CN111687063A

CN111687063A - Omnibearing vision detection system and working method thereof

Info

Publication number: CN111687063A
Application number: CN202010525081.2A
Authority: CN
Inventors: 陈晖�; 管维柱; 高艳; 谢小浩; 邓旭; 刘二语
Original assignee: Chongqing Mechanical and Electrical Design Institute
Current assignee: Chongqing Mechanical and Electrical Design Institute
Priority date: 2020-06-10
Filing date: 2020-06-10
Publication date: 2020-09-22

Abstract

The invention discloses an omnibearing visual detection system and a working method thereof, and the omnibearing visual detection system comprises a workbench and a plurality of visual detection devices arranged on the workbench, wherein a rotary detection table is arranged on a vibration disc workbench, the plurality of visual detection devices of the vibration disc are arranged around the rotary detection table, the rotary detection table of the vibration disc comprises a rotary disc, a plurality of workpiece positioning seats which are uniformly arranged at intervals in the circumferential direction are arranged on the rotary disc of the vibration disc, the rotary disc of the vibration disc can be driven by a first power device to intermittently rotate, so that workpieces on the workpiece positioning seats are sequentially aligned with the plurality of visual detection devices, the visual detection is carried out, and each workpiece positioning seat of the vibration disc can be driven by a second power device to rotate, so that the workpieces are driven to rotate in the visual detection process. The invention can carry out omnibearing visual detection on the workpiece, can complete the detection of multiple elements such as the flatness, the holes, the grooves and the like of the workpiece at one time, has simple and quick detection process, effectively improves the detection efficiency and quickens the production progress.

Description

Omnibearing vision detection system and working method thereof

Technical Field

The invention belongs to the technical field of visual detection equipment, and particularly relates to an omnibearing visual detection system and a working method thereof.

Background

Visual inspection is to use a robot to replace human eyes for measurement and judgment. Visual inspection is the conversion of an object to be imaged into an image signal by a machine vision product (i.e. an image capture device, which is divided into a CMOS and a CCD), the image signal is transmitted to a special image processing system, the image signal is converted into a digital signal according to information such as pixel distribution, brightness and color, the image system performs various operations on the signal to extract the characteristics of the object, and then the on-site equipment action is controlled according to the result of the judgment.

Common visual inspection equipment can only detect one of flatness, hole or groove of work piece usually, consequently, will accomplish the complete detection to the work piece, need use a plurality of check out test set, and whole testing process is loaded down with trivial details, complicated and consuming time, leads to detection efficiency extremely low, influences the production progress.

Disclosure of Invention

The invention aims to at least solve the technical problems in the prior art, and particularly innovatively provides an omnibearing visual detection system and a working method thereof.

In order to achieve the above object, the present invention provides an omnidirectional visual inspection system, which comprises a worktable and a plurality of visual inspection devices arranged on the worktable, wherein an image data output end of the visual inspection device is connected with a visual image signal input end of a controller, a rotary detection table is arranged on the workbench, a plurality of visual detection devices are arranged around the rotary detection table, the rotary detection table comprises a turntable, a plurality of workpiece positioning seats which are uniformly arranged at intervals in the circumferential direction are arranged on the turntable, the lower surface of the turntable is provided with infrared correlation emission modules with the number equal to that of the workpiece positioning seats, an infrared correlation receiving module for receiving infrared rays emitted by the infrared correlation emitting module is arranged below the turntable, and the signal output end of the infrared correlation receiving module is connected with the infrared signal input end of the controller; the controller is according to the signal that infrared correlation receiving module sent, and the drive of first power device of controller control carousel intermittent type nature rotates, and the signal control end of first power device links to each other with the first power device signal control output of controller, makes the work piece on the work piece positioning seat aim at with a plurality of visual detection device in proper order to carry out visual detection, every the work piece positioning seat homoenergetic rotates under the drive of second power device, and the signal control end of second power device links to each other with the second power device signal control output of controller, thereby drives the work piece and rotates in the visual detection process.

In a preferred embodiment of the present invention, the second power device includes a driving motor and a transmission mechanism, a signal control end of the driving motor is connected to a signal output end of the driving motor of the controller, the transmission mechanism includes a driving gear and a plurality of driven gears, the driving gear is driven by the driving motor, the driven gears are all disposed on the turntable, and are in one-to-one correspondence with the workpiece positioning seats, the driven gears are circumferentially and uniformly spaced around the driving gear and are all engaged with the driving gear, and the workpiece positioning seats are mounted on the corresponding driven gears, so that all the workpiece positioning seats share the second power device for driving. By adopting the structure, the second driving device is ingenious in structure, can simultaneously drive all the workpiece positioning seats to synchronously rotate, is convenient to install, and avoids conflict with arrangement of the visual detection device.

In a preferred embodiment of the present invention, the turntable is a circular box-shaped structure, the driving motor is located below the turntable, the transmission mechanism is located in the turntable, and the workpiece positioning seat protrudes upward from a top cover of the turntable. Structure more than adopting, it is reasonable to arrange, prevents effectively that granule dust from getting into the carousel inside, influencing the normal operating of each gear.

