CN110813783A - Appearance intelligent detection system based on manipulator - Google Patents

Abstract

The invention relates to an appearance intelligent detection system based on a manipulator, which has a worktable; the worktable is provided with a feeding mechanism, a first positioning mechanism and a manipulator mechanism; the feeding mechanism is a vibrating plate and a feeding channel; The first positioning mechanism includes a first support frame; the first support frame is provided with a lifting slider; the lifting slider is provided with a through channel for the workpiece to enter; the front end of the through channel and the discharge end of the feeding channel Corresponding coordination; the feeding end of the feeding channel corresponds to the discharging end of the vibrating plate; the manipulator mechanism includes a manipulator, and the manipulator is fixed with a photographing device for photographing the appearance of the workpiece and a grasping device for grasping the workpiece in the through-channel . The invention can realize the appearance detection and grasping of the workpiece through the manipulator mechanism, and realize the automatic detection.

Description

Appearance intelligent detection system based on manipulator

technical field

The invention relates to an intelligent appearance detection system, in particular to an appearance intelligent detection system based on a manipulator.

Background technique

With the continuous development of industrial automation, more and more fields try to replace traditional manual operations with automated equipment. In the field of electronic production, some tiny parts need to be inspected for their appearance. The traditional appearance inspection generally relies on the naked eye for rough inspection, and then manually through the inspection equipment for fine inspection.

Therefore, the whole testing process requires a lot of human input. Especially with the development of industrial automation, the output of parts is getting larger and larger, the inspection of parts is becoming more and more heavy, and the labor cost is also getting higher and higher. In order to solve this problem, automatic appearance inspection equipment has gradually appeared in recent years. However, these appearance inspection equipments generally carry out single surface inspection through an assembly line. The part has multiple surfaces to be inspected, so in order to meet the inspection requirements, the inspection of a part needs to rely on multiple inspection equipment for special inspection. Although the detection accuracy and efficiency are greatly improved, there is still a lot of room for improvement.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide an appearance intelligent inspection system based on a manipulator, which can perform appearance inspection on all surfaces of a workpiece, and can realize automatic sorting of qualified products and unqualified products.

The technical scheme for realizing the object of the present invention is: the present invention has a worktable; the worktable is provided with a feeding mechanism, a first positioning mechanism and a manipulator mechanism; the feeding mechanism is a vibrating plate and a feeding channel;

The first positioning mechanism includes a first support frame fixed on the worktable; the first support frame is provided with a lifting slider that can slide up and down on the first support frame driven by a lifting cylinder; the lifting slider There is a through channel for the workpiece to enter; a limit baffle plate for blocking the workpiece is fixed on the first support frame at the end of the through channel; the through channel of the lifting slider can be completely driven by the lifting cylinder. Exceeding the limit baffle; the front end of the through channel is matched with the discharge end of the feed channel; the feed end of the feed channel is matched with the discharge end of the vibrating plate;

The manipulator mechanism includes a manipulator on which a photographing device for photographing the appearance of the workpiece and a grasping device for grasping the workpiece in the through channel are fixed.

At the same time, it also includes a second positioning mechanism and a sorting mechanism; the second positioning mechanism includes a second support frame, a driving rack and a positioning block; the second support frame is fixed on the workbench; the second support frame There is a driving rack that is driven by the driving device to slide linearly on the second support frame; the positioning block includes a driven gear part that is connected into one piece and a positioning part for positioning and placing the workpiece; the driven gear part rotates It is arranged on the second support frame, and the driven gear part is in cooperation with the driving rack; the number of positioning blocks is equal to the number of through channels on the lifting slider, and the positional relationship between the positioning blocks is the same as that between the through channels. The positional relationship corresponds; the grasping device on the manipulator is used to grasp and transfer the workpieces in each through-channel to each positioning part;

The sorting mechanism includes a qualified collection hopper, an unqualified collection hopper, a first air blowing module, a second air blowing module and a third air blowing module arranged on the positioning block; A first air blowing module is correspondingly arranged on one side, and a second air blowing module is correspondingly arranged on the other side of each positioning block on the second support frame; the qualified collecting hopper and the unqualified collecting hopper are respectively set in the working on the stage, and are located on both sides of the positioning block;

The first air blowing module includes a first fixed body fixedly connected to the second support frame, the first fixed body is provided with a first air blowing port, and the first air blowing port is connected with a first air blowing pipe that can spray compressed air The second air blowing module includes a second fixed body fixedly connected to the second support frame, the second fixed body is provided with a second air blowing port, the second air blowing port and the second air blowing pipe that can eject compressed air connection; the third air blowing module includes a third air blowing port arranged on the positioning part and used to blow the workpiece away from the positioning part; the third air blowing port is connected with a third air blowing pipe that can eject compressed air; The first air blowing module is used for blowing the workpieces out of the positioning part into the qualified collection hopper; the second air blowing module is used for blowing the workpieces out of the positioning part into the unqualified collection hopper.

