting mechanism, a discharging shifting mechanism, a feeding caching pitch mechanism and a discharging caching pitch mechanism, the multi-station shifting pitch structure adopts the design of multiple stations, the efficiency is improved, the productivity is improved, a first vacuum sucker, a second vacuum sucker 32, a third vacuum sucker 38, a sixth air cylinder 42, a seventh air cylinder 46, a first suction nozzle 107, a second suction nozzle 112 and other parts adopt vacuum suction structures, action beat blocks are favorable for protecting the appearance of a product, action time sequences are tightly combined among the mechanisms, the synchronization is realized to the maximum extent, the integral action time is shortened, each synchronous belt and synchronous wheel structure are adopted, the multi-station synchronization is realized, the economy and the high efficiency are realized, the main shaft carrying mechanism, the feeding shifting mechanism, the discharging shifting mechanism, the feeding caching pitch mechanism and the discharging caching pitch mechanism are all arranged in the installation cavity, and the CCD detection structure and the charging tray structure are arranged in the installation cavity Meanwhile, the loading transfer mechanism is used for conveying the products in the loading station 2 to the loading cache variable-pitch mechanism, the loading cache variable-pitch mechanism is used for temporarily storing the product variable pitch, so the loading cache variable-pitch mechanism and the unloading cache variable-pitch mechanism are required to change the product cache variable pitch, firstly, for the variable pitch, the variable pitch is about to change the distance between two adjacent products, namely, the inner cavity side or the appearance side of the products is detected by the inner cavity detection mechanism and the five-axis detection mechanism, namely, multi-angle shooting comparison is carried out, the distances between each specific detection station of the inner cavity detection mechanism (shooting comparison by six first industrial cameras), each detection station of the five-axis detection mechanism (shooting comparison by the second industrial camera for the products on the self-rotating shaft jig of six self-rotating shafts) and each distance between each six first suction nozzles 107 and each six second suction nozzles 112 of the main shaft carrying mechanism are different and are the same as the distances between the six sixth air cylinders of the loading module 42 and the distances between the sixth air cylinders 42 or the seventh air cylinders 46 adjacent to the six seventh air cylinders 46 of the blanking transfer module are not the same, and the second is for buffering, the buffering is for time overlapping on the tempo, the whole operation time is reduced to the maximum, the tempo is optimized, the distance between the adjacent sixth air cylinders 42 in the six sixth air cylinders 42 and the distance between the adjacent seventh air cylinders 46 in the six seventh air cylinders 46 are equal to the distance between two adjacent first discharging grooves of the material tray, for production, six first discharging grooves are arranged along one row of the front and back direction of the material tray, when in use, the six sixth air cylinders 42 or the seventh air cylinders 46 can simultaneously suck the products in the first discharging grooves of one row or simultaneously place the six products in the first discharging grooves of one row, the feeding transfer mechanism takes the six products from one row of the material tray of the feeding station 2 and sends the six products into the feeding buffering distance-changing mechanism, the feeding caching variable-pitch mechanism increases the distance between six products so that a main shaft conveying mechanism can take the products and send the products to an inner cavity detection mechanism and a five-shaft detection mechanism for detection, the main shaft conveying mechanism sends the materials detected by the five-shaft detection mechanism back to a blanking caching variable-pitch mechanism, the blanking caching variable-pitch mechanism reduces the distance between the six products again so that a blanking transfer mechanism can take the materials, the blanking transfer mechanism can place the detected good products in a first discharge groove of a material tray of a blanking station 3, the defective products are placed in a defective product classification and collection mechanism, the main shaft conveying mechanism is used for conveying the products subjected to variable-pitch by the feeding caching variable-pitch mechanism to an inner cavity side of the products detected by the inner cavity detection mechanism, conveying the products subjected to detection on the inner cavity side to the five-shaft detection mechanism to detect an outer side and conveying the products subjected to detection on the outer side to the blanking caching variable-pitch mechanism, the unloading buffer memory becomes the mechanism and is used for keeping the product displacement in, the unloading moves and carries the mechanism and be used for with the product in the unloading buffer memory mechanism carries to unloading station 3.

The charging tray feeding and discharging structure comprises a first supporting frame 4, a second supporting frame 5, a first servo tray mechanism, a first sub-tray mechanism, a vacuum sucker mechanism, a second servo tray mechanism, a first disc stacking mechanism and a plurality of charging trays 6, wherein first discharging grooves 7 are arranged on the charging trays 6 along the front-back direction, the rightmost rows of the first discharging grooves 7 can be six, namely six first discharging grooves 7 are arranged in one row, or 12 rows, and the like, the first discharging grooves 7 of the charging trays 6 are used for discharging products, the first supporting frame 4 and the second supporting frame 5 are symmetrically arranged in a left-right flush mode, the first supporting frame 4 and the second supporting frame 5 are arranged on the left side in the mounting cavity along the front-back direction, the first servo tray mechanism and the second servo tray mechanism are arranged at the bottom between the first supporting frame 4 and the second supporting frame 5, and the first servo tray mechanism is positioned on the right side of the second servo tray mechanism, the vacuum chuck mechanism is arranged in the middle of a first support frame 4, the suction direction of the vacuum chuck mechanism faces to the position between the first support frame 4 and a second support frame 5, the vacuum chuck mechanism is used for sucking a material tray 6, the first disc dividing mechanism is arranged on the front side between the first support frame 4 and the second support frame 5, the first disc stacking mechanism is arranged on the rear side between the first support frame 4 and the second support frame 5, the upper part between the first support frame 4 and the second support frame 5 between the vacuum chuck mechanism and the first disc dividing mechanism is a feeding station 2, the upper part between the first support frame 4 and the second support frame 5 between the vacuum chuck mechanism and the first disc stacking mechanism is a discharging station 3, the material trays 6 are arranged on the front side between the first support frame 4 and the second support frame, and the first disc dividing mechanism is used for dividing the material trays 6, the first servo tray mechanism is used for lifting the charging tray 6 and moving the charging tray 6 back and forth, the first tray stacking mechanism is used for stacking a plurality of charging trays 6 which are detected, and the second servo tray mechanism is used for lifting the charging tray 6 and moving the charging tray 6 back and forth;

the vacuum chuck mechanism comprises a first connecting frame 8 and a first vacuum chuck (shielded, not shown in the figure), the first connecting frame 8 is arranged in the middle of the first support frame 4, the right part of the first connecting frame 8 is positioned between the first support frame 4 and the second support frame 5, a first air cylinder 9 is arranged on the right side of the first connecting frame 8, the first vacuum chuck is arranged on an output shaft of the first air cylinder 9 through a first connecting plate 10, and the suction direction of the first vacuum chuck faces to the position between the first support frame 4 and the second support frame 5;

the first tray dividing mechanism comprises a first mounting block 11, a second mounting block 12, a first fork frame 13 and a second fork frame 14, the first mounting block 11 is mounted on the front side of the first support frame 4, the second mounting block 12 is mounted on the front side of the second support frame 5, a first slide rail 15 and a second cylinder 16 are mounted on the first mounting block 11, a second slide rail 17 and a third cylinder 18 are mounted on the second mounting block 12, the first fork frame 13 is slidably connected to the first slide rail 15, the second fork frame 14 is slidably connected to the second slide rail 17, the second cylinder 16 drives the first fork frame 13 to slide left and right along the first slide rail 15, the third cylinder 18 drives the second fork frame 14 to slide left and right along the second slide rail 17, the first fork frame 13 is arranged to the right, the second fork frame 14 is arranged to the left, the first fork frame 13 and the second fork frame 14 are arranged to be flush and opposite to each other, a first upright post and a second upright post are arranged at the front and back of the front side part of the first support frame 4 at intervals, a third upright post and a fourth upright post are arranged at the front and back of the front side part of the second support frame 5 at intervals, the first upright post and the third upright post are oppositely arranged left and right, the second upright post and the fourth upright post are oppositely arranged left and right, a first sensor is arranged at the bottom of the second upright post, the plurality of material trays 6 are positioned among the first upright post, the second upright post, the third upright post and the fourth upright post, the first mounting block 11 is positioned between the first upright post and the second upright post, and the second mounting block 12 is positioned between the third upright post and the fourth upright post;

the first disc stacking mechanism comprises a third mounting block 19, a fourth mounting block 20, a third fork frame 21 and a fourth fork frame 22, the third mounting block 19 is mounted at the rear side of the first support frame 4, the fourth mounting block 20 is mounted at the rear side of the second support frame 5, a third slide rail 23 and a fourth cylinder 24 are mounted on the third mounting block 19, a fourth slide rail 25 and a fifth cylinder 26 are mounted on the fourth mounting block 20, the third fork frame 21 is slidably connected to the third slide rail 23, the fourth fork frame 22 is slidably connected to the fourth slide rail 25, the fourth cylinder 24 drives the third fork frame 21 to slide left and right along the third slide rail 23, the fifth cylinder 26 drives the fourth fork frame 22 to slide left and right along the fourth slide rail 25, the third fork frame 21 is arranged to the right, the fourth fork frame 22 is arranged to the left, the third fork frame 21 and the fourth fork frame 22 are arranged to be left and right opposite, a fifth upright post and a sixth upright post are arranged at the rear side part of the first support frame 4 at a front-rear interval, a seventh upright post and an eighth upright post are arranged at the rear side part of the second support frame 5 at a front-rear interval, the fifth upright post and the seventh upright post are oppositely arranged left and right, the sixth upright post and the eighth upright post are oppositely arranged left and right, the first upright post, the second upright post, the third upright post, the fourth upright post, the fifth upright post, the sixth upright post, the seventh upright post and the eighth upright post are all arranged along the vertical direction at equal height, a second sensor is arranged at the top of the sixth upright post, a third mounting block 19 is positioned between the fifth upright post and the sixth upright post, and a fourth mounting block 20 is positioned between the seventh upright post and the eighth upright post;

the first servo tray mechanism comprises a first servo motor 27 and a first linear module 28, the first linear module 28 is arranged on the right side between a first support frame 4 and a second support frame 5 along the front-back direction, a first sliding block 29 is connected on the first linear module 28 in a sliding manner, the first servo motor 27 drives the first sliding block 29 to slide back and forth along the first linear module 28, the first servo motor 27 is positioned on the right side of the first linear module 28, a first mounting frame 30 is installed on the first sliding block 29, a second servo motor 31 and a first ball screw are installed in the first mounting frame 30, the second servo motor 31 drives the first ball screw to rotate through a first synchronous belt, a first bracket is installed on a first screw nut of the first ball screw, a specific first ball is a standard part, and the first ball screw comprises a first screw and a first screw nut, a first screw rod of the first ball screw is rotatably connected in the first mounting frame 30, a first screw rod nut moves up and down along the first screw rod, the upper part of the first bracket upwards penetrates through the first mounting frame 30, and a second vacuum suction cup 32 is mounted at the top of the first bracket;

the second servo tray mechanism comprises a third servo motor 33 and a second linear module 34, the second linear module 34 is arranged on the left side between the first support frame 4 and the second support frame 5 along the front-back direction, a third sliding block 35 is connected on the second linear module 34 in a sliding manner, the third servo motor 33 drives the third sliding block 35 to slide back and forth along the second linear module 34, the third servo motor 33 is positioned on the right side of the second linear module 34, a second mounting frame 36 is installed on the third sliding block 35, a fourth servo motor 37 and a second ball screw are installed in the second mounting frame 36, the fourth servo motor 37 drives the second ball screw to rotate through a first synchronous belt, a second bracket is installed on a second screw nut of the second ball screw, the specific second ball screw is a standard component, and the second ball screw comprises a second screw and a second screw nut, a second screw rod of the second ball screw is rotatably connected in a second mounting frame 36, a second screw rod nut moves up and down along the second screw rod, the upper part of the second bracket upwards penetrates out of the second mounting frame 36, and a third vacuum suction cup 38 is mounted at the top of the second bracket.

The specific use flow of the charging and discharging structure of the charging tray 6 is as follows:

manually placing an empty tray 6 at the blanking station 3, placing a plurality of trays 6 filled with products between a first upright post, a second upright post, a third upright post and a fourth upright post (namely, stacking the trays 6 together), placing the trays 6 between a first fork frame 13 and a second fork frame 14, then starting a first servo tray mechanism, starting a second servo motor 31 to drive a first ball screw to rotate, driving a second vacuum chuck 32 to move upwards through a first bracket by a first screw nut of the first ball screw and to be in contact with the bottom surface of the lowermost tray 6 of the trays 6, adsorbing the lowermost tray 6 by a second vacuum chuck 32, then starting a first tray mechanism, driving the first fork frame 13 and the second fork frame 14 to retract leftwards and rightwards respectively by a second air cylinder 16 and a third air cylinder 18, then reversely rotating the second servo motor 31 and finally driving the second vacuum chuck 32 to move downwards (the downward movement distance is the thickness of one tray 6), then the second cylinder 16 and the third cylinder 18 work to respectively push the first fork frame 13 and the second fork frame 14 to move along the first slide rail 15 and the second slide rail 17 to the right and left, wherein the first fork frame 13 is of a structure with a thin right and a thick left, the second fork frame 14 is of a structure with a thin left and a thick right, at this time, the first fork frame 13 and the second fork frame 14 are inserted between the lowest tray 6 of the plurality of trays 6 and the second tray 6 counted from bottom to top to complete the disc separation, because the first fork frame 13 is of a structure with a thin right and a thick left, the second fork frame 14 is of a structure with a thin right and a thick right, the first fork frame 13 and the second fork frame 14 can lift the second tray 6 counted from bottom to top and the tray 6 above the tray 6, the tray 6 on the first fork frame 13 and the second fork frame 14 keeps a certain distance from the lowest tray 6, then the first servo motor 27 is started, the first servo motor 27 is started to drive the first slide block 29 to move backwards, the first sliding block 29 finally drives the material trays 6 on the first bracket and the second vacuum chuck 32 to move backwards (the material tray 6 is the lowest material tray 6 in the plurality of material trays 6) to the material loading station 2 through the first mounting frame 30, then the second vacuum chuck 32 breaks vacuum, the second vacuum chuck 32 loosens the material trays 6, then the first servo tray mechanism is started again, the second vacuum chuck 32 moves downwards, and then the material loading and transferring module takes the products on the material trays 6;

