CN217466642U - Visual inspection equipment - Google Patents

Abstract

The utility model belongs to the technical field of the visual detection technique and specifically relates to indicate a visual detection equipment, it includes the workstation to and install the detection worker station at the workstation and go up unloading worker station: the feeding and discharging work station comprises a feeding manipulator, a discharging manipulator and two groups of feeding devices respectively matched with the feeding manipulator and the discharging manipulator; the feeding device comprises a material tray transfer mechanism and a workpiece transfer mechanism; the material tray transfer mechanism comprises a first linear module, a tray connected with the first linear module, a material bin assembly and a material tray positioning assembly, wherein the material bin assembly and the material tray positioning assembly are positioned above the first linear module; the workpiece transferring mechanism comprises a second linear module, a third linear module, a transferring base and a position adjusting assembly; the position adjusting assembly comprises a workpiece jig seat, a second power element and a third power element. The automatic unloading of the rotatory round of carousel after this visual detection equipment realizes automatic feeding, and a plurality of projects detect completely, need not artifical the intervention, and detection accuracy is with efficient.

Description

Visual inspection equipment

Technical Field

The utility model belongs to the technical field of the visual detection technique and specifically relates to indicate a visual detection equipment.

Background

The existing metal part with the steel mesh needs to be detected to determine whether defects such as few welding spots, multiple materials in the ring, missing welding rings, missing laser etching, laser etching deviation, broken net, welding slag hole plugging exist.

SUMMERY OF THE UTILITY MODEL

The to-be-solved technical problem of the utility model is to provide a visual detection equipment realizes the automatic unloading of the rotatory round of automatic feeding back carousel, and a plurality of projects detect completely, need not artifical the intervention, and the detection accuracy is with efficient.

In order to solve the technical problem, the utility model discloses a following technical scheme:

the utility model provides a visual inspection equipment, includes the workstation to and install at the detection workstation of workstation and go up unloading workstation:

the detection station comprises a rotary table, a first power element for driving the rotary table to rotate and a plurality of visual detection devices arranged around the rotary table; a plurality of workpiece picking mechanisms are arranged in the circumferential direction of the turntable;

the feeding and discharging work station comprises a feeding manipulator, a discharging manipulator and two groups of feeding devices respectively matched with the feeding manipulator and the discharging manipulator;

the feeding device comprises a material tray transfer mechanism and a workpiece transfer mechanism;

the material tray transfer mechanism comprises a first linear module, a tray connected with the first linear module, a material bin assembly and a material tray positioning assembly, wherein the material bin assembly and the material tray positioning assembly are positioned above the first linear module;

the workpiece transferring mechanism comprises a second linear module, a third linear module connected with the second linear module, a transferring base connected with the third linear module and a position adjusting assembly arranged on the transferring base; the position adjusting assembly comprises a workpiece jig seat, a second power element used for driving the workpiece jig seat to rotate and a third power element used for driving the workpiece jig seat to move up and down.

Preferably, the workpiece picking mechanism comprises a base plate, a suction head arranged on the base plate, and a pneumatic power element connected with the suction head; the suction head is provided with a vent hole connected with a pneumatic power element.

Preferably, the workpiece picking mechanism further comprises a guide rail arranged on the base plate, two hook plate members connected with the guide rail in a sliding manner, an elastic member connected with the two hook plate members, a spreading member positioned below the two hook plate members and a fourth power element used for driving the spreading member to move up and down;

the hook plate is provided with a clamping part extending to one side of the suction head and a linkage part extending towards the direction of the spreading part; the linkage part is provided with an inclined plane matched with the opening piece;

two collude two screens portions of plate and be located the both sides of suction head respectively, two screens portions all are provided with the recess corresponding to a side of suction head.

Preferably, the upper side of the tray can be used for placing at least two trays.

Preferably, the stock bin assembly comprises an empty tray frame, an empty tray accommodating chamber, a pushing piece, a fifth power element, a full tray frame, a full tray accommodating chamber, two supporting pieces, two sixth power elements and two seventh power elements, wherein the empty tray accommodating chamber is arranged in the empty tray frame and communicated with the bottom surface of the empty tray frame;

the first linear module is positioned below the empty disc accommodating room and the full disc accommodating room.

Preferably, the tray positioning assembly comprises a positioning plate, positioning holes arranged in the positioning plate and communicated with the upper side surface and the lower side surface of the positioning plate, a jacking piece located below the positioning holes, an eighth power element used for driving the jacking piece to move up and down, a side jacking piece located on the side surface of the positioning holes and a ninth power element used for driving the side jacking piece to move back and forth.