As an optimized design, two manipulator mechanisms, two second positioning mechanisms, and two sorting mechanisms are set up; one manipulator mechanism corresponds to a second positioning mechanism, and a second positioning mechanism corresponds to a sorting mechanism; the two manipulator mechanisms are respectively in The first positioning mechanism and its corresponding second positioning mechanism operate back and forth, and the two manipulator mechanisms operate alternately.

As an optimized design, there are two sets of feeding mechanisms; the feeding channel of each feeding mechanism is provided with at least two feeding grooves; the lifting slider is provided with two feeding positions, the feeding position and the feeding position The mechanisms correspond one-to-one, and each feeding position is provided with a plurality of through channels corresponding to the feeding troughs on the corresponding feeding channel; two sets of shooting devices are provided on the manipulator, and the two sets of shooting devices and the two sets of shooting devices are arranged on the manipulator. Each feeding position corresponds to each other, and is used to photograph the workpieces in the passages at the corresponding feeding positions; the gripping device on the manipulator is a suction cup that can absorb the workpiece; the manipulator is provided with a plurality of suction cups, and the number of suction cups is the same as the number of suction cups. The number of through channels on the lifting slider is equal, and each suction cup is matched with the through channels in one-to-one correspondence. There are preferably two feed slots on the feed channel.

As a deformation design of the above-mentioned optimized design, there are two sets of feeding mechanisms; each feeding channel of each feeding mechanism is provided with a feeding slot; the lifting slider is provided with two feeding positions, the feeding position is the same as that of the feeding position. The feeding mechanisms correspond one by one, and each feeding position is provided with a plurality of linearly arranged through channels;

The first support frame is provided with a sliding plate that can slide back and forth along the direction of linear arrangement of the through-channel under the driving of the driving device; the sliding block is provided with a lifting slider that can slide up and down on the sliding plate under the driving of a lifting cylinder;

An optical fiber sensing head for sensing whether there is a workpiece in the through channel currently docked with the feeding trough is fixed on the limit baffle plate on the opposite side of the feeding trough;

The manipulator is provided with two sets of shooting devices, and the two sets of shooting devices are respectively used to shoot the workpieces in the through passages at each feeding position; the gripping devices on the manipulator are suction cups that can absorb the workpieces; the manipulator is provided with multiple There are suction cups, the number of suction cups is equal to the number of through-channels on the lifting slider, and the suction cups and through-channels are matched in one-to-one correspondence. Each of the upper material levels is provided with two through passages; the driving device that drives the sliding plate to slide back and forth is a driving cylinder; after the driving cylinder is extended, one through passage on each upper material level is connected to the corresponding feeding chute; After the cylinder is retracted, another through channel on each feeding level is docked with the corresponding feeding chute.

The above-mentioned manipulator is a manipulator that can rotate 360°; the free end of the manipulator is fixedly provided with a mounting plate; the photographing device and the grabbing device are fixedly disposed on the mounting plate.

The driving device for driving the sliding of the driving rack includes a driving motor and an output gear; the driving motor is fixedly connected to the second support frame, and the output shaft of the driving motor is connected with the output gear in a transmission; the second support frame is provided with an installation slot;

The driving rack is slidably arranged in the installation slot and slides along the extending direction of the installation slot; the output gear is arranged in the installation slot and is in driving cooperation with the driving rack; the driven gear part of the positioning block is rotatably arranged at the A cover plate is arranged on the upper cover of the installation slot; the cover plate is provided with a through hole for the positioning part of the positioning block to extend.

The above-mentioned driving motor is fixedly connected to the lower surface of the second support frame; the output shaft of the driving motor extends into the installation groove and is connected with the output gear in a transmission manner.