when the products on the material tray 6 are taken out, the first servo tray mechanism is started again, the second vacuum chuck 32 moves upwards to adsorb the material tray 6, then the first servo motor 27 drives the first sliding block 29 to move backwards along the first linear module 28 and finally drives the second vacuum chuck 32 to move backwards to the position below the vacuum chuck mechanism, then the second servo motor 31 is started again and finally drives the second vacuum chuck 32 to ascend, then the first vacuum chuck adsorbs the material tray 6, the material tray 6 is empty at the moment, and the material tray 6 cannot directly reach the blanking station 3, because when the utility model detects the products, defective products are generated and are sent to the defective product classification and collection mechanism, at the moment, the empty material tray 6 on the blanking station 3 (namely, the material tray 6 which is manually placed at the beginning) is caused by the quantity difference of the defective products and the time difference generated by the operation of the parts of the mechanism, the speed of placing the products in the empty tray on the blanking station 3 is lower than the speed of taking out the products in the tray 6 on the loading station 2 and then sending the products to be detected, the empty tray 6 needs to be paused for a period of time below the vacuum chuck mechanism to meet the time difference generated by the loading station 2 and the blanking station 3, the second vacuum chuck 32 breaks the vacuum and moves downwards to retract and return to the original point, and then the steps are repeated again to continue to convey the second tray 6 counted from bottom to top to the loading station 2 leftwards again;

when the product in the blanking station 3 is full, the first disc stacking mechanism is started, the third cylinder 18 and the fourth cylinder 24 are started to drive the third fork frame 21 and the fourth fork frame 22 to retract, then the second servo tray mechanism is started, the third servo motor 33 is started to rotate forwards, the third servo motor 33 drives the third sliding block 35 to move forwards along the second linear module 34 and finally drives the third vacuum suction disc 38 on the third sliding block 35 to move to the position below the material disc 6 filled with qualified products in the blanking station 3, then the fourth servo motor 37 is started, the fourth servo motor 37 drives the second ball screw to rotate through the first synchronous belt, the second screw nut of the second ball screw drives the second bracket to move upwards, the second bracket drives the third vacuum suction disc 38 to move upwards, the third vacuum suction disc 38 adsorbs the material disc 6 filled with qualified products in the blanking station 3, and then the third servo motor 33 rotates backwards, finally, the material tray 6 with qualified products in the blanking station 3 is driven to move to a position between the third fork frame 21 and the fourth fork frame 22, then the fourth servo motor 37 is started again, and finally the third vacuum suction cup 38 is driven to move upwards, the material tray 6 with qualified products in the blanking station 3 adsorbed by the third vacuum suction cup 38 moves upwards (the thickness of one material tray 6), then the third fork frame 21 and the fourth fork frame 22 extend out to support the material tray 6, then the fourth servo motor 37 drives the third vacuum suction cup 38 to move downwards, then the third servo motor 33 rotates forwards again, and finally the third vacuum suction cup 38 on the third sliding block 35 is driven to move to the position under the vacuum suction tray mechanism, then the fourth servo motor 37 is started, the fourth servo motor 37 drives the second ball screw rod to rotate through the first synchronous belt, the second screw rod nut of the second ball screw rod drives the second bracket to move upwards, the second bracket drives the third vacuum chuck 38 to move upwards, the third vacuum chuck 38 adsorbs the empty tray 6 adsorbed by the first vacuum chuck of the vacuum chuck mechanism, the first vacuum chuck destroys the vacuum first vacuum chuck to separate from the empty tray 6, then the fourth servo motor 37 drives the third vacuum disk to move downwards again and move backwards again under the reverse action of the third servo motor 33 to the blanking station 3, then the third vacuum chuck 38 destroys the vacuum and moves downwards to retract and return to the original point, then the steps are repeated again to send the tray 6 filled with products in the blanking station 3 to the space between the third fork frame 21 and the fourth fork frame 22 for stacking, the first servo tray mechanism, the second servo tray mechanism and the vacuum chuck mechanism are adopted to buffer the empty tray 6, and the like, so that the contradiction generated by different tray swinging speeds of the tray 6 to be detected and the tray 6 is solved, namely waiting for the material to be detected and feeding continuity of the material tray 6 to be detected, the detected material tray 6 is full of holes, the first servo tray and the second servo tray are both arranged between the first supporting frame 4 and the second supporting frame 5, a positioning jig can be used for positioning, the accuracy and stability of feeding and discharging are improved, the debugging difficulty is reduced, the servo motor is used for lifting the material tray 6, the multi-point positioning and tray dividing functions are realized, compared with a double-cylinder three-point action mechanism in the prior art, the utility model has stable action and convenient adjustment, the vacuum suction arrangement of the first vacuum suction disc, the second vacuum suction disc 32 and the third vacuum suction disc 38 can make the material tray 6 move more stably, the deformation of the material tray 6 is corrected to a certain degree, the positioning accuracy of the product is improved, the feeding and discharging difficulty is reduced, and the flow among all parts is independent, the device does not interfere with each other and can work synchronously.

The feeding and transferring mechanism comprises a fifth servo motor 39 and a third linear module 40, the third linear module 40 is arranged at the front side in the installation cavity along the left-right direction through a third support frame, a fifth sliding block 41 is connected on the third linear module 40 in a sliding manner, the fifth servo motor 39 drives the fifth sliding block 41 to slide along the third linear module 40 left and right, the bottom of the fifth sliding block 41 extends downwards to the lower part of the third linear module 40, a plurality of sixth air cylinders 42 (six sixth air cylinders 42 are selected in the utility model) are installed at the bottom of the fifth sliding block 41, the height of the plurality of sixth air cylinders 42 is higher than the height of a material tray 6 placed on the feeding station 2 and the height of the feeding buffer distance changing mechanism, the distance between two adjacent sixth air cylinders 42 in the plurality of sixth air cylinders 42 is equal to the distance between two adjacent first discharging grooves 7 in the material tray 6, the number of the sixth air cylinders 42 is equal to the number of the first discharging grooves 7 in one row of the charging tray 6 in the front-back direction, when the sixth air cylinders 42 move to the upper part of the charging station 2 along the third straight line module 40, the plurality of sixth air cylinders 42 are arranged in one-to-one correspondence with the first discharging grooves 7 in the previous row of the charging tray 6, the number of the plurality of sixth air cylinders 42 is equal to the number of stations needing buffering variable pitch in the charging buffering variable pitch mechanism, and when the charging buffering variable pitch mechanism is not variable pitch, the sixth air cylinders 42 move to the position right above the charging buffering variable pitch mechanism along the third straight line module 40, and then the sixth air cylinders 42 can place the sucked products in the charging buffering variable pitch mechanism;

the blanking transfer mechanism comprises a sixth servo motor 43 and a fourth linear module 44, the fourth linear module 44 is arranged at the rear side in the installation cavity along the left-right direction through a fourth support frame, the fourth linear module 44 is connected with a sixth sliding block 45 in a sliding manner, the sixth servo motor 43 drives the sixth sliding block 45 to slide left and right along the fourth linear module 44, the bottom of the sixth sliding block 45 extends downwards to the lower part of the fourth linear module 44, a plurality of seventh cylinders 46 (six seventh cylinders 46 are selected in the utility model) are installed at the bottom of the sixth sliding block 45, an integrated vacuum generator is installed beside the sixth cylinder 42 and the seventh cylinders 46, so that the sixth cylinder 42 and the seventh cylinders 46 have the vacuum suction capacity, and the heights of the seventh cylinders 46 are higher than the height of a material tray 6 placed on the blanking station 3 and the height of the blanking cache pitch-changing mechanism, the distance between two adjacent seventh cylinders 46 in the seventh cylinders 46 is equal to the distance between two adjacent first discharging slots 7 in the charging tray 6, the number of the seventh cylinders 46 is equal to the number of the first discharging slots 7 in a row in the front-back direction of the charging tray 6, when the seventh cylinders 46 move to the upper part of the discharging station 3 along the fourth straight line module 44, the seventh cylinders 46 are arranged in one-to-one correspondence with the first discharging slots 7 in the row on the charging tray 6, the number of the seventh cylinders 46 is equal to the number of stations needing buffering variable pitch in the discharging buffering variable pitch mechanism, after the discharging buffering variable pitch mechanism is varied in pitch, the seventh cylinders 46 move to the right above the discharging buffering variable pitch mechanism along the fourth straight line module 44, the seventh cylinders 46 can suck qualified products in the discharging buffering variable pitch mechanism, then send the qualified products to the charging tray 6 of the discharging station 3, and send unqualified products to the defective product classification and collection mechanism, mechanism is transplanted to material loading and unloading moves and carries mechanism and adopts servo motor collocation straight line module to realize removing about, positioning accuracy is high, and is fast, the motion is steady, the debugging is convenient, and design optimization gas circuit structures such as integral type vacuum generator, choose for use sixth cylinder 42 and seventh cylinder 46 to be the double-acting cylinder of cylinder for the vacuum, take the hollow shaft, lead to the vacuum, simplify the gas circuit, it is unlimited to optimize the gas circuit walking pipe, the mechanism is whole to choose for use the standard component degree height, compact structure retrencies beautifully, the sexual valence relative altitude, processing cycle is short.

The specific using process of the loading and transferring mechanism and the unloading and transferring mechanism is as follows;

after the material tray 6 containing the products is placed in the feeding station 2, the fifth servo motor 39 drives the fifth sliding block 41 to move leftwards along the third linear module 40 to the position above the first row of products on the right side of the material tray 6 in the feeding station 2, then the six sixth air cylinders 42 simultaneously act to respectively suck one product, then the fifth servo motor 39 drives the fifth sliding block 41 to move rightwards along the third linear module 40 to the second material discharging groove on the first variable pitch block, the second variable pitch block, the third variable pitch block, the fourth variable pitch block, the fifth variable pitch block and the sixth variable pitch block of the feeding cache variable pitch mechanism, at the moment, the first variable pitch block, the second variable pitch block, the third variable pitch block, the fourth variable pitch block, the fifth variable pitch block and the sixth variable pitch block of the feeding cache variable pitch mechanism are not separated and attached to each other, after the products are sucked by the sixth air cylinders 42, the feeding mechanism repeats the operation sucking steps, and transfers the products in the second row of the material tray 6 in the feeding station 2 in the front-back direction, and so on;

after the spindle conveying mechanism places the detected products on the blanking cache pitch-changing mechanism, the seventh pitch-changing block, the eighth pitch-changing block, the ninth pitch-changing block, the tenth pitch-changing block, the eleventh pitch-changing block and the twelfth pitch-changing block of the blanking cache pitch-changing mechanism are mutually jointed after pitch changing, at the moment, the blanking transfer mechanism is started, a sixth servo motor 43 drives a sixth sliding block 45 to move rightwards along a fourth straight line module 44 to be above the seventh pitch-changing block, the eighth pitch-changing block, the ninth pitch-changing block, the tenth pitch-changing block, the eleventh pitch-changing block and the twelfth pitch-changing block, a seventh air cylinder 46 sucks the products detected on the seventh pitch-changing block, the eighth pitch-changing block, the ninth pitch-changing block, the tenth pitch-changing block, the eleventh pitch-changing block and the twelfth pitch-changing block, a sixth sliding block 45 is driven by a sixth motor to move leftwards along the fourth straight line 44 to be above the rightmost right row of the empty products detected on the material tray 6 in the blanking station 2 in the front-back direction, and put the empty material tray 6, and then, moving leftwards continuously, and placing unqualified products into a defective product classification and collection mechanism.