Preferably, the feeding and discharging station further comprises a waste storage mechanism, a waste manipulator, a fourth linear module and a waste jig seat connected with the fourth linear module; the waste jig seat reciprocates between the waste manipulator and the discharging manipulator along the fourth linear module.

Preferably, the position adjusting assembly further comprises a supporting seat fixed on the transfer base and a lifting seat connected with the supporting seat through a sliding rail and a sliding block; the workpiece jig seat is rotatably arranged on the lifting seat, the second power element is arranged on the lifting seat and connected with the workpiece jig seat, and the third power element is connected with a screw rod penetrating the lifting seat.

The beneficial effects of the utility model reside in that:

the utility model provides a visual inspection equipment, cooperation through last unloading work station and detection work station, material loading manipulator picks up the work piece from charging tray transfer mechanism, and place the work piece and move a mechanism of carrying, then the work piece moves the automatic butt joint of work piece pickup mechanism on mechanism and the carousel and takes away the work piece, work piece pickup mechanism takes the work piece to rotate a week along the carousel, let the visual detection device who lays around the carousel carry out respectively from lower up shooting detection, and then accomplish a plurality of detection projects, after a week of rotation, work piece pickup mechanism moves the mechanism butt joint with another work piece and puts down the work piece, unloading manipulator picks this suggestion and detects the work piece and put back on another charging tray transfer mechanism afterwards. The whole process is automatically designed, manual intervention is not needed, the workpieces are picked up from the material disc and are finally placed back into the material disc after detection, and detection and sorting operation of small and medium-sized workpieces is very convenient.

Drawings

Fig. 1 is a schematic view of the overall structure of the utility model.

Fig. 2 is a schematic top view of the whole machine according to the present invention (the arrow indicates the moving direction of the workpiece during operation).

Fig. 3 is the three-dimensional structure diagram of the feeding station in the feeding and discharging station of the utility model.

Fig. 4 is a schematic perspective view of the material tray transfer mechanism of the present invention.

Fig. 5 is a schematic perspective view of the transfer mechanism for transferring workpieces according to the present invention.

Fig. 6 is the three-dimensional structure diagram of the middle detection station of the present invention.

Fig. 7 is a schematic perspective view of the workpiece picking mechanism of the present invention.

Fig. 8 is an exploded perspective view of the workpiece picking mechanism of the present invention.

Fig. 9 is a schematic perspective view of the suction head and the positioning portion of the workpiece picking mechanism according to the present invention.

Fig. 10 is a schematic view of the three-dimensional structure of the blanking station in the blanking station of the present invention.

Fig. 11 is the utility model discloses in the spatial structure sketch map behind two manipulators of unloading work station hiding.

Detailed Description

In order to facilitate the understanding of those skilled in the art, the present invention will be further described with reference to the following examples, which are not intended to limit the scope of the present invention.

As shown in fig. 1 to 11, a visual inspection apparatus includes a worktable 1, and an inspection station 2 and a loading and unloading station installed on the worktable 1;

the detection station 2 comprises a rotary table 21, a first power element for driving the rotary table 21 to rotate and a plurality of visual detection devices 22 arranged around the rotary table 21; a plurality of workpiece picking mechanisms 3 are arranged in the circumferential direction of the turntable 21;

the feeding and discharging work station comprises a feeding manipulator 4, a discharging manipulator 5 and two groups of feeding devices respectively matched with the feeding manipulator 4 and the discharging manipulator 5;

the feeding device comprises a material tray transfer mechanism 6 and a workpiece transfer mechanism 7;

the tray transfer mechanism 6 comprises a first linear module 61, a tray 62 connected with the first linear module 61, a bin assembly 63 and a tray positioning assembly 64 which are positioned above the first linear module 61;

the workpiece transfer mechanism 7 includes a second linear module 71, a third linear module 72 connected to the second linear module 71, a transfer base 73 connected to the third linear module 72, and a position adjustment unit 74 attached to the transfer base 73; the position adjusting assembly 74 includes a workpiece fixture seat 75, a second power element 76 for driving the workpiece fixture seat 75 to rotate, and a third power element 77 for driving the workpiece fixture seat 75 to move up and down.

The visual inspection equipment of the embodiment has the following actual operation process;

for convenience of explanation understanding, the loading and unloading work station is divided into a loading work station and a unloading work station for explanation, that is, the loading work station, the detection work station 2 and the unloading work station are arranged on the workbench 1.