The present invention has positive effects: (1) The present invention can leak the workpiece passing through the channel close to the end face of the limit plate by lifting the slider, which is convenient for the shooting of the shooting device and the background comparison; especially for some slender workpieces, in order to Through the automatic feeding of the vibrating plate, the end face to be detected cannot be exposed, resulting in the problem that it cannot be detected or needs to be detected by special positioning tooling.

(2) In the present invention, the appearance of the bottom of the workpiece is detected at the first positioning mechanism, and then the workpiece is transferred to the second positioning mechanism by the grasping device on the manipulator, and then the other surfaces of the workpiece are photographed by the photographing device on the manipulator. Finally, the sorting mechanism is used to realize the sorting of qualified and unqualified products. The full name is automation. It can realize all-round appearance inspection of the workpiece without manual operation. The inspection efficiency is greatly improved, and the inspection accuracy is greatly improved.

(3) The present invention can realize double-station detection through two manipulator mechanisms, two second positioning mechanisms and two sorting mechanisms, thereby further improving detection efficiency.

(4) The present invention can realize more feeding amount through two sets of feeding mechanisms, thereby further improving the detection efficiency.

(5) The first positioning mechanism in the present invention can achieve the accuracy and timeliness of feeding through the sliding plate, the lifting slider and the sensing fiber, and can better cooperate with the manipulator mechanism to effectively improve the detection efficiency.

(6) In the present invention, the driving device for driving the driving rack adopts output gear transmission, with high accuracy; the shooting angle can be effectively determined by the rotation angle of the output shaft of the driving motor, which further improves the accuracy of appearance inspection.

Description of drawings

In order to make the content of the present invention easier to understand clearly, the present invention will be described in further detail below according to specific embodiments and in conjunction with the accompanying drawings, wherein

Fig. 1 is the structural representation of the present invention;

Fig. 2 is the structural representation of feeding mechanism in the present invention;

3 is a schematic structural diagram of the first positioning mechanism in Embodiment 1 of the present invention;

4 is a schematic structural diagram of the first positioning mechanism in Embodiment 2 of the present invention;

5 is a schematic structural diagram of a second positioning mechanism and a sorting mechanism in the present invention;

6 is a schematic structural diagram of the second positioning mechanism in the present invention

Fig. 7 is the structural schematic diagram in the installation groove on the second support frame in the present invention;

8 is a schematic structural diagram of a positioning block in the present invention;

Fig. 9 is the structural representation of the manipulator mechanism in the present invention;

FIG. 10 is a schematic structural diagram of a photographing device and a grasping device in the present invention.

Detailed ways

(Example 1)

1 to 3, and 5 to 10, the present invention has a workbench 1; the workbench 1 is provided with two sets of feeding mechanisms 2, a first positioning mechanism 3, two manipulator mechanisms 4, two The second positioning mechanism 5 and two sorting mechanisms 6; the feeding mechanism 2 is a vibrating plate 21 and a feeding channel 22; the feeding end of the vibrating plate 21 can be fitted with a feeding device 7 for feeding.

The first positioning mechanism 3 includes a first support frame 31 fixed on the worktable 1; the first support frame 31 is provided with a lift slider 32 that can slide up and down on the first support frame 31 driven by a lift cylinder. The lifting slider 32 is provided with a through channel 321 for the workpiece to enter; the first support frame 31 is located at the rear end of the through channel 321 and is fixedly provided with a limit baffle 33 for blocking the workpiece; the lifting slider The through channel 321 of 32 can completely exceed the limit baffle 33 under the driving of the lifting cylinder; the feeding end of the feeding channel 22 is matched with the discharging end of the vibrating plate 21 correspondingly;

The manipulator mechanism 4 includes a manipulator 41 , and a photographing device 42 for photographing the appearance of the workpiece and a grasping device 43 for grasping the workpiece in the through channel 321 are fixed on the manipulator 41 .