The feeding buffer distance-changing mechanism comprises a seventh servo motor 47, a fifth linear module 48, an eighth cylinder and a ninth cylinder, the fifth linear module 48 is arranged between the feeding station 2 and the inner cavity detection mechanism in the front-back direction, the seventh servo motor 47 is arranged in the front of the right side of the fifth linear module 48, a first sliding plate 51 is arranged on the fifth linear module 48 in a sliding manner, the seventh servo motor 47 drives the first sliding plate 51 to slide back and forth along the fifth linear module 48, a first support plate 52 is arranged on the left portion of the first sliding plate 51 in the front-back direction, a first guide rail 53 is arranged on the first support plate 52, a second support plate is arranged on the right portion of the first sliding plate 51 in the front-back direction, a second guide rail 54 is arranged on the second support plate, and first steps 55, second steps 56, a third step 56 and a fourth step are sequentially arranged on the first guide rail 53 at equal intervals from front to back, A third step 57, a fourth step, a fifth step and a sixth step, wherein the second guide rail 54 is sequentially provided with a seventh step 58, an eighth step 59, a ninth step 60, a tenth step, an eleventh step and a twelfth step at equal intervals from front to back, the first step 55 and the seventh step 58 are arranged at equal intervals from left to right, the second step 56 and the eighth step 59 are arranged at equal intervals from left to right, the third step 57 and the ninth step 60 are arranged at equal intervals from left to right, the fourth step and the tenth step are arranged at equal intervals from left to right, the fifth step and the eleventh step are arranged at equal intervals from left to right, the sixth step and the twelfth step are arranged at equal intervals from left to right, the first step 55 and the sixth step are arranged at equal intervals, the second step 57 and the ninth step 60 are arranged at equal intervals from left to right, the fourth step and the tenth step 57 are arranged at equal intervals from left to right, a first variable pitch block 61, a second variable pitch block 62, a third variable pitch block 63, a fourth variable pitch block 64, a fifth variable pitch block 65 and a sixth variable pitch block 66 are sequentially mounted on the first guide rail 53 and the second guide rail 54 from front to back, the first variable pitch block 61 is mounted on the first guide rail 53 and the second guide rail 54 through a first positioning square hole 67 and a second positioning square hole 68, the second variable pitch block 62 is mounted on the first guide rail 53 and the second guide rail 54 through a third positioning square hole 69 and a fourth positioning square hole 70, the third variable pitch block 63 is mounted on the first guide rail 53 and the second guide rail 54 through a fifth positioning square hole 71 and a sixth positioning square hole 72, the fourth variable pitch block 64 is mounted on the first guide rail 53 and the second guide rail 54 through a seventh positioning square hole and an eighth positioning square hole, the fifth variable pitch block 65 is mounted on the first guide rail 53 and the second guide rail 54 through a ninth positioning square hole and a tenth positioning square hole, the sixth variable pitch block 66 is mounted on the first guide rail 53 and the second guide rail 54 through an eleventh positioning square hole and a twelfth positioning square hole, the first positioning square hole 67, the second positioning square hole 68, the eleventh positioning square hole and the twelfth positioning square hole are arranged at the same height, the third positioning square hole 69, the fourth positioning square hole 70, the ninth positioning square hole and the tenth positioning square hole are arranged at the same height, the fifth positioning square hole 71, the sixth positioning square hole 72, the seventh positioning square hole and the eighth positioning square hole are arranged at the same height, the height of the first positioning square hole 67 is lower than that of the first step 55, the height of the first positioning square hole 67 is higher than that of the second step 56, the height of the second positioning square hole 68 is lower than that of the second step 56, the height of the second positioning square hole 68 is higher than that of the third step 57, and the height of the third positioning square hole 69 is lower than that of the third step 57, the first distance changing block 61 is provided with a first driving hole 73 penetrating through the first distance changing block 61 from front to back, the second distance changing block 62 is provided with a second driving hole 74 penetrating through the second distance changing block 62 from front to back, the third distance changing block 63 is provided with a third driving hole 75 penetrating through the third distance changing block 63 from front to back, the fourth distance changing block 64 is provided with a fourth driving hole penetrating through the fourth distance changing block 64 from front to back, the fifth distance changing block 65 is provided with a fifth driving hole penetrating through the fifth distance changing block 65 from front to back, the sixth distance changing block 66 is provided with a sixth driving hole penetrating through the sixth distance changing block 66 from front to back, the first driving hole 73 is equal to the sixth driving hole in diameter, the second driving hole 74 is equal to the fifth driving hole in diameter, the third driving hole 75 is equal to the fourth driving hole in diameter, the first driving hole 73 is smaller than the second driving hole 74, and the second driving hole 74 is smaller than the third driving hole 75, a first step 55 shaft 49 and a second step 56 shaft 50 are arranged between the first guide rail 53 and the second guide rail 54 at a left-right interval, the extending direction of the first step 55 shaft 49 is arranged forward, the extending direction of the second step 56 shaft 50 is arranged backward, the first step 55 shaft 49 comprises a first extending shaft, a second extending shaft and a third extending shaft, the third extending shaft is sleeved on the second extending shaft, the second extending shaft is sleeved on the first extending shaft, the second extending shaft and the third extending shaft sequentially penetrate through a third driving hole 75, a second driving hole 74 and a first driving hole 73 from back to front, the outer diameter of the first extending shaft is matched with the first driving hole 73, the outer diameter of the second extending shaft is matched with the second driving hole 74, the outer diameter of the third extending shaft is matched with the third driving hole 75, the second step 56 shaft 50 comprises a fourth extending shaft, The fourth extension shaft is sleeved on the fifth extension shaft, the fifth extension shaft is sleeved on the sixth extension shaft, the fifth extension shaft and the fourth extension shaft sequentially penetrate through the fourth driving hole, the fifth driving hole and the sixth driving hole from front to back, the outer diameter of the sixth extension shaft is matched with the sixth driving hole, the outer diameter of the fifth extension shaft is matched with the fifth driving hole, the outer diameter of the fourth extension shaft is matched with the fourth driving hole, the eighth cylinder and the ninth cylinder are arranged among the fifth straight line module 48, the first supporting plate 52 and the second supporting plate and are positioned on the left side of the ninth cylinder, the output end of the eighth cylinder is fixed with the first extension shaft, the output end of the ninth cylinder is fixed with the sixth extension shaft, and the eighth cylinder drives the first extension shaft to move back and forth, the ninth cylinder drives the sixth extension shaft to move back and forth, when the eighth cylinder extends forwards to the maximum working position and the ninth cylinder extends backwards to the maximum position, the right side of the first distance changing block 61 is attached to the first step 55 and the seventh step 58, the right side of the second distance changing block 62 is attached to the second step 56 and the eighth step 59, the right side of the third distance changing block 63 is attached to the third step 57 and the ninth step 60, the left side of the fourth distance changing block 64 is attached to the fourth step and the tenth step, the left side of the fifth distance changing block 65 is attached to the fifth step and the eleventh step, the left side of the sixth distance changing block 66 is attached to the sixth step and the twelfth step, the distance between the first distance changing block 61 and the second distance changing block 62, the distance between the second distance changing block 62 and the third distance changing block 63, the distance between the third distance changing block 63 and the fourth distance changing block 64, the distance between the fourth distance changing block 64 and the fifth distance changing block 65, and the distance between the fifth distance changing block 66 The distances are equal, the middle parts of the top surfaces of the first distance changing block 61, the second distance changing block 62, the third distance changing block 63, the fourth distance changing block 64, the fifth distance changing block 65 and the sixth distance changing block 66 are respectively provided with a second discharging groove, the distances between every two adjacent second discharging grooves are equal, when the eighth cylinder extends forwards to the maximum working position and the ninth cylinder extends backwards to the maximum position, the distance between every two adjacent second discharging grooves is equal to the distance between every two adjacent suction nozzles on the spindle moving mechanism, when the eighth cylinder retracts backwards and the ninth cylinder retracts forwards, the first distance changing block 61, the second distance changing block 62, the third distance changing block 63, the fourth distance changing block 64, the fifth distance changing block 65 and the sixth distance changing block 66 are sequentially attached to each other;

the blanking cache distance-changing mechanism comprises an eighth servo motor 76, a sixth linear module 77, a tenth air cylinder and an eleventh air cylinder, the sixth linear module 77 is arranged between the feeding cache distance-changing mechanism and the inner cavity detection mechanism along the front-back direction, the eighth servo motor 76 is arranged at the rear part of the left side of the sixth linear module 77, a second sliding plate 80 is arranged on the sixth linear module 77 in a sliding manner, the eighth servo motor 76 drives the second sliding plate 80 to slide along the sixth linear module 77 in the front-back direction, a third guide rail 82 is arranged on the left part of the second sliding plate 80 along the front-back direction through a third support plate 81, a fourth guide rail 83 is arranged on the right part of the second sliding plate 80 along the front-back direction through a fourth support plate, and thirteenth steps 84, fourteenth steps 85, fifteenth steps 86, thirteenth steps 84, fourteenth steps 86 and eleventh steps 86 are sequentially arranged on the third guide rail 82 at equal intervals from front to back, A sixteenth step 87, a seventeenth step 88 and an eighteenth step 89, wherein the nineteenth step 90, the twentieth step 91, the twenty-first step 92, the twenty-second step 93, the twenty-third step 94 and the twenty-fourth step 95 are sequentially arranged on the fourth guide rail 83 at equal intervals from front to back, the thirteenth step 84 and the nineteenth step 90 are arranged at equal heights correspondingly from left to right, the fourteenth step 85 and the twentieth step 91 are arranged at equal heights correspondingly from left to right, the fifteenth step 86 and the twenty-first step 92 are arranged at equal heights correspondingly from left to right, the sixteenth step 87 and the twenty-second step 93 are arranged at equal heights correspondingly from left to right, the seventeenth step 88 and the twenty-third step 94 are arranged at equal heights correspondingly from left to right, the eighteenth step 89 and the twenty-fourth step 95 are arranged at equal heights correspondingly from left to right, the thirteenth step 84 and the eighteenth step 89 are arranged at equal heights, the seventeenth step 88 are arranged at equal heights, and the fifteenth step 86 and the sixteenth step 87 are arranged at equal heights, the height of the thirteenth step 84 is higher than that of the fourteenth step 85, the height of the fourteenth step 85 is higher than that of the fifteenth step 86, a seventh variable block 96, an eighth variable block 97, a ninth variable block 98, a tenth variable block 99, an eleventh variable block 100 and a twelfth variable block 101 are sequentially installed on the third guide rail 82 and the fourth guide rail 83 from front to rear, the seventh variable block 96 is installed on the third guide rail 82 and the fourth guide rail 83 through a thirteenth positioning square hole and a fourteenth positioning square hole, the eighth variable block 97 is installed on the third guide rail 82 and the fourth guide rail 83 through a fifteenth positioning square hole and a sixteenth positioning square hole, the ninth variable block 98 is installed on the third guide rail 82 and the fourth guide rail 83 through a seventeenth positioning square hole and an eighteenth positioning square hole, the tenth variable block 99 is installed on the third guide rail 82 and the fourth guide rail 83 through a nineteenth positioning square hole and a twentieth positioning square hole, the eleventh variable pitch block 100 is mounted on the third guide rail 82 and the fourth guide rail 83 through a twenty-first positioning square hole and a twenty-second positioning square hole, the twelfth variable pitch block 101 is mounted on the third guide rail 82 and the fourth guide rail 83 through a twenty-third positioning square hole and a twenty-fourth positioning square hole, the thirteenth positioning square hole, the fourteenth positioning square hole, the twenty-third positioning square hole and the twenty-fourth positioning square hole are arranged at the same height, the fifteenth positioning square hole, the sixteenth positioning square hole, the twenty-first positioning square hole and the twenty-second positioning square hole are arranged at the same height, the seventeenth positioning square hole, the eighteenth positioning square hole, the nineteenth positioning square hole and the twentieth positioning square hole are arranged at the same height, the thirteenth positioning square hole is lower than the thirteenth step 84, the thirteenth positioning square hole is higher than the fourteenth step 85, and the fourteenth positioning square hole is lower than the fourteenth step 85, the height of the fourteenth positioning square hole is higher than that of the fifteenth step 86, the height of the fifteenth positioning square hole is lower than that of the fifteenth step 86, the seventh variable pitch block 96 is provided with a seventh driving hole through the seventh variable pitch block 96 from top to bottom, the eighth variable pitch block 97 is provided with an eighth driving hole through the eighth variable pitch block 97 from top to bottom, the ninth variable pitch block 98 is provided with a ninth driving hole through the ninth variable pitch block 98 from top to bottom, the tenth variable pitch block 99 is provided with a tenth driving hole through the tenth variable pitch block 99 from top to bottom, the eleventh variable pitch block 100 is provided with an eleventh driving hole through the eleventh variable pitch block 100 from top to bottom, the twelfth variable pitch block 101 is provided with a twelfth driving hole from top to bottom, the seventh driving hole is equal to the twelfth driving hole, and the eighth driving hole is equal to the eleventh driving hole, the aperture of the ninth driving hole is equal to that of the tenth driving hole, the aperture of the seventh driving hole is smaller than that of the eighth driving hole, the aperture of the eighth driving hole is smaller than that of the ninth driving hole, a third step shaft 78 and a fourth step shaft 79 are arranged between the third guide rail 82 and the fourth guide rail 83 at intervals from left to right, the extension direction of the third step shaft 78 is arranged forward, the extension direction of the fourth step shaft 79 is arranged backward, the third step shaft 78 comprises a seventh extension shaft, an eighth extension shaft and a ninth extension shaft, the ninth extension shaft is sleeved on the eighth extension shaft, the eighth extension shaft is sleeved on the seventh extension shaft, the eighth extension shaft and the ninth extension shaft sequentially penetrate through the ninth driving hole, the eighth driving hole and the seventh driving hole from back to front, and the outer diameter of the seventh extension shaft is matched with that of the seventh driving hole, the outer diameter of the eighth extension shaft is matched with the eighth driving hole, the outer diameter of the ninth extension shaft is matched with the ninth driving hole, the fourth step shaft 79 comprises a tenth extension shaft, an eleventh extension shaft and a twelfth extension shaft, the tenth extension shaft is sleeved on the eleventh extension shaft, the eleventh extension shaft is sleeved on the twelfth extension shaft, the eleventh extension shaft and the tenth extension shaft sequentially penetrate through the tenth driving hole, the eleventh driving hole and the twelfth driving hole from front to back, the outer diameter of the twelfth extension shaft is matched with the twelfth driving hole, the outer diameter of the eleventh extension shaft is matched with the eleventh driving hole, the outer diameter of the tenth extension shaft is matched with the tenth driving hole, and the tenth cylinder and the eleventh cylinder are arranged among the sixth linear module 77, the third supporting plate 81 and the fourth supporting plate, the tenth air cylinder is positioned on the left side of the eleventh air cylinder, the output end of the tenth air cylinder is fixed with the seventh extending shaft, the output end of the eleventh air cylinder is fixed with the twelfth extending shaft, the tenth air cylinder drives the seventh extending shaft to move back and forth, the eleventh air cylinder drives the twelfth extending shaft to move back and forth, when the tenth air cylinder extends forwards to the maximum working position and the eleventh air cylinder extends backwards to the maximum working position, the right side of the seventh variable pitch block 96 is attached to the thirteenth step 84 and the nineteenth step 90, the right side of the eighth variable pitch block 97 is attached to the fourteenth step 85 and the twentieth step 91, the right side of the ninth variable pitch block 98 is attached to the fifteenth step 86 and the twenty-first step 92, the left side of the tenth variable pitch block 99 is attached to the sixteenth step 87 and the twenty-second step 93, and the left side of the eleventh variable pitch block 100 is attached to the seventeenth step 88 and the twenty-third step 94, The left side of a twelfth variable pitch block 101 is attached to an eighteenth step 89 and a twenty-fourth step 95, the distance between a seventh variable pitch block 96 and an eighth variable pitch block 97, the distance between the eighth variable pitch block 97 and a ninth variable pitch block 98, the distance between the ninth variable pitch block 98 and a tenth variable pitch block 99, the distance between a tenth variable pitch block 99 and an eleventh variable pitch block 100 and the distance between an eleventh variable pitch block 100 and a twelfth variable pitch block 101 are all equal, a third discharging groove is respectively arranged in the middle of the top surfaces of the seventh variable pitch block 96, the eighth variable pitch block 97, the ninth variable pitch block 98, the tenth variable pitch block 99, the eleventh variable pitch block 100 and the twelfth variable pitch block 101, the distances between two adjacent third discharging grooves are all equal, and when the tenth cylinder extends forwards to a maximum working position and the eleventh cylinder extends backwards to a maximum position, the distance between the two adjacent third discharging grooves is equal to the distance between adjacent suction nozzles on the main shaft moving mechanism, when the tenth cylinder retracts backwards and the eleventh cylinder retracts forwards, the seventh variable pitch block 96, the eighth variable pitch block 97, the ninth variable pitch block 98, the tenth variable pitch block 99, the eleventh variable pitch block 100 and the twelfth variable pitch block 101 are sequentially attached to one another, so that a detected product is moved to the blanking station 3 by the blanking transfer mechanism, the structures of the feeding caching variable pitch mechanism and the blanking caching variable pitch mechanism are the same, the feeding caching variable pitch mechanism and the blanking caching variable pitch mechanism are moved forwards and backwards by adopting a servo motor and a linear module, the positioning precision is high, the speed is high, the movement is stable, the debugging is convenient, the eighth cylinder, the ninth cylinder, the tenth cylinder and the eleventh cylinder adopt a single left cylinder or a single right cylinder to drive a positioning jig, the gas path is simplified, the gas path is optimized, the wiring of a gas path walking pipe is optimized, the whole mechanism is high in labeling key degree, the structure is simplified, compact, attractive, the performance and the cost ratio is high, and the processing period is short.