As shown in fig. 2 and 3 to 5, two feeding manipulators 4 and two groups of feeding devices are arranged on the feeding work station and respectively and correspondingly matched with each other to simultaneously convey the workpiece to be detected to the detection work station 2, so that the operation efficiency is improved. The feeding station is also provided with a square tube frame and a plurality of visual detection devices 22 arranged on the square tube frame, the visual detection devices 22 are positioned above the tray positioning assembly 64 and used for identifying the position of a workpiece for being grabbed by the feeding manipulator 4, and the visual detection devices 22 are positioned above the workpiece transfer mechanism 7 and used for shooting the passing workpiece from top to bottom to detect the defects of few welding points, multiple materials, missed welding rings, missed laser engraving, laser engraving deviation, net breaking, welding slag hole blocking, ear deformation and sidewall whitening;

the specific operation matching process of the feeding manipulator 4 and the corresponding feeding device of the feeding station comprises the following steps that the first linear module 61 drives the tray 62 to move to and fro from the stock bin assembly 63 and the tray positioning assembly 64, a tray filled with workpieces is moved to the tray positioning assembly 64 to be positioned for the feeding manipulator 4 to grab, and an empty tray which is grabbed by the feeding manipulator 4 is moved back to the stock bin assembly 63 to be stored; the feeding robot 4 picks up and places the workpiece on the workpiece fixture seat 75 by suction, and then the second linear module 71 drives the workpiece fixture seat 75 to move to the inspection station 2, and performs position adjustment on the workpiece fixture seat 75 through the third linear module 72 and the position adjustment assembly 74, so that the workpiece fixture seat 75 is aligned with the workpiece pickup mechanism 3 of the inspection station 2, and is further sucked up by the workpiece pickup mechanism 3.

As shown in fig. 2, 6 to 9, the specific operation flow of the inspection station 2 includes that the workpiece picking mechanism 3 sucks the workpiece picked up from the workpiece fixture seat 75, then the turntable 21 rotates to make the workpiece picking mechanism 3 rotate along the turntable 21 with the workpiece, and then the required shooting is completed through a plurality of visual inspection devices 22 arranged around the turntable 21.

As shown in fig. 2, 10 to 11, a blanking manipulator 5 and a set of feeding devices cooperating with the blanking manipulator 5 are disposed in the blanking station, and a workpiece transfer mechanism 7 in one feeding device is additionally disposed, that is, the blanking station is configured with one blanking manipulator 5, one tray transfer mechanism 6 and two workpiece transfer mechanisms 7, and the provision of two workpiece transfer mechanisms 7 helps to increase the efficiency of removing workpieces from the inspection station 2;

the concrete operation matching process of the blanking manipulator 5 of the blanking station and the corresponding material tray transfer mechanism 6 and the two workpiece transfer mechanisms 7 comprises the following steps that the two workpiece transfer mechanisms 7 respectively drive the respective workpiece jig seats 75 to be close to the detection station 2 so as to take the workpieces to be blanked off from the workpiece picking mechanism 3 of the detection station 2 in turn for picking. The blanking manipulator 5 places the detected workpieces to the corresponding tray positioning assembly 64, fills the trays on the tray positioning assembly 64, then the tray 62 is driven to move to the bin assembly 63 for storage, and moves back to the bin assembly 63 with an empty tray to be placed to the tray positioning assembly 64 for continuous workpiece loading.

As shown in fig. 6 to 9, in the present embodiment, the work pickup mechanism 3 includes a base plate 31, a suction head 32 mounted on the base plate 31, a pneumatic power element connected to the suction head 32; the suction head 32 is provided with a vent 33 connected to a pneumatic power element. The air vent 33 is connected through a pneumatic power element, so that the air vent 33 can suck and blow air, and the stable grabbing and quick blanking of the workpiece are realized.

In this embodiment, the workpiece picking mechanism 3 further includes a guide rail 34 installed on the base plate 31, two hook plate members 35 slidably connected to the guide rail 34, an elastic member 36 connecting the two hook plate members 35, a spreader 37 located below the two hook plate members 35, and a fourth power element 38 for driving the spreader 37 to move up and down;

the hook plate member 35 is provided with a blocking part 39 extending to one side of the suction head 32 and a linkage part 30 extending towards the direction of the spreading member 37; the linkage part 30 is provided with an inclined surface matched with the opening piece 37;

the two clamping portions 39 of the two hooking plate members 35 are respectively located at two sides of the suction head 32, and a groove 3a is formed in one side surface of each clamping portion 39 corresponding to the suction head 32.