The second positioning mechanism 5 includes a second support frame 51 , a driving rack 52 and a positioning block 53 ; the second support frame 51 is fixedly arranged on the worktable 1 ; The device drives the driving rack 52 that slides linearly on the second support frame 51; the positioning block 53 includes a driven gear part 531 that is connected into one piece and a positioning part 532 for positioning and placing the workpiece; the driven gear part 531 It is rotatably arranged on the second support frame 51, and the driven gear part 531 is in driving cooperation with the driving rack 52; The positional relationship corresponds to the positional relationship between the through-channels 321; the grasping device 43 on the manipulator 41 is used to grasp and transfer the workpieces in the through-channels 321 to the positioning portions 532;

The sorting mechanism 6 includes a qualified collecting hopper 61, an unqualified collecting hopper 62, a first air blowing module 63, a second air blowing module 64 and a third air blowing module 65 arranged on the positioning block 53; a second support frame One side of each positioning block 53 on the 51 is correspondingly provided with a first air blowing module 63, and the other side of each positioning block 53 on the second support frame 51 is correspondingly provided with a second air blowing module 64 ; Qualified collection hopper 61 and unqualified collection hopper 62 are respectively arranged on the table 1, and are located on both sides of the positioning block 53;

The first air blowing module 63 includes a first fixing body fixedly connected to the second support frame 51 . The first fixing body is provided with a first air blowing port. air pipe connection; the second air blowing module 64 includes a second fixing body fixedly connected to the second support frame 51, the second fixing body is provided with a second air blowing port, the second air blowing port The second air blowing pipe is connected; the third air blowing module 65 includes a third air blowing port disposed on the positioning portion 532 for blowing the workpiece away from the positioning portion 532; The third air blowing pipe is connected; the first air blowing module 63 is used for blowing the workpieces detached from the positioning part 532 into the qualified collection hopper 61; the second air blowing module 64 is used for blowing the workpieces detaching from the positioning part 532 into the unqualified hopper 61 Qualified collection hopper 62.

A manipulator mechanism 4 corresponds to a second positioning mechanism 5, and a second positioning mechanism 5 corresponds to a sorting mechanism 6; two manipulator mechanisms 4 reciprocate between the first positioning mechanism 3 and its corresponding second positioning mechanism 5 respectively, And the two manipulator mechanisms 4 operate alternately.

The feeding channels 22 of the two sets of feeding mechanisms 2 are provided with two feeding grooves; the lifting slider 32 is provided with two feeding positions, and the feeding positions correspond to the feeding mechanism 2 one-to-one, and each feeding position corresponds to the feeding mechanism 2. The material level is provided with a plurality of through channels 321 corresponding to the feeding grooves on the corresponding feeding channel 22 one-to-one; the manipulator 41 is provided with two sets of photographing devices 42, the two sets of photographing devices 42 and the two upper The material levels are in one-to-one correspondence, and are used to photograph the workpieces in the through-channel 321 at the corresponding loading positions; the gripping device 43 on the manipulator 41 is a suction cup that can absorb the workpiece; the manipulator 41 is provided with a plurality of suction cups, and the suction cups The number is equal to the number of the through channels 321 on the lifting slider 32 , and each suction cup is matched with the through channels 321 in a one-to-one correspondence.

The manipulator 41 is a manipulator that can rotate 360°; a free end of the manipulator is fixedly provided with a mounting plate 44 ;

The driving device for driving the driving rack 52 to slide includes a driving motor and an output gear 54; the driving motor is fixedly connected to the second supporting frame 51, and the output shaft of the driving motor is drivingly connected to the output gear 54; the second supporting frame 51 is provided with There are installation slots;

The driving rack 52 is slidably arranged in the installation slot and slides along the extending direction of the installation slot; the output gear 54 is arranged in the installation slot and is in driving cooperation with the driving rack 52; the driven gear of the positioning block 53 The mounting groove 531 is rotatably arranged in the mounting groove and is in driving cooperation with the driving rack 52; the mounting groove is covered with a cover plate 55; hole.

The drive motor is fixedly connected to the lower surface of the second support frame 51 ; the output shaft of the drive motor extends into the installation slot and is connected to the output gear 54 for transmission.