The specific use process of the feeding buffer pitch-changing mechanism and the blanking buffer pitch-changing mechanism is as follows:

when the feeding transfer mechanism puts the sucked products into a second discharging groove on a first distance changing block 61, a second distance changing block 62, a third distance changing block 63, a fourth distance changing block 64, a fifth distance changing block 65 and a sixth distance changing block 66, an eighth air cylinder and a ninth air cylinder are started, the eighth air cylinder extends forwards, the ninth air cylinder extends backwards, the eighth air cylinder drives a first extension shaft to extend forwards, the first extension shaft sequentially drives a second extension shaft and a third extension shaft to extend forwards, the first extension shaft, the second extension shaft and the third extension shaft respectively drive a first distance changing block 61, a second distance changing block 62 and a third distance changing block 63 to move forwards through a first driving hole 73, a second driving hole 74 and a third driving hole 75, when the eighth air cylinder extends to reach the maximum value, the right side of the first distance changing block 61 is attached to a first step 55 and a seventh step 58, and the right side of the second distance changing block 62 is attached to a second step 56 and an eighth step 59, the right side of the third distance changing block 63 is attached to the third step 57 and the ninth step 60, meanwhile, the ninth cylinder drives the fourth extension shaft to extend backwards, the fourth extension shaft sequentially drives the fifth extension shaft and the sixth extension shaft to extend backwards, the fourth extension shaft, the fifth extension shaft and the sixth extension shaft respectively drive the fourth distance changing block 64, the fifth distance changing block 65 and the sixth distance changing block 66 to move backwards through the fourth driving hole, the fifth driving hole and the sixth driving hole, when the ninth cylinder extends to the maximum value, the left side of the fourth distance changing block 64 is attached to the fourth step and the tenth step, the left side of the fifth distance changing block 65 is attached to the fifth step and the eleventh step, the left side of the sixth distance changing block 66 is attached to the sixth step and the twelfth step, then the main shaft moving mechanism sucks the products on the first distance changing block 61, the second distance changing block 62, the third distance changing block 63, the fourth distance changing block 64, the fifth distance changing block 65 and the sixth distance changing block 66, the feeding cache pitch-changing mechanism is reset, when the feeding cache pitch-changing mechanism is used, the distance between the first pitch-changing block 61, the second pitch-changing block 62, the third pitch-changing block 63, the fourth pitch-changing block 64, the fifth pitch-changing block 65 and the sixth pitch-changing block 66 is increased, so that the main shaft moving mechanism can suck products, and after the main shaft moving mechanism finishes sucking the products, the feeding cache pitch-changing mechanism is reset, namely the distance between the first pitch-changing block 61, the second pitch-changing block 62, the third pitch-changing block 63, the fourth pitch-changing block 64, the fifth pitch-changing block 65 and the sixth pitch-changing block 66 is reduced and the first pitch-changing block 61, the second pitch-changing block 62, the third pitch-changing block 63, the fourth pitch-changing block 64, the fifth pitch-changing block 65 and the sixth pitch-changing block 66 are mutually attached;

when the spindle moving mechanism takes out the detected product and puts the detected product back to the seventh pitch changing block 96, the eighth pitch changing block 97, the ninth pitch changing block 98, the tenth pitch changing block 99, the eleventh pitch changing block 100 and the twelfth pitch changing block 101, the tenth air cylinder and the eleventh air cylinder are started, the tenth air cylinder retracts backwards, the eleventh air cylinder retracts forwards, the tenth air cylinder drives the seventh extension shaft to retract, the seventh extension shaft sequentially drives the eighth extension shaft and the ninth extension shaft to retract, the seventh extension shaft, the eighth extension shaft and the ninth extension shaft respectively drive the seventh pitch changing block 96, the eighth pitch changing block 97 and the ninth pitch changing block 98 to move backwards through the seventh driving hole, the eleventh air cylinder drives the tenth extension shaft to retract forwards, the tenth shaft sequentially drives the eleventh extension shaft and the twelfth extension shaft to retract, the tenth extension shaft, the eleventh extension shaft and the twelfth extension shaft respectively drive the tenth driving hole, The eleventh driving hole and the twelfth driving hole drive the tenth variable pitch block 99, the eleventh variable pitch block 100 and the twelfth variable pitch block 101 to move forwards, after the tenth cylinder and the eleventh cylinder retract and reset, the seventh variable pitch block 96, the eighth variable pitch block 97, the ninth variable pitch block 98, the tenth variable pitch block 99, the eleventh variable pitch block 100 and the twelfth variable pitch block 101 are attached to each other so that the blanking transplanting mechanism can suck the blanking, when the blanking cache variable pitch mechanism is used, the distance between the seventh variable pitch block 96, the eighth variable pitch block 97, the ninth variable pitch block 98, the tenth variable pitch block 99, the eleventh variable pitch block 100 and the twelfth variable pitch block 101 is reduced, after the blanking transplanting mechanism takes out the product, the blanking cache variable pitch mechanism resets again, the seventh variable pitch block 96, the eighth variable pitch block 97, the ninth variable pitch block 98, the tenth variable pitch block 99, the eleventh variable pitch block 100 and the twelfth variable pitch block 101 reaches the maximum distance again, in order to facilitate subsequent product re-placement of the spindle moving mechanism, the feeding buffer distance-changing mechanism can drive the first sliding plate 51 to slide back and forth along the fifth linear module 48 through the seventh servo motor 47 so as to adjust the position of each part on the first sliding plate 51, so that the first distance-changing block 61, the second distance-changing block 62, the third distance-changing block 63, the fourth distance-changing block 64, the fifth distance-changing block 65 and the sixth distance-changing block 66 of the feeding buffer distance-changing mechanism are aligned with the six sixth air cylinders 42 of the feeding moving mechanism, and the discharging buffer distance-changing mechanism can drive the second sliding plate 80 to slide back and forth along the sixth linear module 77 through the eighth servo motor 76, so that the parts on the second sliding plate 80 are aligned with the six seventh air cylinders 46 of the discharging moving mechanism.

The spindle carrying mechanism comprises a ninth servo motor 102 and a seventh linear module 103, the seventh linear module 103 is installed between the third linear module 40 and the fourth linear module 44 along the left-right direction through a fifth support frame, the seventh linear module 103 is located above the second discharging slot and the third discharging slot, a first sliding seat 104 is installed at the bottom side of the seventh linear module 103 in a sliding manner, the ninth servo motor 102 is installed at the left side of the seventh linear module 103, the ninth servo motor 102 drives the first sliding seat 104 to slide along the seventh linear module 103 left and right, a second connecting plate 105 is fixed at the bottom of the first sliding seat 104 along the front-back vertical direction, an eighth linear module is installed on the right side of the second connecting plate 105 along the vertical direction, a second sliding seat is installed on the right side of the eighth linear module in a sliding manner, and a tenth servo motor is installed at the rear side of the eighth linear module, the tenth servo motor drives the second sliding seat slides from top to bottom along an eighth straight line module, the bottom of the second sliding seat is horizontally provided with a first mounting plate along the front-back direction, the bottom surface of the first mounting plate is provided with a first vertical plate along the vertical direction, the second sliding seat is provided with a twelfth cylinder, six groups of blanking suction nozzle assemblies are arranged on the first mounting plate at intervals of equal distances from front to back, the six groups of blanking suction nozzle assemblies are positioned on the right side of the first vertical plate, the twelfth cylinder is pneumatically connected with each group of blanking suction nozzle assemblies of the six groups of blanking suction nozzle assemblies, the first vertical plate is provided with an eleventh servo motor 117 and six groups of feeding suction nozzle assemblies on the left side, the six groups of feeding suction nozzle assemblies are arranged at intervals of equal distances from front to back, the eleventh servo motor 117 drives each group of feeding suction nozzle assemblies of the six groups of feeding suction nozzle assemblies to rotate, and the blanking suction nozzle assemblies are used for taking out products detected by a five-axis detection mechanism, the feeding suction nozzle assembly is used for taking out the products in the feeding cache pitch-varying mechanism, sending the products to the inner cavity detection mechanism for detection, and sending the products to the five-axis detection mechanism for detection after the inner cavity detection mechanism finishes detection;

each of the six groups of blanking suction nozzle assemblies comprises a pipe joint, a bushing and a lifting shaft 106, the pipe joint is positioned above the bushing, the lifting shaft 106 is installed in the bushing through a first floating spring, a first suction nozzle 107 is installed at the bottom of the lifting shaft 106, the first suction nozzle 107 is communicated with the pipe joint, the pipe joint is in pneumatic connection with a twelfth cylinder, the lifting shaft of the blanking suction nozzle assembly has the same floating function as the feeding suction nozzle assembly, the lifting shaft and the feeding suction nozzle assembly can lift up and down under the action of the spring of the first floating spring, and the first suction nozzle 107 is prevented from being in hard contact with a product to crush the product;

each feeding suction nozzle assembly of the six feeding suction nozzle assemblies comprises a fifth mounting block 108, a first rotating shaft 109, a first rotating seat 110 and a first rotating joint 111, the first rotating shaft 109 is rotatably mounted in the first rotating seat 110, the upper part of the first rotating shaft 109 extends to the upper part of the first rotating seat 110, the lower part of the first rotating shaft 109 extends to the lower part of the first rotating seat 110, the lower part of the first rotating shaft 109 is sleeved with the fifth mounting block 108, the right side of the fifth mounting block 108 is fixed on a first vertical plate, the upper side of the fifth mounting block 108 is fixed with the first rotating seat 110, an eleventh servo motor 117 is mounted at the top of a first mounting plate at the rear side of a second sliding seat, and the output shaft of the eleventh servo motor 117 penetrates downwards through the first mounting plate to the lower part of the first mounting plate, a suction nozzle transfer block is mounted at the bottom of the first rotating shaft 109, the bottom of the suction nozzle transfer block is provided with a second suction nozzle 112, a second floating spring 113 is arranged between the suction nozzle transfer block and the bottom of the first rotating shaft 109, the second floating spring 113 is positioned below the fifth mounting block 108, the middle upper part of the second floating spring 113 is sleeved on the bottom of the first rotating shaft 109, the upper part of the first rotating shaft 109 is provided with a first synchronous pulley 114, the first rotating joint 111 is connected with the first rotating shaft 109 through a joint adapter, the joint adapter is positioned above the first synchronous pulley 114, a group of first idle pulley assemblies are arranged between two adjacent groups of feeding suction nozzle assemblies, the specific first rotating shaft is of a double-layer structure, namely, the outer side is a hollow shaft inner side which is of a vacuum shaft structure, the hollow shaft is arranged in the first rotating base 110 and can rotate relative to the first rotating base 110, the inner side of the hollow shaft and the outer side of the vacuum shaft are respectively provided with a plane so as to prevent the vacuum shaft and the hollow shaft from rotating relatively, the vacuum shaft is arranged in the hollow shaft and can float up and down relatively, the vacuum shaft is matched with the second floating spring 113 so as to float up and down, the influence of unequal heights of products in the vertical direction is eliminated, and the second suction nozzle 112 is in hard contact with and crush the products when contacting the products, so that the first rotating shaft 109 can lift and rotate relative to the first rotating base 110, the rotation is driven by the eleventh servo motor 117 so as to rotate, the products in the second suction nozzle 112 can be driven to rotate, the lifting is driven by the spring acting force of the second floating spring 113 so as to lift up and down, and the floating function is achieved;

the first idler wheel assembly comprises a first idler wheel seat 115 and a first idler wheel 116, the left side of the first idler wheel seat 115 is fixed on a first vertical plate, the right part of the first idler wheel seat 115 is vertically and upwardly rotatably provided with a first idler wheel shaft, the first idler wheel 116 is arranged on the first idler wheel shaft, the top of the first idler wheel shaft is provided with a first retainer ring, an output shaft of an eleventh servo motor 117 is provided with a first driving wheel 118, the first driving wheel 118 is positioned below a first mounting plate, the rear side of the first driving wheel 118 is adjacently provided with a first auxiliary wheel, the first auxiliary wheel is rotatably arranged on the right side of the first vertical plate through a third mounting plate, the first driving wheel 118 and the first auxiliary wheel 114 are sleeved with a first synchronous belt 120, the left side surface of the left half width of the first synchronous belt 120 is connected with the right sides of the first idler wheel 116 and the first auxiliary wheel in an abutting mode, the right side of the left half of the first timing belt 120 is in interference connection with the first driving wheel 118 and the left side of the first timing pulley 114, the left side surface of the right half width of the first synchronous belt 120 is connected with the right side of the first driving wheel 118 and the right side of the first synchronous belt wheel 114 in an abutting mode, the first suction nozzle 107 and the second suction nozzle 112 both comprise floating spring structures, soft contact with products during feeding and discharging is guaranteed, the appearance of the products is not crushed, the microscopic height difference of the first suction nozzle 107 and the second suction nozzle 112 is made up, the first suction nozzle 107 can rotate through an air cylinder, the second suction nozzle 112 can be highly kept away from a feeding cache distance changing mechanism during feeding, mutual interference is avoided, the first rotary joint 111 and the second rotary joint are arranged to prevent air pipe winding, the second suction nozzle 112 comprises rotating, lifting, vacuum sucking and floating functions, and the first suction nozzle 107 comprises lifting, vacuum sucking and floating functions.