In the specific picking up of the workpiece, firstly, the spreader 37 moves up to push the linkage part 30 of the hook plate 35 to make the two hook plate 35 away from each other, that is, the blocking part 39 of the hook plate 35 is driven to move away from the suction head 32, then the workpiece fixture seat 75 is driven by the position adjusting component 74 to make the workpiece placed on the upper side surface align with the vent hole 33 of the suction head 32, then the vent hole 33 sucks and sucks the workpiece, after the workpiece fixture seat 75 is reset, the spreader 37 moves down, the two hook plate 35 move close to each other due to the action of the elastic component 36, so that the two blocking parts 39 on the two sides of the suction head 32 are close to the suction head 32, at this time, the lugs at the two ends of the workpiece are located in the grooves 3a of the blocking parts 39, but the blocking parts 39 do not clamp the workpiece, because the workpiece cannot be stressed, the blocking parts 39 are used for preventing the workpiece from falling in the rotating process, that is the workpiece if the workpiece is not sucked and stably dropped in the rotating detection process of the turntable 21, both ends of the work are caught in the grooves 3a of the two catching portions 39 and do not fall completely. The design effectively solves the problem of falling treatment of workpieces which cannot be stressed.

In the present embodiment, as shown in fig. 4, at least two trays can be placed on the upper side of the tray 62. Tray 62 is the rectangle form, two charging trays can be placed simultaneously to the side of going up of tray 62, in the practical function, tray 62 moves the below of feed bin subassembly 63, feed bin subassembly 63 puts down a full charging tray to tray 62 on, tray 62 moves charging tray locating component 64 department, full charging tray is got by the jack-up spacing, tray 62 moves back this moment and accepts a full charging tray and moves to charging tray locating component 64 department again feed bin subassembly 63, wait that the preceding charging tray that is located charging tray locating component 64 department is got the back, another vacancy department of tray 62 is put down to this empty charging tray, tray 62 moves forward a charging tray position again and makes the full charging tray of just accepting align with charging tray locating component 64 and then by the jack-up spacing, tray 62 moves back again to feed bin subassembly 63 and makes the empty charging tray by the jack-up storage. Two charging trays can be placed at one time by the tray 62, so that the tray 62 can efficiently take back an empty charging tray and immediately put in a full charging tray, and the efficiency is greatly improved.

In this embodiment, the stock bin assembly 63 includes an empty tray rack 65, an empty tray accommodating chamber 66 disposed on the empty tray rack 65 and communicated with the bottom surface of the empty tray rack 65, an ejector 67 disposed below the empty tray accommodating chamber 66, a fifth power element for driving the ejector 67 to move up and down, a full tray rack 68, a full tray accommodating chamber 69 disposed on the full tray rack 68 and communicated with the bottom surface of the full tray rack 68, two support members 60 disposed on both sides of the full tray accommodating chamber 69, two sixth power elements 6a for driving the two support members 60 to move up and down, and two seventh power elements 6b for driving the two support members 60 to move back and forth;

the first linear module 61 is located below the empty tray compartment 66 and the full tray compartment 69.

In actual operation, a stack of material trays with workpieces are placed in the full tray accommodating space, when the material trays need to be placed downwards, the two supporting pieces 60 on the two sides of the full tray accommodating space move downwards firstly, so that the full tray on the bottommost layer is placed on the upper side face of the tray 62, then the two supporting pieces 60 retract and move backwards to loosen the full tray on the bottommost layer, then the two supporting pieces 60 move upwards and extend out to abut against the full tray on the penultimate layer, and at the moment, the full tray on the bottommost layer can be taken away by the tray 62. When the tray 62 returns the empty tray, the tray 62 moves to the lower part of the empty tray accommodating room 66, then the pushing piece 67 moves upwards to push the empty tray into the empty tray accommodating room 66, and pawl buckle components are respectively installed on two sides of the empty tray accommodating room 66, so that the empty tray pushed into the empty tray accommodating room 66 cannot fall.