The detection process that the present embodiment is used to detect the appearance of the workpiece is as follows:

S1, the vibrating plate 21 sends the workpieces one by one through the feeding channel 22 into the through channel 321 of the lifting slider 32;

S2. The lifting slider 32 is raised under the driving of the lifting cylinder, so that the through channel 321 on the lifting slider 32 exceeds the limit baffle 33, so that the workpiece in the through channel 321 is exposed at one end close to the limit baffle 33

S3, a manipulator 41 drives the photographing device 42 to photograph the end of the workpiece close to the limit baffle 33, and performs appearance inspection;

S4. After the above detection is completed, the manipulator 41 drives the grasping device 43 to pick up the workpiece in the through channel 321, and places the workpiece on the positioning portion 532 of the positioning block 53 of a positioning mechanism;

S5. The output gear 54 on the second positioning mechanism 5 drives the driving rack 52 to slide, the driving rack 52 drives the driven gear part 531, and the positioning block 53 rotates, thereby driving the workpiece on the positioning part 532 to rotate; The photographing device 42 photographs the workpiece; at the same time, another manipulator 41 repeats the steps of S3 and S4 to realize the alternate operation of the two manipulators 41;

S6. After the detection is completed, if the workpiece on the positioning block 53 is qualified, it will be blown away from the positioning portion 532 by the third air blowing module 65, and will be blown into the qualified collection hopper 61 by the first air blowing module 63; The third air blowing module 65 blows away from the positioning part 532 and is blown into the defective collecting hopper 62 by the second air blowing module 64 .

(Example 2)

4, in the present invention, the feeding channels 22 of the two sets of feeding mechanisms 2 are provided with a feeding groove; the lifting slider 32 is provided with two feeding positions, the feeding position and the feeding mechanism 2 One-to-one correspondence, each loading position is provided with two linearly arranged through-channels 321;

The first support frame 31 is provided with a sliding plate 34 that can slide back and forth along the direction of the linear arrangement of the through-channel 321 under the driving of the driving device; Lifting slider 32;

An optical fiber sensing head for sensing whether there is a workpiece in the through channel 321 currently docked with the feeding chute is fixed on the limiting baffle plate 33 on the opposite side of the feeding chute;

The manipulator 41 is provided with two sets of photographing devices 42, and the two sets of photographing devices 42 are respectively used for photographing the workpieces in the through passages 321 at each feeding position; the grasping devices 43 on the manipulator 41 are suction cups that can absorb the workpieces; The manipulator 41 is provided with a plurality of suction cups, the number of suction cups is equal to the number of the through passages 321 on the lifting slider 32 , and the suction cups are matched with the through passages 321 in one-to-one correspondence.

The driving device that drives the sliding plate 34 to slide back and forth is the driving cylinder; after the driving cylinder is extended, one through channel 321 on each upper material level is connected to the corresponding feeding chute; after the driving cylinder retracts, the other one on each upper material level is connected. The through channel 321 is butted with the corresponding feeding chute.

Other technical solutions are the same as in Example 1.

The detection process that the present embodiment is used to detect the appearance of the workpiece is as follows:

S1. The vibrating plate 21 of a feeding mechanism 2 sends the workpieces one by one through the feeding channel 22 into the through channel 321 that is docked with the feeding channel 22 at the corresponding feeding position; when the optical fiber sensing head senses the workpiece, Drive the cylinder to work, to make the other through channel 321 at the loading position dock with the feeding channel 22, when the optical fiber sensing head senses the workpiece, it sends a rising command to the lifting cylinder;

S2. The lifting slider 32 is raised under the driving of the lifting cylinder, so that the through channel 321 on the lifting slider 32 exceeds the limit baffle 33, so that the workpiece in the through channel 321 is exposed at one end close to the limit baffle 33

S3, a manipulator 41 drives the photographing device 42 to photograph the end of the workpiece close to the limit baffle 33, and performs appearance inspection;

S4. After the above detection is completed, the manipulator 41 drives the grasping device 43 to pick up the workpiece in the through channel 321, and places the workpiece on the positioning portion 532 of the positioning block 53 of a positioning mechanism;

S5. The output gear 54 on the second positioning mechanism 5 drives the driving rack 52 to slide, the driving rack 52 drives the driven gear part 531, and the positioning block 53 rotates, thereby driving the workpiece on the positioning part 532 to rotate; The photographing device 42 photographs the workpiece; at the same time, another manipulator 41 repeats the steps of S3 and S4 to realize the alternate operation of the two manipulators 41;

S6. After the detection is completed, if the workpiece on the positioning block 53 is qualified, it will be blown away from the positioning portion 532 by the third air blowing module 65, and will be blown into the qualified collection hopper 61 by the first air blowing module 63; The third air blowing module 65 blows away from the positioning part 532 and is blown into the defective collecting hopper 62 by the second air blowing module 64 .