The main shaft moving mechanism comprises the following specific using process:

after the feeding buffer pitch-changing mechanism finishes pitch changing, namely the distance between the first pitch-changing block 61, the second pitch-changing block 62, the third pitch-changing block 63, the fourth pitch-changing block 64, the fifth pitch-changing block 65 and the sixth pitch-changing block 66 is maximum, the ninth servo motor 102 drives the first sliding seat 104 to move leftwards along the seventh linear module 103, when the six second suction nozzles 112 move to the positions right above the products on the first pitch-changing block 61, the second pitch-changing block 62, the third pitch-changing block 63, the fourth pitch-changing block 64, the fifth pitch-changing block 65 and the sixth pitch-changing block 66, the ninth servo motor 102 stops working, the tenth servo motor starts, the tenth servo motor drives the second sliding seat to slide downwards along the eighth linear module, and when the six second suction nozzles 112 respectively abut against the first pitch-changing block 61, the second pitch-changing block 62, the third pitch-changing block 63, the fourth pitch-changing block 64, the fifth pitch-changing block 65 and the sixth pitch-changing block 66 to suck the first pitch-changing block 61, Products on a second distance changing block 62, a third distance changing block 63, a fourth distance changing block 64, a fifth distance changing block 65 and a sixth distance changing block 66, then a tenth servo motor drives a second sliding seat to move upwards along an eighth linear module again, a ninth servo motor 102 drives a first sliding seat 104 to move rightwards along a seventh linear module 103 so that six second suction nozzles 112 are aligned with six groups of first CCD unit components of an inner cavity detection mechanism, so that the six groups of first CCD unit components are photographed and compared, the inner cavity side of the products is detected, then the ninth servo motor 102 drives the first sliding seat 104 to move rightwards along the seventh linear module 103 again so that the six second suction nozzles 112 are aligned with six groups of self-rotating shaft components of a five-axis detection mechanism, then the tenth servo motor drives a second sliding seat to move downwards along the eighth linear module so that the products on the six second suction nozzles 112 are placed on the self-rotating shafts of the six self-rotating shafts, after the products on the spinning shaft jig of the six spinning shafts are detected by the five-shaft detection mechanism, the ninth servo motor 102 drives the first sliding seat 104 to move rightwards along the seventh linear module 103 again, the tenth servo motor drives the second sliding seat to move downwards along the eighth linear module, at the moment, the six first suction nozzles 107 suck the products on the spinning shaft jig of the six spinning shafts and reset leftwards to be conveyed to the blanking cache pitch-changing mechanism, that is, after the 6 second suction nozzles 112 take the products from the feeding buffer pitch-varying mechanism and send the products to the inner cavity detection mechanism and the five-axis detection mechanism for detecting the inner cavity side and the appearance side, then the materials are taken down from the five-axis detection mechanism by means of 6 first suction nozzles 107 and sent to a blanking cache pitch-changing mechanism, the 6 second suction nozzles 112 and the 6 first suction nozzles 107 do not interfere with each other and respectively play their own roles, and when the detected product is conveyed to the blanking cache pitch-changing mechanism, the main shaft moving mechanism is reset leftwards, and the steps are repeated to take the material from the feeding cache pitch-changing mechanism.

The inner cavity detection mechanism comprises a ninth linear module 121 and a twelfth servo motor 122, the five-axis detection mechanism is positioned at the right side in the mounting cavity, the ninth linear module 121 is arranged between the sixth linear module 77 and the five-axis detection mechanism along the front-back direction, a third sliding seat 123 is slidably mounted on the ninth linear module 121, a second vertical plate 124 is vertically mounted on the left portion of the top surface of the third sliding seat 123 along the front-back direction, the twelfth servo motor 122 is disposed at the front side of the ninth linear module 121 and the twelfth servo motor 122 drives the third sliding seat 123 to slide back and forth along the ninth linear module 121, six groups of first CCD unit components are arranged at the rear part of the second vertical plate 124 at equal intervals, a first driving component is arranged at the front part of the second vertical plate 124, and the first driving component is in transmission connection with the six groups of first CCD unit components;

each of the six groups of first CCD unit assemblies includes a first industrial camera 125, a first dome light 126, a first telecentric lens 127, a second rotating shaft 128 and a first bearing seat 129, the first bearing seat 129 is installed on the second vertical plate 124 along the left-right direction, the right part of the first bearing seat 129 penetrates through the second vertical plate 124 to the right to extend to the right side of the second vertical plate 124, the second rotating shaft 128 is rotatably installed in the first bearing seat 129 on the left side and the left part of the second rotating shaft 128 extends to the left side of the first bearing seat 129 on the left side, a first camera adjusting bracket is installed on the left side of the second rotating shaft 128, a first camera bracket 130 is arranged on the upper part of the left side of the first camera adjusting bracket, the first industrial camera 125 is installed in the first camera bracket 130 along the vertical direction, the shooting direction of the first industrial camera 125 is upward arranged, the first telecentric lens 127 is installed on the top of the first industrial camera 125, a first light source adjusting bracket 131 is arranged on the left side of the first camera bracket 130 upwards, the first circular top light 126 is installed in the first light source adjusting bracket 131, the first circular top light 126 and the first telecentric lens 127 are located on the same straight line, a first zero back clearance gear 132 is connected to the right side of the first bearing seat 129 through the right side of a first locking nut, and the first locking nut is located on the right side of the second vertical plate 124;

the first driving assembly comprises a thirteenth servo motor 133 and a second bearing seat, the second bearing seat is installed on the second vertical plate 124, the front side of the second bearing seat is installed on the second vertical plate 124, the right part of the second bearing seat penetrates out of the second vertical plate 124 to the right side to extend to the right side of the second vertical plate 124, the thirteenth servo motor 133 is located on the left side of the second vertical plate 124, a first speed reducer is installed on the left side of the second bearing seat and is in transmission connection with an output shaft of the thirteenth servo motor 133, the right side of the second bearing seat is connected with a second zero back clearance gear 134 through a second locking nut, the first speed reducer is in transmission connection with the second zero back clearance gear 134, a first origin induction sheet is installed on the right side of the second zero back clearance gear 134, the front side and the rear side of the right part of the third sliding seat 123 are respectively provided with a fifth sensor and a sixth sensor, the upper part of the front side and the rear side of the left side of the second vertical plate 124 are respectively provided with a third sensor and a fourth sensor, the first zero back clearance gear 132 is in transmission connection with the second zero back clearance gear 134 through a first rack 135, the first rack 135 is located above the first zero back clearance gear 132 and the second zero back clearance gear 134, a first shield 136 is sleeved above the first rack 135, an inner cavity detection mechanism is also a detection mechanism of a plurality of first industrial cameras 125, a first CCD unit assembly realizes synchronous rotation of a plurality of stations at different angles under the transmission of the first rack 135, the first zero back clearance gear 132 and the second zero back clearance gear 134 and high-precision bearing seats can guarantee transmission precision and smooth and stable rotation, the influence of slight shake of the first CCD unit assembly on image quality when the synchronous belt synchronous wheel transmission is suddenly stopped is avoided, the algorithm comparison failure risk is reduced, the detection beat is improved, and a first origin induction sheet, a second origin induction sheet, a first sensor, The second sensor, the third sensor, the fourth sensor, the fifth sensor, the sixth sensor and the like are arranged to be protected in a limiting mode, the first CCD unit assembly and the second CCD unit assembly are placed to be damaged, and a shield metal plate (a first shield 136 and a second shield) can be mounted on the first zero back clearance gear 132 and the second zero back clearance gear 134 to protect the man-machine safety.

The specific use process of the inner cavity detection mechanism is as follows:

when the ninth servo motor 102 of the spindle moving mechanism drives the first sliding seat 104 to move rightward along the seventh linear module 103 so as to align the six second suction nozzles 112 with the six sets of first CCD unit components of the inner cavity detection mechanism, at this time, the tenth servo motor can drive the second sliding seat to move upward or downward along the eighth linear module so as to align the products in the six second suction nozzles 112 with the six sets of first CCD unit components, so that the first CCD unit components can be conveniently photographed and compared to determine the inner cavity side of the products, at this time, the twelfth servo motor 122 can drive the third sliding seat 123 to slide forward and backward along the ninth linear module 121 so as to adjust the forward and backward positions of the six sets of first CCD unit components on the second vertical plate 124, so as to correspond to the six second suction nozzles 112 up and down to perform photographing and comparison determination, in this process, the first driving wheel 118 can be driven to rotate by the starting of the eleventh servo motor 117, the first driving wheel 118 drives the first synchronous pulley 114 to rotate through the first synchronous belt 120, the first idle pulley 116 and the first auxiliary pulley assist the rotation of the first synchronous belt 120, the first driving wheel 118 and the first synchronous pulley 114, the first synchronous pulley 114 can drive the first rotating shaft 109 to rotate so as to drive the second suction nozzle 112 to rotate after rotating, the second suction nozzle 112 can drive the product to rotate after rotating, so that the inner cavity side of the product can be shot in 360 degrees without dead angles by six groups of first CCD unit components, when the front and rear positions of the six groups of first CCD unit components are adjusted, the light emitting position of the first dome light 126 can be adjusted through the first light source adjusting bracket 131, the position of the first industrial camera 125 is adjusted through the first camera bracket 130, then the first dome light 126 emits light, the first industrial camera 125 shoots through the first telecentric lens 127, the inner cavity side of the product is shot, and the inner cavity side of the product is sent back to the PLC and the software upper system 125 connected with the first industrial camera for judgment, judging whether the inner cavity side of the product is qualified or not, the utility model also comprises a PLC and a software upper system, wherein the PLC and the software upper system comprises a light source controller (controlling a first dome light 126, a second dome light, a strip light source and the like), an example machine (an industrial personal computer, an industrial computer for large-scale algorithm), each sensor, a PLC controller and the like, an electric program, a detection software program, an AI algorithm model and the like of equipment operation, hardware is dispersed in the machine frame 1, each mechanism and the electric cabinet, meanwhile, a thirteenth servo motor 133 of a first driving assembly drives a second zero back clearance gear 134 to rotate back and forth through a first speed reducer, the second zero back clearance gear 134 drives a second zero back clearance gear 134 to rotate back and forth through a first rack 135, the second zero back clearance gear 134 finally drives a first industrial camera 125 to swing back and forth, so that the first industrial camera 125 shoots inner cavity side photos of more products, whether inner chamber side defective products exist or not is conveniently judged, and the running positions of all parts of the inner chamber detection mechanism can be helped to be monitored by the aid of the third sensor, the fourth sensor, the fifth sensor, the sixth sensor and the first origin induction sheet.

The five-axis detection mechanism comprises a third mounting plate 137, a dome light source lifting assembly and a second CCD unit assembly, the bottom surface of the third mounting plate 137 is fixed on a supporting plate 181, the dome light lifting assembly is mounted above the second CCD unit assembly, the second CCD unit assembly is mounted on the right side in the mounting cavity, the second CCD unit assembly is located on the right side of the third mounting plate 137, the third mounting plate 137 is located between the second CCD unit assembly and a ninth linear module 121 in the mounting cavity, a fifth slide rail 138 and a sixth slide rail 139 are mounted on the front portion and the rear portion of the top surface of the third mounting plate 137 along the left-right horizontal direction, a tenth linear module 140 and a fourteenth servo motor 141 are mounted in the middle of the third mounting plate 137 between the fifth slide rail 138 and the sixth slide rail 139 along the left-right direction, the fourteenth servo motor 141 is located on the rear side of the tenth linear module 140, the tenth linear module 140, the fifth slide rail 138 and the sixth slide rail 139 are slidably connected to a fourth mounting plate 142, the fourteenth servo motor 141 drives the fourth mounting plate 142 to slide left and right along the tenth linear module 140, the fifth slide rail 138 and the sixth slide rail 139, a fifth support plate 144 and a sixth support plate 143 are vertically mounted at the front and rear of the top surface of the fourth mounting plate 142 respectively, a rotation rod 145 is rotatably mounted between the fifth support plate 144 and the sixth support plate 143, a fifteenth servo motor 146 and a second reducer 147 are mounted at the rear side of the rotation rod 145, the fifteenth servo motor 146 is in transmission connection with the second reducer 147, the second reducer 147 is in transmission connection with the rotation rod 145, a sixteenth servo motor 148 is mounted at the front of the rotation rod 145, an output shaft of the sixteenth servo motor 148 is arranged downward, and a second synchronous pulley 149 is mounted on an output shaft of the sixteenth servo motor 148 through a deep groove ball bearing, a second origin induction sheet is installed below the second synchronous pulley 149, six groups of self-rotation shaft assemblies are arranged on the rear side of a sixteenth servo motor 148 on the rotating rod 145 at equal intervals, and the sixteenth servo motor 148 drives the six groups of self-rotation shaft assemblies to rotate through the second synchronous pulley 149;

every group's axis of rotation subassembly all includes axis of rotation and third bearing frame 150 in six groups of axis of rotation subassemblies, third bearing frame 150 is installed on dwang 145, the axis of rotation rotates to be connected in third bearing frame 150, third synchronous pulley is installed to the below of third bearing frame 150, and second rotary joint is installed to third synchronous pulley's below, third synchronous pulley is connected with the axis of rotation transmission, the cover is equipped with second guard shield 152 on the dwang 145, the cover is equipped with third guard shield and fourth guard shield on fifteenth servo motor 146 and the sixteenth servo motor 148 respectively, second guard shield 152 is upwards worn out to the upper portion of axis of rotation and is extended to the top of second guard shield 152, axis of rotation tool 151 is installed on the upper portion of axis of rotation, axis of rotation tool 151 is located the top of second guard shield 152, between the axis of rotation subassembly that is located foremost side in sixteenth servo motor 148 and six groups of axis of rotation subassemblies and all install between the adjacent two sets of axis of rotation subassembly A second idler assembly;

the second idler wheel assembly comprises a second idler wheel seat and a second idler wheel, the second idler wheel seat is installed on the rotating rod 145, a second idler wheel shaft is vertically and downwards rotatably installed at the bottom of the second idler wheel seat, the second idler wheel is installed on the second idler wheel shaft, a second synchronous belt is sleeved on the second idler wheel, the second synchronous belt wheel 149 and the third synchronous belt wheel, and the sixteenth servo motor 148 drives the third synchronous belt wheel to rotate through the second synchronous belt on the second synchronous belt wheel 149;