In this embodiment, the tray positioning assembly 64 includes a positioning plate 6c, a positioning hole 6d disposed on the positioning plate 6c and connected to the upper and lower side surfaces of the positioning plate 6c, a jacking member 6e located below the positioning hole 6d, an eighth power element 6f for driving the jacking member 6e to move up and down, a side jacking member 6g located on the side surface of the positioning hole 6d, and a ninth power element 6h for driving the side jacking member 6g to move back and forth. In actual operation, after the tray 62 moves the charging tray to the lower side of the positioning hole 6d, the jacking piece 6e moves upwards to push the charging tray into the positioning hole 6d, the periphery of the charging tray abuts against the lower side surface of the positioning plate 6c, and the side jacking piece 6g extends out simultaneously to abut against the side wall of the charging tray to further stabilize the charging tray.

As shown in fig. 10 to 11, in this embodiment, the loading and unloading station further includes a scrap storage mechanism 8, a scrap manipulator 81, a fourth linear module 82, and a scrap fixture seat 83 connected to the fourth linear module 82; the scrap holder 83 reciprocates between the scrap robot 81 and the blanking robot 5 along the fourth linear die set 82.

For convenience of description, the loading and unloading station is divided into a loading station and a unloading station, and the waste storage mechanism 8, the waste manipulator 81, the fourth linear module 82 and the waste fixture seat 83 are arranged on the unloading station. During actual operation, the unloading manipulator 5 places the picked workpiece detected as defective on the waste jig seat 83, the waste jig seat 83 moves to the waste manipulator 81, and the waste manipulator 81 picks up the defective workpiece and prevents the defective workpiece from being stored in the waste storage mechanism 8. The scrap receptacle mechanism 8 is designed in accordance with the tray transfer mechanism 6 described above, except that the tray positioning unit 64 is not provided, and the scrap robot 81 can directly transfer the defective work piece into the empty tray below the tray 62.

Two waste storage mechanisms 8 in this embodiment can be arranged and are respectively located on two sides of the fourth linear module 82, so that workpieces with two different defects can be conveniently placed, and subsequent sorting is facilitated. And a buffer disc is arranged beside the blanking manipulator 5 and used for storing the normal work pieces of the falling list firstly and then putting the work pieces into the buffer disc when the work pieces are put into the buffer disc from the next empty material disc.

As shown in fig. 5, in this embodiment, the position adjusting assembly 74 further includes a supporting seat 78 fixed on the transferring base 73 and a lifting seat 79 connected to the supporting seat 78 through a sliding rail and a sliding block; the workpiece fixture seat 75 is rotatably mounted on the lifting seat 79, the second power element 76 is mounted on the lifting seat 79 and connected with the workpiece fixture seat 75, and the third power element 77 is connected with the screw rod 70 penetrating the lifting seat 79. The second power element 76 is preferably a stepping motor, the workpiece fixture seat 75 is directly driven to rotate by the stepping motor, the lifting seat 79 is provided with a nut seat, then the screw rod 70 connected with the third power element 77 is penetrated in the nut seat, the lifting seat 79 moves up and down along the vertical direction of the screw rod 70 by driving the screw rod 70 to rotate, and the third power element 77 is preferably a screw rod 70 motor.

In the description of the present invention, it should be noted that, for the orientation words, such as the terms "center", "lateral (X)", "longitudinal (Y)", "vertical (Z)", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., it indicates that the orientation and positional relationship are based on the orientation or positional relationship shown in the drawings, and it is only for convenience of describing the present invention and simplifying the description, but it is not intended to indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and should not be construed as limiting the specific scope of the present invention.

Furthermore, if the terms "first" and "second" are used for descriptive purposes only, they are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features. Thus, the definition of "a first" or "a second" feature may explicitly or implicitly include one or more of the features, and in the description of the invention, "a plurality" means two or more unless specifically defined otherwise.

In the present invention, unless otherwise expressly specified or limited, the terms "assembled", "connected", and "connected", if any, are to be construed broadly, e.g., as meaning fixedly connected, detachably connected, or integrally connected; or may be a mechanical connection; the two elements can be directly connected or connected through an intermediate medium, and the two elements can be communicated with each other. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to specific situations.

The above-mentioned embodiments only express a plurality of embodiments of the present invention, and the description thereof is more specific and detailed, but can not be understood as the limitation of the scope of the present invention. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several variations and modifications can be made, which are within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.