The specific embodiments described above further describe the purpose, technical solutions and beneficial effects of the present invention in further detail. It should be understood that the above descriptions are only specific embodiments of the present invention, and are not intended to limit the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims (10)

1. The appearance intelligent detection system based on the mechanical arm is provided with a workbench (1); the method is characterized in that: the workbench (1) is provided with a feeding mechanism (2), a first positioning mechanism (3) and a manipulator mechanism (4); the feeding mechanism (2) comprises a vibrating disc (21) and a feeding channel (22);

the first positioning mechanism (3) comprises a first support frame (31) fixedly arranged on the workbench (1); the first support frame (31) is provided with a lifting slide block (32) which can slide up and down on the first support frame (31) under the driving of a lifting cylinder; a through channel (321) for a workpiece to enter is arranged on the lifting slide block (32); a limiting baffle (33) for blocking a workpiece is fixedly arranged at the tail end of the through channel (321) on the first support frame (31); the through channel (321) of the lifting slide block (32) can completely exceed the limit baffle (33) under the driving of the lifting cylinder; the front end of the through channel (321) is correspondingly matched with the discharge end of the feeding channel (22); the feeding end of the feeding channel (22) is correspondingly matched with the discharging end of the vibrating disc (21);

the manipulator mechanism (4) comprises a manipulator (41), and a shooting device (42) for shooting the appearance of the workpiece and a grabbing device (43) for grabbing the workpiece in the through channel (321) are fixedly arranged on the manipulator (41).

2. The robot-based intelligent appearance inspection system of claim 1, wherein: the device also comprises a second positioning mechanism (5) and a sorting mechanism (6); the second positioning mechanism (5) comprises a second supporting frame (51), a driving rack (52) and a positioning block (53); the second support frame (51) is fixedly arranged on the workbench (1); the second support frame (51) is provided with a driving rack (52) which is driven by a driving device to slide on the second support frame (51) in a straight line; the positioning block (53) comprises a driven gear part (531) and a positioning part (532) which are connected into a whole and are used for positioning and placing a workpiece; the driven gear part (531) is rotationally arranged on the second support frame (51), and the driven gear part (531) is in transmission fit with the driving rack (52); the number of the positioning blocks (53) is equal to that of the through channels (321) on the lifting slide block (32), and the position relation among the positioning blocks (53) corresponds to the position relation among the through channels (321); the grabbing device (43) on the manipulator (41) is used for grabbing the workpieces in the through channels (321) and transferring the workpieces to the positioning parts (532);

the sorting mechanism (6) comprises a qualified collecting hopper (61), an unqualified collecting hopper (62), a first air blowing module (63), a second air blowing module (64) and a third air blowing module (65) arranged on the positioning block (53); one side of the second support frame (51) positioned at each positioning block (53) is correspondingly provided with a first air blowing module (63), and the other side of the second support frame (51) positioned at each positioning block (53) is correspondingly provided with a second air blowing module (64); the qualified collecting hopper (61) and the unqualified collecting hopper (62) are respectively arranged on the workbench (1) and are respectively positioned at two sides of the positioning block (53);

the first blowing module (63) comprises a first fixing body fixedly connected to the second supporting frame (51), a first blowing port is formed in the first fixing body, and the first blowing port is connected with a first blowing pipe capable of spraying compressed air; the second blowing module (64) comprises a second fixing body fixedly connected to the second support frame (51), a second blowing port is formed in the second fixing body, and the second blowing port is connected with a second blowing pipe capable of spraying compressed air; the third air blowing module (65) comprises a third air blowing opening which is arranged on the positioning part (532) and used for blowing the workpiece away from the positioning part (532); the third air blowing port is connected with a third air blowing pipe capable of spraying compressed air; the first blowing module (63) is used for blowing the workpieces separated from the positioning part (532) into the qualified aggregate bin (61); the second blowing module (64) is used for blowing the workpieces separated from the positioning part (532) into the unqualified collecting hopper (62).

3. The robotic-based intelligent appearance inspection system of claim 2, wherein: the automatic sorting machine is provided with two manipulator mechanisms (4), two second positioning mechanisms (5) and two sorting mechanisms (6); one manipulator mechanism (4) corresponds to one second positioning mechanism (5), and one second positioning mechanism (5) corresponds to one sorting mechanism (6); the two manipulator mechanisms (4) respectively perform reciprocating operation between the first positioning mechanism (3) and the corresponding second positioning mechanism (5), and the two manipulator mechanisms (4) perform alternate operation.