the dome light source assembly comprises a sixth supporting frame 153, the sixth supporting frame 153 is installed on the right side of the tenth linear module 140 in the installation cavity, a third vertical plate 154 is arranged on the left side of the top of the sixth supporting frame 153, an eleventh linear module 155 and a seventeenth servo motor 156 are installed in the middle of the left side of the third vertical plate 154 along the vertical direction, a third sliding plate is connected onto the eleventh linear module 155 in a sliding manner, the seventeenth servo motor 156 drives the third sliding plate to slide up and down along the eleventh linear module 155, six height adjusting frames are installed on the front and back of the left side surface of the third sliding plate at intervals, each of the six height adjusting frames is provided with a second dome light 158 through an angle adjusting frame 157, the light emitting direction of the second dome light 158 is arranged towards the autorotation shaft jig, and a specific second dome light 158 is arranged corresponding to one autorotation shaft jig 151, the second dome light 158 faces the corresponding spindle fixture 151;

the second CCD unit assembly includes an eighteenth servo motor 159 and a fourth mounting bracket 160, the specific parts of the eighteenth servo motor 159, the fourth mounting bracket 160 and the fourth mounting bracket 160 are located below the supporting plate 181, the eighteenth servo motor 159 is located below the fourth mounting bracket 160, the fourth mounting bracket 160 is located on the right side of the rotating rod 145 in the mounting cavity, a third reducer 161 is installed on the output shaft of the eighteenth servo motor 159, a fourth bearing seat 162 is arranged in the mounting bracket, a third ball screw is rotatably connected to the fourth bearing seat 162, the specific third ball screw is a standard part, the third ball screw includes a third screw and a third screw nut, the third screw of the third ball screw is rotatably connected to the fourth bearing seat 162, the third screw nut moves up and down along the third screw, the third reducer 161 is in transmission connection with the third ball screw, the outer side of a third screw nut of the third ball screw is connected with a fifth mounting plate 163, the fifth mounting plate 163 is located in the fourth mounting frame 160, the top surface of the fifth mounting plate 163 is vertically and upwards provided with a plurality of guide rods 164, the top of each guide rod 164 in the plurality of guide rods 164 is provided with a linear bearing 165, the linear bearing 165 upwards penetrates through the fourth mounting frame 160 to extend to the upper side of the fourth mounting frame 160, the top of the linear bearing 165 is horizontally and fixedly provided with a sixth mounting plate 166, the left part and the right part of the top surface of the sixth mounting plate 166 are respectively provided with a seventh slide rail and an eighth slide rail along the front-back direction, the front part of the top surface of the sixth mounting plate 166 between the seventh slide rail and the eighth slide rail is provided with a nineteenth servo motor and a fifth bearing seat, the fifth bearing seat is located at the rear side of the nineteenth servo motor, and the output shaft of the nineteenth servo motor faces backwards, a fourth ball screw is rotatably connected in the fifth bearing seat, a nineteenth servo motor is in transmission connection with the fourth ball screw, the fourth ball screw is a standard component and comprises a fourth screw and a fourth screw nut, the fourth screw of the fourth ball screw is rotatably connected in the fifth bearing seat, the fourth screw nut moves back and forth along the fourth screw, a first slide block and a second slide block are installed on a seventh slide rail at intervals from front to back, a third slide block and a fourth slide block are installed on an eighth slide rail at intervals from front to back, a seventh mounting plate is horizontally fixed on the top surface of the fourth screw nut, the top surface of the first slide block, the top surface of the second slide block, the top surface of the third slide block and the top surface of the fourth slide block, a twentieth servo motor and a twelfth linear module are arranged in the middle of the top surface of the seventh mounting plate, and the twelfth linear module is arranged in the left-right direction, the twentieth servo motor is located at the rear side of the twelfth linear module, a fourth sliding plate is connected onto the twelfth linear module in a sliding manner, the twentieth servo motor drives the fourth sliding plate to slide left and right, six second industrial cameras 167 are arranged on the top surface of the fourth sliding plate at equal intervals in the front-back direction, the shooting directions of the six second industrial cameras 167 are arranged towards the left, a second telecentric lens 168 is arranged at the left end of each second industrial camera 167 of the six second industrial cameras 167, a third dome light 169 is arranged on the left side of the second telecentric lens 168, a strip light source 170 is respectively arranged at the front part and the rear part of the left side of the third dome light 169, the second dome light 158 is located above the third dome light 169, the CCD detection structure can detect the product in all directions, and different parts can be adjusted to adapt to different products, for products of which the peripheries do not meet the vacuum suction use condition, the second suction nozzle 112, the first suction nozzle 107 and the like can be converted into claw structures, the CCD detection structure is a flexible system, the adaptability to the products is strong, the detection mode is flexible, the universality is strong, the detection items of the products are synchronous, the inner cavity detection mechanism and the five-axis detection mechanism can be adjusted to detect different angles of different products, stations can be increased and decreased according to the productivity beat, the five-axis detection mechanism is a multi-axis mechanism, the automatic focusing can be realized for the first industrial camera 125, the second industrial camera 167 and the like, different polishing schemes can be realized, the optimal optical scheme can be achieved by matching with the inner cavity detection mechanism, the optimal detection structure can be used for switching the detection of different products by calling different programs.

The five-axis detection mechanism is specifically used as follows:

after the inner cavity detection mechanism detects the products on the six second suction nozzles 112, the ninth servo motor 102 drives the first sliding seat 104 to move rightward along the seventh linear module 103 so that the six second suction nozzles 112 are aligned with the rotating shaft jigs 151 of the rotating shafts of the six rotating shaft assemblies, respectively, the tenth servo motor drives the second sliding seat to move downward along the eighth linear module, then the second suction nozzles 112 place the sucked products on the rotating shaft jigs 151 of the rotating shafts, then the tenth servo motor drives the second sliding seat to move upward along the eighth linear module, then the position of the dome light source lifting assembly is adjusted, the seventeenth servo motor 156 drives the third sliding plate to move upward and downward along the eleventh linear module 155 so as to drive the second dome light 158 to move upward and downward so that the second dome light 158 faces the position of the products on the rotating shaft jigs 151 of the rotating shafts, which is convenient for the second CCD unit assembly to shoot more clearly, in the process, the position of the second dome light 158 can be adjusted by means of a height adjusting frame and an angle adjusting frame 157;

then, the second CCD unit assembly is adjusted to make the second industrial camera 167 aim at the position of the product on the spinning shaft fixture 151 of the six spinning shafts, so as to make a determination of shooting, specifically, the six second industrial cameras 167 are installed on the fourth sliding plate, the twentieth servo motor drives the fourth sliding plate to slide left and right along the twelfth linear module, so that the position of the six second industrial cameras 167 can be adjusted in the left-right direction, so as to aim at the product on the spinning shaft fixture 151 of the spinning shaft more accurately, the nineteenth servo motor can be operated, the nineteenth servo motor drives the fourth ball screw to rotate, so as to drive the fourth screw nut of the fourth ball screw to move back and forth, so as to drive the seventh mounting plate to move back and forth, so as to drive the six second industrial cameras 167 to move back and forth, and so as to drive the eighteenth servo motor 159 through the third reducer 161 to drive the third ball screw to rotate, therefore, the third screw nut of the first ball screw is driven to move up and down, the third screw nut can drive the fifth mounting plate 163 to move up and down, the guide rod 164 and the linear bearing 165 are further driven to move up and down, and finally the sixth mounting plate 166 can move up and down, and the sixth mounting plate can drive the seventh mounting plate and the six second industrial cameras 167 on the seventh mounting plate to move up and down, so that the six second industrial cameras 167 can completely aim at products on the spinning shaft jigs 151 of the six spinning shafts to shoot by moving in the front-back direction, the up-down direction and the left-right direction of the second industrial cameras 167, and the positioning is more accurate;

then, the third dome light 169 and the bar light source 170 are both turned on, the second industrial camera 167 shoots through the second telecentric lens 168, and meanwhile, the sixteenth servo motor 148 is turned on, the sixteenth servo motor 148 drives the third synchronous pulley to rotate through the second synchronous belt on the second synchronous pulley 149, the second idler pulley assists in rotating, the third synchronous pulley drives the rotation shaft to rotate so as to drive the rotation shaft fixture 151 to rotate, and further drive the product to rotate, so that the second industrial camera 167 shoots more appearance photos of the product, and the appearance side of the product is detected more comprehensively, specifically, the fifteenth servo motor 146 drives the rotation shaft 145 to swing left and right through the second speed reducer 147, so that the second industrial camera 167 shoots more appearance photos of the product, and the appearance side of the product is detected more comprehensively;

after the products on the spinning shaft jig 151 are detected, the spindle moving mechanism is started again, six first suction nozzles 107 of the spindle moving mechanism suck the products on the spinning shaft jig 151 and send the products to the discharging cache pitch-changing mechanism, six second suction nozzles 112 and the six first suction nozzles 107 do not interfere with each other, one feeding material is sent to the inner cavity detection mechanism and the five-axis detection mechanism for feeding, and one feeding material is discharged from the five-axis detection mechanism.

The defective product classifying and collecting mechanism is arranged on the left side of the first support frame 4 and comprises a seventh support frame 171, a double-sided tooth synchronous belt 172 is arranged in the seventh support frame 171, a plurality of separation grooves 173 are arranged on the double-sided tooth synchronous belt 172, a plurality of sorting boxes 174 are arranged on the front portion of the left side of the seventh support frame 171 at intervals from front to back, the sorting boxes 174 are communicated with the separation grooves 173 on the double-sided tooth synchronous belt, a plurality of air nozzles 175 are arranged on the front portion of the right side of the double-sided tooth synchronous belt at intervals from front to back, the air nozzles 175 and the sorting boxes 174 are equal in number and are arranged in a left-right corresponding mode, a stepping motor is arranged in the specific seventh support frame 171 and drives the double-sided tooth synchronous belt 172 to rotate, the side portion of the double-sided tooth synchronous belt 172 is provided with a micro connector for establishing correlation optical fibers, the air jet 175 can correspondingly blow different defective products in each partition 173 into different sorting boxes 174, the defective product sorting and collecting mechanism can be provided with the advancing direction of the double-sided tooth synchronous belt 172, the rear side is a feeding area, the front side is a sorting area, the stepping motor drives the double-sided tooth synchronous belt 172 to rotate, the defective product sorting and collecting mechanism can interact with the information of a software system, according to the feedback result of the software system, the air jet 175 can respectively spray different defective products into different sorting boxes 174, when the sorting boxes 174 are full or the software system accumulates a defective product to reach the setting, an alarm can be prompted, each structure of the inner cavity detection mechanism, the five-axis detection mechanism and the like of the utility model is connected with the software system and the like to realize control, the utility model comprises a connected AI algorithm model which can continuously learn actively, and further judge the photos shot by the first CCD unit component and the second CCD unit component accurately, and (5) rapidly analyzing defective products and good products.

Top and bottom are equipped with an electric cabinet respectively in

frame

1, 1 top front side left part of frame is equipped with tristimulus lamp 176, radiator fan is installed at the top of frame 1, operating panel 177, display 178, mouse and keyboard are installed to frame 1 front side, radiator fan, operating panel 177, tristimulus lamp 176 and display 178 all are connected with the electric cabinet electricity, mouse and keyboard with the display 178 electricity is connected, the bottom surface four corners department of frame 1 is equipped with universal wheel 179 and supporting legs 180.

The present embodiment is not intended to limit the shape, material, structure, etc. of the present invention in any way, and any simple modification, equivalent change and modification made to the above embodiments according to the technical spirit of the present invention are within the scope of the technical solution of the present invention.

Claims

1. All-round appearance imperfections check out test set, its characterized in that includes:

2. The all-round appearance defect inspection apparatus of claim 1, characterized in that: the CCD detection structure comprises an inner cavity detection mechanism and a five-axis detection mechanism, the inner cavity detection mechanism and the five-axis detection mechanism are both positioned in the installation cavity and on the side part of the charging and discharging structure of the charging tray, the inner cavity detection mechanism is positioned between the five-axis detection mechanism and the charging and discharging structure of the charging tray, the inner cavity detection mechanism is used for detecting the inner cavity side of the product, and the five-axis detection mechanism is used for detecting the outer side of the product;

the multi-station shifting distance-changing structure comprises a main shaft carrying mechanism, a feeding and transferring mechanism, a discharging and transferring mechanism, a feeding cache distance-changing mechanism and a discharging cache distance-changing mechanism, wherein the main shaft carrying mechanism, the feeding and transferring mechanism, the discharging and transferring mechanism, the feeding cache distance-changing mechanism and the discharging cache distance-changing mechanism are all arranged in the installation cavity between the CCD detection structure and the charging tray structure, the feeding and transferring mechanism is used for conveying products in the feeding station to the feeding cache distance-changing mechanism, the feeding cache distance-changing mechanism is used for temporarily storing product distances, the main shaft carrying mechanism is used for conveying the products subjected to distance changing by the feeding cache distance-changing mechanism to the inner cavity side of the products detected by the inner cavity detection mechanism, conveying the products subjected to detection on the inner cavity side to the outer side detected by the five-axis detection mechanism and conveying the products subjected to detection on the outer side to the discharging cache distance-changing mechanism, the blanking buffer changing mechanism is used for temporarily storing product variable distances, and the blanking transfer mechanism is used for conveying products in the blanking buffer mechanism to a blanking station.