Claims (8)

1. Visual detection equipment, including workstation (1) to and install in the detection worker station (2) of workstation (1) and go up unloading worker station, its characterized in that:

the detection station (2) comprises a rotary table (21), a first power element for driving the rotary table (21) to rotate and a plurality of visual detection devices (22) arranged around the rotary table (21); a plurality of workpiece picking mechanisms (3) are arranged in the circumferential direction of the turntable (21);

the feeding and discharging work station comprises a feeding manipulator (4), a discharging manipulator (5) and two groups of feeding devices respectively matched with the feeding manipulator (4) and the discharging manipulator (5);

the feeding device comprises a material tray transfer mechanism (6) and a workpiece transfer mechanism (7);

the tray transfer mechanism (6) comprises a first linear module (61), a tray (62) connected with the first linear module (61), a stock bin assembly (63) and a tray positioning assembly (64) which are positioned above the first linear module (61);

the workpiece transfer mechanism (7) comprises a second linear module (71), a third linear module (72) connected with the second linear module (71), a transfer base (73) connected with the third linear module (72) and a position adjusting component (74) arranged on the transfer base (73); the position adjusting assembly (74) comprises a workpiece jig seat (75), a second power element (76) for driving the workpiece jig seat (75) to rotate and a third power element (77) for driving the workpiece jig seat (75) to move up and down.

2. The visual inspection apparatus of claim 1, wherein: the workpiece picking mechanism (3) comprises a substrate (31), a suction head (32) arranged on the substrate (31), and a pneumatic power element connected with the suction head (32); the suction head (32) is provided with a vent hole (33) connected with a pneumatic power element.

3. The visual inspection apparatus of claim 2, wherein: the workpiece picking mechanism (3) further comprises a guide rail (34) arranged on the base plate (31), two hook plate members (35) connected with the guide rail (34) in a sliding manner, an elastic member (36) connected with the two hook plate members (35), a spreading member (37) positioned below the two hook plate members (35) and a fourth power element (38) used for driving the spreading member (37) to move up and down;

the hook plate piece (35) is provided with a clamping part (39) extending to one side of the suction head (32) and a linkage part (30) extending towards the direction of the opening piece (37); the linkage part (30) is provided with an inclined surface matched with the opening piece (37);

two block position portion (39) of colluding plate piece (35) are located the both sides of suction head (32) respectively, and one side that two block position portion (39) correspond suction head (32) all is provided with recess (3 a).

4. The visual inspection apparatus of claim 1, wherein: at least two material trays can be placed on the upper side face of the tray (62).

5. The visual inspection apparatus of claim 1, wherein: the bin assembly (63) comprises an empty tray frame (65), an empty tray accommodating room (66) which is arranged on the empty tray frame (65) and communicated with the bottom surface of the empty tray frame (65), a pushing piece (67) which is positioned below the empty tray accommodating room (66), a fifth power element for driving the pushing piece (67) to move up and down, a full tray frame (68), a full tray accommodating room (69) which is arranged on the full tray frame (68) and communicated with the bottom surface of the full tray frame (68), two supporting pieces (60) positioned at two sides of the full tray accommodating room (69), two sixth power elements (6a) for driving the two supporting pieces (60) to move up and down and two seventh power elements (6b) for driving the two supporting pieces (60) to move back and forth;

the first linear module (61) is positioned below the empty disc accommodating room (66) and the full disc accommodating room (69).

6. The visual inspection apparatus of claim 1, wherein: the material tray positioning assembly (64) comprises a positioning plate (6c), positioning holes (6d) which are formed in the positioning plate (6c) and communicated with the upper side surface and the lower side surface of the positioning plate (6c), a jacking piece (6e) positioned below the positioning holes (6d), an eighth power element (6f) used for driving the jacking piece (6e) to move up and down, side jacking pieces (6g) positioned on the side surfaces of the positioning holes (6d) and a ninth power element (6h) used for driving the side jacking pieces (6g) to move back and forth.

7. The visual inspection apparatus of claim 1, wherein: the feeding and discharging station also comprises a waste storage mechanism (8), a waste manipulator (81), a fourth linear module (82) and a waste jig seat (83) connected with the fourth linear module (82); the waste jig seat (83) reciprocates between the waste manipulator (81) and the blanking manipulator (5) along the fourth linear module (82).

8. The visual inspection apparatus of claim 1, wherein: the position adjusting assembly (74) further comprises a supporting seat (78) fixed on the transfer base (73) and a lifting seat (79) connected with the supporting seat (78) through a sliding rail and a sliding block; the workpiece jig seat (75) is rotatably arranged on the lifting seat (79), the second power element (76) is arranged on the lifting seat (79) and connected with the workpiece jig seat (75), and the third power element (77) is connected with a screw rod (70) penetrating through the lifting seat (79).

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