4. The robotic-based intelligent appearance inspection system of claim 1, 2 or 3, wherein: two sets of feeding mechanisms (2) are arranged; at least two feeding grooves are arranged on the feeding channel (22) of each feeding mechanism (2); two material loading positions are arranged on the lifting slide block (32), the material loading positions correspond to the material loading mechanisms (2) one by one, and a plurality of through channels (321) which correspond to the material inlet grooves on the corresponding material inlet channels (22) one by one are arranged on each material loading position; the manipulator (41) is provided with two groups of shooting devices (42), the two groups of shooting devices (42) correspond to the two feeding positions one by one and are used for shooting workpieces in the through channel (321) at the corresponding feeding positions; the gripping device (43) on the manipulator (41) is a sucker capable of adsorbing a workpiece; the manipulator (41) is provided with a plurality of suckers, the number of the suckers is equal to the number of the through channels (321) on the lifting slide block (32), and the suckers are matched with the through channels (321) in a one-to-one correspondence mode.

5. The robotic-based intelligent appearance inspection system of claim 1, 2 or 3, wherein: two sets of feeding mechanisms (2) are arranged; a feeding channel (22) of each feeding mechanism (2) is provided with a feeding groove; the lifting slide block (32) is provided with two feeding positions, the feeding positions correspond to the feeding mechanisms (2) one by one, and each feeding position is provided with a plurality of linearly arranged through channels (321);

the first support frame (31) is provided with a sliding plate (34) which can slide back and forth along the linear arrangement direction of the through channel (321) under the driving of a driving device; the sliding plate (34) is provided with a lifting slide block (32) which can slide up and down on the sliding plate (34) under the driving of a lifting cylinder;

an optical fiber sensing head used for sensing whether a workpiece exists in a through channel (321) which is butted with the feeding groove at present or not is fixedly arranged on the limiting baffle (33) and is positioned right opposite to the feeding groove;

the manipulator (41) is provided with two groups of shooting devices (42), and the two groups of shooting devices (42) are respectively used for shooting workpieces in the through channels (321) at the loading positions; the gripping device (43) on the manipulator (41) is a sucker capable of adsorbing a workpiece; the manipulator (41) is provided with a plurality of suckers, the number of the suckers is equal to the number of the through channels (321) on the lifting slide block (32), and the suckers are matched with the through channels (321) in a one-to-one correspondence mode.

6. The robotic-based intelligent appearance inspection system of claim 4, wherein: two feeding grooves are arranged on the feeding channel (22).

7. The robotic-based intelligent appearance inspection system of claim 5, wherein: two through channels (321) are arranged on each feeding position; the driving device for driving the sliding plate (34) to slide back and forth is a driving cylinder; after the driving cylinder extends out, one through channel (321) on each material loading position is butted with the corresponding material inlet groove; after the driving cylinder retracts, the other through channel (321) on each loading position is butted with the corresponding feeding groove.

8. The robotic-based intelligent appearance inspection system of claim 3, wherein: the manipulator (41) is a mechanical arm capable of rotating 360 degrees; a mounting plate (44) is fixedly arranged at the free end of the mechanical arm; the shooting device (42) and the grabbing device (43) are both fixedly arranged on the mounting plate (44).

9. The robotic-based intelligent appearance inspection system of claim 2, wherein: the driving device for driving the driving rack (52) to slide comprises a driving motor and an output gear (54); the driving motor is fixedly connected to the second supporting frame (51), and an output shaft of the driving motor is in transmission connection with the output gear (54); the second support frame (51) is provided with a mounting groove;

the driving rack (52) is arranged in the mounting groove in a sliding mode and slides along the extending direction of the mounting groove; the output gear (54) is arranged in the mounting groove and is in transmission fit with the driving rack (52); the driven gear part (531) of the positioning block (53) is rotatably arranged in the mounting groove and is in transmission fit with the driving rack (52); a cover plate (55) is covered on the mounting groove; the cover plate (55) is provided with a through hole for extending the positioning part (532) of the positioning block (53).

10. The robotic-based intelligent appearance inspection system of claim 9, wherein: the driving motor is fixedly connected to the lower surface of the second support frame (51); an output shaft of the driving motor extends into the mounting groove and is in transmission connection with an output gear (54).

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