3. The all-round appearance defect inspection apparatus of claim 2, characterized in that: the feeding and discharging structure of the material tray comprises a first support frame, a second support frame, a first servo tray mechanism, a first tray dividing mechanism, a vacuum sucker mechanism, a second servo tray mechanism, a first tray stacking mechanism and a plurality of material trays, wherein a plurality of first discharging grooves are formed in each material tray of the plurality of material trays, the first discharging grooves of the material trays are used for discharging products, the first support frame and the second support frame are symmetrically arranged in a left-right flushing mode, the first support frame and the second support frame are arranged on the left side in the mounting cavity along the front-back direction, the first servo tray mechanism and the second servo tray mechanism are arranged at the bottom between the first support frame and the second support frame, the first servo tray mechanism is positioned on the right side of the second servo tray mechanism, the vacuum sucker mechanism is arranged in the middle of the first support frame, and the suction direction of the vacuum sucker mechanism is towards the space between the first support frame and the second support frame, the vacuum chuck mechanism is used for sucking a material tray, the first tray dividing mechanism is arranged on the front side between the first support frame and the second support frame, the first tray stacking mechanism is arranged on the rear side between the first support frame and the second support frame, the upper part between the first support frame and the second support frame between the vacuum chuck mechanism and the first tray dividing mechanism is a feeding station, the upper part between the first support frame and the second support frame between the vacuum chuck mechanism and the first tray stacking mechanism is a discharging station, the material trays are arranged on the front side between the first support frame and the second support frame, the first servo tray mechanism is used for lifting the material tray and used for moving the material tray back and forth, and the second servo tray mechanism is used for lifting the material tray and used for moving the material tray back and forth;

the first tray dividing mechanism comprises a first mounting block, a second mounting block, a first fork frame and a second fork frame, the first mounting block is mounted on the front side of a first support frame, the second mounting block is mounted on the front side of a second support frame, a first slide rail and a second air cylinder are mounted on the first mounting block, a second slide rail and a third air cylinder are mounted on the second mounting block, the first fork frame is connected to the first slide rail in a sliding manner, the second fork frame is connected to the second slide rail in a sliding manner, the second air cylinder drives the first fork frame to slide left and right along the first slide rail, the third air cylinder drives the second fork frame to slide left and right along the second slide rail, the first fork frame is arranged rightwards, the second fork frame is arranged leftwards and rightwards in a flush manner, a first upright rod and a second upright rod are arranged at the front and back of the front side part of the first support frame at an interval, a third upright rod and a fourth upright rod are arranged at the front side of the front side part of the second support frame at an interval, the first upright stanchion and the third upright stanchion are oppositely arranged left and right, the second upright stanchion and the fourth upright stanchion are oppositely arranged left and right, a first sensor is arranged at the bottom of the second upright stanchion, the plurality of material trays are positioned among the first upright stanchion, the second upright stanchion, the third upright stanchion and the fourth upright stanchion, the first mounting block is positioned between the first upright stanchion and the second upright stanchion, and the second mounting block is positioned between the third upright stanchion and the fourth upright stanchion;

the first disc stacking mechanism comprises a third mounting block, a fourth mounting block, a third fork frame and a fourth fork frame, the third mounting block is mounted on the rear side of the first support frame, the fourth mounting block is mounted on the rear side of the second support frame, a third slide rail and a fourth cylinder are mounted on the third mounting block, a fourth slide rail and a fifth cylinder are mounted on the fourth mounting block, the third fork frame is slidably connected to the third slide rail, the fourth fork frame is slidably connected to the fourth slide rail, the fourth cylinder drives the third fork frame to slide left and right along the third slide rail, the fifth cylinder drives the fourth fork frame to slide left and right along the fourth slide rail, the third fork frame is arranged towards the right, the fourth fork frame is arranged towards the left, the third fork frame and the fourth fork frame are arranged in a flush and opposite mode, a fifth upright rod and a sixth upright rod are arranged at a front-rear side part of the first support frame at a front-rear interval, a front-rear side part of the second support frame is provided with a seventh upright rod and an eighth upright rod at a front-rear interval, the fifth upright post and the seventh upright post are oppositely arranged left and right, the sixth upright post and the eighth upright post are oppositely arranged left and right, the first upright post, the second upright post, the third upright post, the fourth upright post, the fifth upright post, the sixth upright post, the seventh upright post and the eighth upright post are arranged in a height-equal manner along the vertical direction, a second sensor is arranged at the top of the sixth upright post, the third mounting block is positioned between the fifth upright post and the sixth upright post, and the fourth mounting block is positioned between the seventh upright post and the eighth upright post;

4. The all-round appearance defect inspection apparatus of claim 3, characterized in that: the feeding and transferring mechanism comprises a fifth servo motor and a third linear module, the third linear module is arranged on the front side in the mounting cavity in the left-right direction through a third support frame, a fifth sliding block is connected onto the third linear module in a sliding mode, the fifth servo motor drives the fifth sliding block to slide left and right along the third linear module, the bottom of the fifth sliding block extends downwards to the position below the third linear module, a plurality of sixth air cylinders are installed at the bottom of the fifth sliding block, and the distance between every two adjacent sixth air cylinders in the plurality of sixth air cylinders is equal to the distance between every two adjacent first discharging grooves in the material tray;

unloading is carried mechanism and is included sixth servo motor and fourth sharp module, fourth sharp module sets up along left right direction through the fourth support frame installation intracavity rear side, sliding connection has the sixth sliding block on the fourth sharp module, sixth servo motor drives the sixth sliding block is along fourth sharp module horizontal slip, the bottom of sixth sliding block extends downwards the below of fourth sharp module, a plurality of seventh cylinder is installed to the bottom of sixth sliding block, distance between two adjacent seventh cylinders equals the distance between two adjacent first baiting grooves in the charging tray.

5. The all-round appearance defect inspection apparatus of claim 4, characterized in that: the feeding buffer distance-changing mechanism comprises a seventh servo motor, a fifth linear module, an eighth cylinder and a ninth cylinder, the fifth linear module is arranged between the feeding station and the inner cavity detection mechanism along the front-back direction, the seventh servo motor is arranged at the front part of the right side of the fifth linear module, a first sliding plate is arranged on the fifth linear module in a sliding manner, the seventh servo motor drives the first sliding plate to slide back and forth along the fifth linear module, a first supporting plate is arranged at the left part of the first sliding plate along the front-back direction, a first guide rail is arranged on the first supporting plate, a second supporting plate is arranged at the right part of the first sliding plate along the front-back direction, a second guide rail is arranged on the second supporting plate, and a first step, a second step, a third step, a fourth step, a fifth step and a sixth step are sequentially arranged on the first guide rail from front to back at equal intervals, the second guide rail is sequentially provided with a seventh step, an eighth step, a ninth step, a tenth step, an eleventh step and a twelfth step at equal intervals from front to back, the first step and the seventh step are arranged in a left-right corresponding equal-height mode, the second step and the eighth step are arranged in a left-right corresponding equal-height mode, the third step and the ninth step are arranged in a left-right corresponding equal-height mode, the fourth step and the tenth step are arranged in a left-right corresponding equal-height mode, the fifth step and the eleventh step are arranged in a left-right corresponding equal-height mode, the sixth step and the twelfth step are arranged in a left-right corresponding equal-height mode, the first step and the sixth step are arranged in an equal-height mode, the second step and the fifth step are arranged in an equal-height mode, the third step and the fourth step are arranged in an equal-height mode, the height of the first step is higher than that of the second step, the height of the third step is higher than that of the third step, and first variable-distance blocks, the second variable distance blocks, the first variable distance blocks, the second variable distance blocks, the third steps and the second steps are sequentially arranged from front to back from the first to the second guide rails, The first variable-pitch block is installed on the first guide rail and the second guide rail through a first positioning square hole and a second positioning square hole, the second variable-pitch block is installed on the first guide rail and the second guide rail through a third positioning square hole and a fourth positioning square hole, the third variable-pitch block is installed on the first guide rail and the second guide rail through a fifth positioning square hole and a sixth positioning square hole, the fourth variable-pitch block is installed on the first guide rail and the second guide rail through a seventh positioning square hole and an eighth positioning square hole, the fifth variable-pitch block is installed on the first guide rail and the second guide rail through a ninth positioning square hole and a tenth positioning square hole, the sixth variable-pitch block is installed on the first guide rail and the second guide rail through an eleventh positioning square hole and a twelfth positioning square hole, and the first positioning square hole, The second positioning square hole, the eleventh positioning square hole and the twelfth positioning square hole are arranged in equal height, the third positioning square hole, the fourth positioning square hole, the ninth positioning square hole and the tenth positioning square hole are arranged in equal height, the fifth positioning square hole, the sixth positioning square hole, the seventh positioning square hole and the eighth positioning square hole are arranged in equal height, the height of the first positioning square hole is lower than that of the first step, the height of the first positioning square hole is higher than that of the second step, the height of the second positioning square hole is lower than that of the second step, the height of the second positioning square hole is higher than that of the third step, the height of the third positioning square hole is lower than that of the third step, the first variable pitch block is provided with a first driving hole in a front-back penetrating manner on the first variable pitch block, the second variable pitch block is provided with a second driving hole in a front-back penetrating manner on the second variable pitch block, and the third variable pitch block is provided with a third driving hole in a front-back penetrating manner on the third variable pitch block, the fourth distance changing block is provided with fourth driving holes penetrating through the fourth distance changing block from front to back, the fifth distance changing block is provided with fifth driving holes penetrating through the fifth distance changing block from front to back, the sixth distance changing block is provided with sixth driving holes penetrating through the sixth distance changing block from front to back, the first driving hole is equal to the sixth driving hole in diameter, the second driving hole is equal to the fifth driving hole in diameter, the third driving hole is equal to the fourth driving hole in diameter, the first driving hole is smaller than the second driving hole in diameter, the second driving hole is smaller than the third driving hole in diameter, a first step shaft and a second step shaft are arranged between the first guide rail and the second guide rail at left and right intervals, the extending direction of the first step shaft is arranged forward, the extending direction of the second step shaft is arranged backward, and the first step shaft comprises a first extending shaft, a second extending shaft and a third extending shaft, the third extension shaft is sleeved on the second extension shaft, the second extension shaft is sleeved on the first extension shaft, the second extension shaft and the third extension shaft sequentially penetrate through the third driving hole, the second driving hole and the first driving hole from back to front, the outer diameter of the first extension shaft is matched with the first driving hole, the outer diameter of the second extension shaft is matched with the second driving hole, the outer diameter of the third extension shaft is matched with the third driving hole, the second step shaft comprises a fourth extension shaft, a fifth extension shaft and a sixth extension shaft, the fourth extension shaft is sleeved on the fifth extension shaft, the fifth extension shaft is sleeved on the sixth extension shaft, the fifth extension shaft and the fourth extension shaft sequentially penetrate through the fourth driving hole, the fifth driving hole and the sixth driving hole from front to back, and the outer diameter of the sixth extension shaft is matched with the sixth driving hole, the outer diameter of the fifth extension shaft is matched with the fifth driving hole, the outer diameter of the fourth extension shaft is matched with the fourth driving hole, the eighth cylinder and the ninth cylinder are installed between the fifth linear module, the first supporting plate and the second supporting plate and are located on the left side of the ninth cylinder, the output end of the eighth cylinder is fixed with the first extension shaft, the output end of the ninth cylinder is fixed with the sixth extension shaft, the eighth cylinder drives the first extension shaft to move back and forth, the ninth cylinder drives the sixth extension shaft to move back and forth, the top surfaces of the first variable pitch block, the second variable pitch block, the third variable pitch block, the fourth variable pitch block, the fifth variable pitch block and the sixth variable pitch block are respectively provided with a second discharging groove, and the distances between every two adjacent second discharging grooves are equal;

the blanking cache distance-changing mechanism comprises an eighth servo motor, a sixth linear module, a tenth air cylinder and an eleventh air cylinder, the sixth linear module is arranged between the feeding cache distance-changing mechanism and the inner cavity detection mechanism along the front-back direction, the eighth servo motor is arranged at the rear part of the left side of the sixth linear module, a second sliding plate is arranged on the sixth linear module in a sliding manner, the eighth servo motor drives the second sliding plate to slide back and forth along the sixth linear module, a third guide rail is arranged on the left part of the second sliding plate along the front-back direction through a third support plate, a fourth guide rail is arranged on the right part of the second sliding plate along the front-back direction through a fourth support plate, and a thirteenth step, a fourteenth step, a fifteenth step, a sixteenth step, a seventeenth step and an eighteenth step are sequentially arranged on the third guide rail at equal intervals from front to back, nineteenth steps, twentieth steps, twenty first steps, twenty second steps, twenty third steps and twenty fourth steps are sequentially arranged on the fourth guide rail at equal intervals from front to back, thirteenth steps and nineteenth steps are arranged at equal intervals from left to right, fourteenth steps and twentieth steps are arranged at equal intervals from left to right, fifteenth steps and twenty first steps are arranged at equal intervals from left to right, sixteenth steps and twenty second steps are arranged at equal intervals from left to right, seventeenth steps and twenty third steps are arranged at equal intervals from left to right, eighteenth steps and twenty fourth steps are arranged at equal intervals from left to right, thirteenth steps and eighteenth steps are arranged at equal intervals from left to right, seventeenth steps and seventeenth steps are arranged at equal intervals from left to right, seventeenth steps and twenty third steps are arranged at equal intervals from left to right, eighteenth steps and twenty fourth steps are arranged at equal intervals from left to right, eighteenth steps and seventeenth steps are arranged at equal intervals from left to right, seventeenth steps and twenty fourth steps are arranged at equal intervals from left to right, eighteenth steps are arranged at equal intervals, fifteenth steps are arranged at equal intervals from left to right, seventeenth steps are arranged at equal intervals, thirteenth steps are arranged at equal intervals from left to twenty steps, eighteenth steps, are arranged at equal intervals, seventeenth steps, are arranged at equal intervals from left to seventeenth steps, and are arranged at equal intervals, seventeenth steps, are arranged at equal intervals, seventeenth steps of the same to be arranged at equal intervals, and are arranged at equal intervals, seventeenth steps of the same to be higher than the height of the fourth guide rail, and are arranged at equal intervals from the height of the guide rail, and are arranged at the same height of the guide rail, the guide rail is arranged at the guide rail, the guide rail is arranged at the guide rail, seventh displacement block, eighth displacement block, ninth displacement block, tenth displacement block, eleventh displacement block and twelfth displacement block are installed from front to back on third guide rail and the fourth guide rail in proper order, seventh displacement block passes through thirteenth location square hole and fourteenth location square hole and installs on third guide rail and fourth guide rail, eighth displacement block passes through fifteenth location square hole and sixteenth location square hole and installs on third guide rail and fourth guide rail, ninth displacement block passes through seventeenth location square hole and eighteenth location square hole and installs on third guide rail and fourth guide rail, tenth displacement block passes through nineteenth location square hole and twentieth location square hole and installs on third guide rail and fourth guide rail, eleventh displacement block passes through twenty first location square hole and twenty second location square hole and installs on third guide rail and fourth guide rail, twelfth displacement block passes through second location thirteen square hole and twenty fourth location square hole and installs on third guide rail and fourth guide rail The thirteenth positioning square hole, the fourteenth positioning square hole, the twenty-third positioning square hole and the twenty-fourth positioning square hole are arranged at the same height, the fifteenth positioning square hole, the sixteenth positioning square hole, the twenty-first positioning square hole and the twenty-second positioning square hole are arranged at the same height, the seventeenth positioning square hole, the eighteenth positioning square hole, the nineteenth positioning square hole and the twentieth positioning square hole are arranged at the same height, the thirteenth positioning square hole is lower than the thirteenth step, the thirteenth positioning square hole is higher than the fourteenth step, the fourteenth positioning square hole is lower than the fourteenth step, the fourteenth positioning square hole is higher than the fifteenth step, the fifteenth positioning square hole is lower than the fifteenth step, and the seventh distance varying block is provided with a seventh driving hole penetrating through the seventh distance varying block from front to back, the eighth variable pitch block is provided with eighth driving holes penetrating through the eighth variable pitch block from front to back, the ninth variable pitch block is provided with ninth driving holes penetrating through the ninth variable pitch block from front to back, the tenth variable pitch block is provided with tenth driving holes penetrating through the tenth variable pitch block from front to back, the eleventh variable pitch block is provided with eleventh driving holes penetrating through the eleventh variable pitch block from front to back, the twelfth variable pitch block is provided with twelfth driving holes penetrating through the twelfth variable pitch block from front to back, the seventh driving hole is equal to the twelfth driving hole in diameter, the eighth driving hole is equal to the eleventh driving hole in diameter, the ninth driving hole is equal to the tenth driving hole in diameter, the seventh driving hole is smaller than the eighth driving hole in diameter, the eighth driving hole is smaller than the ninth driving hole in diameter, a third stepped shaft and a fourth stepped shaft are arranged between the third guide rail and the fourth guide rail at a left-right interval, the third step shaft is arranged forwards, the fourth step shaft is arranged backwards, the third step shaft comprises a seventh extension shaft, an eighth extension shaft and a ninth extension shaft, the ninth extension shaft is sleeved on the eighth extension shaft, the eighth extension shaft is sleeved on the seventh extension shaft, the eighth extension shaft and the ninth extension shaft sequentially penetrate through a ninth driving hole, an eighth driving hole and a seventh driving hole from back to front, the seventh extension shaft is matched with the seventh driving hole in outer diameter, the eighth extension shaft is matched with the eighth driving hole in outer diameter, the ninth extension shaft is matched with the ninth driving hole in outer diameter, the fourth step shaft comprises a tenth extension shaft, an eleventh extension shaft and a twelfth extension shaft, the tenth extension shaft is sleeved on the eleventh extension shaft, and the eleventh extension shaft is sleeved on the twelfth extension shaft, the twelfth extension shaft, the eleventh extension shaft and the tenth extension shaft sequentially penetrate through the tenth driving hole, the eleventh driving hole and the twelfth driving hole from front to back, the outer diameter of the twelfth extension shaft is matched with the twelfth driving hole, the outer diameter of the eleventh extension shaft is matched with the eleventh driving hole, the outer diameter of the tenth extension shaft is matched with the tenth driving hole, the tenth air cylinder and the eleventh air cylinder are installed between the sixth linear module, the third supporting plate and the fourth supporting plate, the tenth air cylinder is located on the left side of the eleventh air cylinder, the output end of the tenth air cylinder is fixed with the seventh extension shaft, the output end of the eleventh air cylinder is fixed with the twelfth extension shaft, the tenth air cylinder drives the seventh extension shaft to move back and forth, the eleventh air cylinder drives the twelfth extension shaft to move back and forth, and a seventh variable distance block, an eighth variable distance block, And the middle parts of the top surfaces of the ninth variable pitch block, the tenth variable pitch block, the eleventh variable pitch block and the twelfth variable pitch block are respectively provided with a third discharging groove, and the distances between every two adjacent third discharging grooves are equal.

6. The all-round appearance defect inspection apparatus of claim 5, characterized in that: the main shaft carrying mechanism comprises a ninth servo motor and a seventh linear module, the seventh linear module is installed between the third linear module and the fourth linear module along the left-right direction through a fifth support frame, the seventh linear module is positioned above the second discharging groove and the third discharging groove, a first sliding seat is installed at the bottom side of the seventh linear module in a sliding manner, the ninth servo motor is installed at the left side of the seventh linear module and drives the first sliding seat to slide left and right along the seventh linear module through the ninth servo motor, a second connecting plate is fixed at the bottom of the first sliding seat along the front-back vertical direction, an eighth linear module is installed on the right side of the second connecting plate along the vertical direction, a second sliding seat is installed on the right side of the eighth linear module in a sliding manner, a tenth servo motor is installed at the rear side of the eighth linear module and drives the second sliding seat to slide up and down along the eighth linear module through the tenth servo motor, the bottom of the second sliding seat is horizontally provided with a first mounting plate along the front-back direction, the bottom surface of the first mounting plate is provided with a first vertical plate along the vertical direction, the second sliding seat is provided with a twelfth air cylinder, six groups of blanking suction nozzle assemblies are arranged on the first mounting plate at intervals in the front-back direction, the six groups of blanking assemblies are positioned on the right side of the first vertical plate, the twelfth air cylinder is pneumatically connected with each group of blanking suction nozzle assemblies of the six groups of blanking suction nozzle assemblies, the left side of the first vertical plate is provided with an eleventh servo motor and six groups of feeding suction nozzle assemblies, the six groups of feeding suction nozzle assemblies are arranged at intervals in the front-back direction, and the eleventh servo motor drives each group of feeding suction nozzle assemblies of the six groups of feeding suction nozzle assemblies to rotate;

every group of feeding suction nozzle assemblies in the six groups of feeding suction nozzle assemblies all comprise a fifth mounting block, a first rotating shaft, a first rotating seat and a first rotating joint, the first rotating shaft is rotatably mounted in the first rotating seat, the upper part of the first rotating shaft extends to the upper part of the first rotating seat, the lower part of the first rotating shaft extends to the lower part of the first rotating seat, the lower part of the first rotating shaft is sleeved with the fifth mounting block, the right side of the fifth mounting block is fixed on a first vertical plate, the upper side of the fifth mounting block is fixed with the first rotating seat, an eleventh servo motor is mounted at the top of a first mounting plate at the rear side of a second sliding seat, an output shaft of the eleventh servo motor penetrates out of the lower part of the first mounting plate to the first mounting plate downwards, a suction nozzle transfer block is mounted at the bottom of the first rotating shaft, and a second suction nozzle is mounted at the bottom of the suction nozzle transfer block, a second floating spring is arranged between the suction nozzle adapter block and the bottom of the first rotating shaft, the second floating spring is positioned below a fifth mounting block, the middle upper part of the second floating spring is sleeved on the bottom of the first rotating shaft, a first synchronous belt pulley is mounted on the upper part of the first rotating shaft, the first rotating joint is connected with the first rotating shaft through a joint adapter piece, the joint adapter piece is positioned above the first synchronous belt pulley, and a group of first idle wheel assemblies are arranged between two adjacent groups of feeding suction nozzle assemblies;

the first idler wheel assembly comprises a first idler wheel seat and a first idler wheel, the left side of the first idler wheel seat is fixed on a first vertical plate, the right part of the first idler wheel seat is vertically and upwards rotatably provided with a first idler wheel shaft, the first idler wheel is arranged on the first idler wheel shaft, the top of the first idler wheel shaft is provided with a first check ring, an output shaft of an eleventh servo motor is provided with a first driving wheel, the first driving wheel is positioned below a first mounting plate, the rear side of the first driving wheel is adjacently provided with a first auxiliary wheel, the first auxiliary wheel is rotatably arranged on the right side of the first vertical plate through a third mounting frame, the first driving wheel and the first synchronous belt wheel are sleeved with a first synchronous belt, the left side surface of the left half width of the first synchronous belt is connected with the right side of the first idler wheel and the first auxiliary wheel, the right side surface of the left half width of the first synchronous belt is in abutting connection with the left side surface of the first driving wheel and the first synchronous belt, the left side surface of the right half width of the first synchronous belt is in abutting connection with the right sides of the first driving wheel and the first synchronous belt wheel.

7. The all-round appearance defect inspection apparatus of claim 6, characterized in that: the inner cavity detection mechanism comprises a ninth linear module and a twelfth servo motor, the five-axis detection mechanism is positioned on the right side in the installation cavity, the ninth linear module is arranged between the sixth linear module and the five-axis detection mechanism in the front-back direction, a third sliding seat is slidably mounted on the ninth linear module, a second vertical plate is vertically mounted on the left portion of the top surface of the third sliding seat in the front-back direction, the twelfth servo motor is arranged on the front side of the ninth linear module and drives the third sliding seat to slide back and forth along the ninth linear module, six groups of first CCD unit assemblies are arranged at the rear portion of the second vertical plate at equal intervals, a first driving assembly is arranged at the front portion of the second vertical plate, and the first driving assembly is in transmission connection with the six groups of first CCD unit assemblies;

the first driving assembly comprises a thirteenth servo motor and a second bearing seat, the second bearing seat is installed on the front side of the second vertical plate, the right part of the second bearing seat penetrates out of the second vertical plate to the right side of the second vertical plate and extends to the right side of the second vertical plate, the thirteenth servo motor is located on the left side of the second vertical plate, a first speed reducer is installed on the left side of the second bearing seat and is in transmission connection with an output shaft of the thirteenth servo motor, the right side of the second bearing seat is connected with a second zero back clearance gear through a second locking nut, the first speed reducer is in transmission connection with the second zero back clearance gear, a first origin induction sheet is installed on the right side of the second zero back clearance gear, a fifth sensor and a sixth sensor are respectively arranged on the front side of the right part of the third sliding seat and the rear side of the right part of the third sliding seat, a third sensor and a fourth sensor are respectively arranged on the front side of the left side and the rear side of the second vertical plate, the first zero back clearance gear is in transmission connection with the second zero back clearance gear through a first rack, the first rack is located above the first zero back clearance gear and the second zero back clearance gear, and a first shield is sleeved above the first rack.

8. The all-round appearance defect inspection apparatus of claim 7, characterized in that: five-axis detection mechanism includes third mounting panel, calotte light source lift subassembly and second CCD cell unit, circle top light lift subassembly is installed the top of second CCD cell unit, second CCD cell unit installs right side just in the installation cavity second CCD cell unit is located the right side of third mounting panel, the third mounting panel is located between installation cavity second CCD cell unit and the ninth straight line module, fifth slide rail and sixth slide rail are installed along controlling the horizontal direction to the front portion of third mounting panel top surface and rear portion, and tenth straight line module and fourteenth servo motor are installed along controlling the direction in the third mounting panel middle part between fifth slide rail and the sixth slide rail, fourteenth servo motor is located the rear side of tenth straight line module, sliding connection has the fourth mounting panel on tenth straight line module, fifth slide rail and the sixth slide rail, fourteenth servo motor drive the fourth mounting panel is along tenth straight line module, The fifth slide rail and the sixth slide rail slide left and right, the front part and the rear part of the top surface of the fourth mounting plate are respectively and vertically provided with a fifth supporting plate and a sixth supporting plate, a rotating rod is rotatably arranged between the fifth supporting plate and the sixth supporting plate, a fifteenth servo motor and a second speed reducer are arranged at the rear side of the rotating rod, the fifteenth servo motor is in transmission connection with a second speed reducer, the second speed reducer is in transmission connection with a rotating rod, a sixteenth servo motor is arranged at the front part of the rotating rod, the output shaft of the sixteenth servo motor is arranged downwards, a second synchronous belt wheel is arranged on an output shaft of the sixteenth servo motor through a deep groove ball bearing, a second origin induction sheet is arranged below the second synchronous belt wheel, six groups of self-rotation shaft assemblies are arranged on the rear side of a sixteenth servo motor on the rotating rod at equal intervals, and the sixteenth servo motor drives the six groups of self-rotation shaft assemblies to rotate through a second synchronous belt;

each of the six groups of the rotating shaft assemblies comprises a rotating shaft and a third bearing seat, the third bearing seat is arranged on the rotating rod, the self-rotating shaft is rotatably connected in a third bearing seat, a third synchronous belt wheel is arranged below the third bearing seat, a second rotary joint is arranged below the third synchronous belt wheel, the third synchronous belt wheel is in transmission connection with the rotating shaft, a second protective cover is sleeved on the rotating shaft, a third shield and a fourth shield are respectively sleeved on the fifteenth servo motor and the sixteenth servo motor, the upper part of the rotation shaft penetrates out of the second protective cover upwards and extends to the upper part of the second protective cover, a rotation shaft jig is arranged on the upper part of the rotation shaft, the rotating shaft fixture is positioned above the second shield, and second idle wheel assemblies are respectively arranged between the sixteenth servo motor and the rotating shaft assembly positioned at the foremost side in the six groups of rotating shaft assemblies and between two adjacent groups of rotating shaft assemblies;

9. The all-round appearance defect inspection apparatus of claim 4, characterized in that: still include defective products categorised collection mechanism, defective products categorised collection mechanism sets up the left side of first support frame, defective products categorised collection mechanism includes the seventh support frame, be equipped with the double faced tooth hold-in range in the seventh support frame, the right side is equipped with step motor in the seventh support frame, step motor's output shaft sets up and step motor drive towards a left side the double faced tooth hold-in range rotates, be equipped with a plurality of separating groove on the double faced tooth hold-in range, the interval is equipped with a plurality of letter sorting box and the separating groove on a plurality of letter sorting box and the double faced tooth hold-in range around the left side of seventh support frame is equipped with a plurality of air jet around the right side front portion of double faced tooth hold-in range, a plurality of air jet and a plurality of letter sorting box quantity equal and the corresponding setting in a left side.

10. The all-round appearance defect inspection apparatus of claim 1, characterized in that: top and bottom are equipped with an electric cabinet respectively in the frame, frame top surface front side left part is equipped with the tristimulus lamp, radiator fan is installed at the top of frame, operating panel, display, mouse and keyboard are installed to the frame front side, radiator fan, operating panel, tristimulus lamp and display all are connected with the electric cabinet electricity, mouse and keyboard with the display electricity is connected, the bottom surface four corners department of frame is equipped with universal wheel and supporting legs.