In a preferred embodiment of the present invention, the visual inspection device comprises a bottom surface inspection device, a top surface inspection device and a plurality of side surface inspection devices, wherein a bottom surface image data output terminal of the bottom surface inspection device is connected with a bottom surface image data input terminal of the controller, a top surface image data output terminal of the top surface inspection device is connected with a top surface image data input terminal of the controller, a side surface image data output terminal of each side surface inspection device is correspondingly connected with each side surface image data input terminal of the controller, each inspection device comprises an industrial camera or/and a light source, an image data output terminal of the industrial camera is connected with an industrial camera image data output terminal of the controller, a signal control terminal of the light source is connected with a light source signal control output terminal of the controller, an industrial camera of the bottom surface inspection device faces upwards, an industrial camera of the top surface inspection device faces downwards, and the industrial cameras of the side detection devices face the center of the turntable. With the above structure, the three types of visual inspection devices ensure that the workpiece can be inspected in all directions.

In a preferred embodiment of the invention, the feeding device comprises a vibrating disk and a feeding clamping cylinder, the signal control end of the feeding clamping cylinder is connected with the signal control output end of the feeding clamping cylinder of the controller, the feeding clamping cylinder is positioned between the vibrating disk and the rotating disk, and is positioned above the bottom surface detection device, the signal control end of the feeding three-dimensional linear module is connected with the signal control output end of the feeding three-dimensional linear membrane module of the controller, the feeding clamping cylinder can move the workpieces conveyed by the vibrating disc to the workpiece positioning seat close to the feeding station one by one under the driving of the feeding three-dimensional linear module, and simultaneously, when the bottom surface of the workpiece needs to be detected, the feeding clamping cylinder can move the workpiece conveyed by the vibration disc to the position above the bottom surface detection device one by one, and the workpiece is moved to the workpiece positioning seat after the bottom surface detection is finished. Structure more than adopting realizes automatic feed through feed arrangement, and degree of automation is high, practices thrift the manpower, and simultaneously, feed arrangement not only can accomplish the feeding, can also cooperate with bottom surface detection device, accomplishes the bottom surface fast and detects, simple structure, and is efficient.

In a preferred embodiment of the invention, a discharge device is arranged on one side of the rotating disc, the discharging device comprises a first screw rod sliding table mechanism and a discharging clamping cylinder arranged on the first screw rod sliding table mechanism, the signal control end of the first screw rod sliding table mechanism is connected with the signal control output end of the first screw rod sliding table mechanism of the controller, the signal control end of the discharging clamping cylinder is connected with the signal control output end of the discharging clamping cylinder of the controller, a plurality of sorting boxes which are sequentially arranged along the length direction of the first screw rod sliding table mechanism are arranged below the first screw rod sliding table mechanism, a sorting box proximity switch is arranged in each sorting box, the signal output end of each sorting box proximity switch is connected with the signal input end of the sorting box of the controller, the discharging clamping cylinder can move the detected workpiece into the classifying box from the workpiece positioning seat close to the discharging station under the driving of the first screw rod sliding table mechanism. By adopting the structure, the discharging device is stable and reliable in structure and can store workpieces with different detection results in a classified manner.

In a preferred embodiment of the present invention, the first power device is a DD direct drive motor or an intermittent divider. By adopting the structure, the DD direct drive motor has the advantages of large output torque, convenience in installation and arrangement, high precision, low noise, high indexing precision, stable operation, large transmission torque and long service life.

In a preferred embodiment of the invention, a workpiece proximity switch is arranged on each workpiece positioning seat, and a signal output end of the workpiece proximity switch is connected with a workpiece signal input end of the controller. And detecting whether the workpiece is placed on or taken down from the workpiece positioning seat.

In a preferred embodiment of the present invention, each of the industrial cameras is mounted on the workbench through a three-dimensional linear detection module, the light source is mounted on the workbench through a bracket and can move under the driving of the second screw rod sliding table mechanism, and a signal control end of the second screw rod sliding table mechanism is connected with a signal control output end of the second screw rod sliding table mechanism of the controller, so as to adjust the distance between the industrial camera and the workpiece to be detected. By adopting the structure, the visual detection device can be suitable for different workpieces by adjusting the positions of the industrial camera and the light source.

The invention also discloses a working method of the omnibearing vision detection system, which comprises the following steps:

s1, initializing the system;

and S2, controlling one or any combination of the feeding device, the rotary detection table, the visual detection device and the discharging device to work by the controller, so that the workpieces are placed in different classification boxes.

In a preferred embodiment of the present invention, step S2 includes the steps of:

s21, controlling the rotary detection table to work by the controller, and specifically comprising the following steps:

s211, the controller sends a first control signal to the first power device, wherein the first control signal is used for enabling the rotating disc to rotate anticlockwise;

s212, when the controller receives a turntable rotation stopping signal sent by the infrared correlation receiving module, the controller sends a second control signal to the first power device, wherein the second control signal is used for stopping the rotation of the turntable;

s213, when the controller receives a workpiece control command that the workpiece proximity switch on the feeding station has placed on the feeding station and the controller receives a workpiece control command that the workpiece proximity switch on the discharging station has taken off the discharging station, or the controller receives a workpiece control command that the workpiece proximity switch on the feeding station has not placed on the feeding station and the controller receives a workpiece control command that the workpiece proximity switch on the discharging station has taken off the discharging station, the controller sends a third control signal to the first power device, wherein the third control signal is used for enabling the rotating disc to rotate anticlockwise continuously; step S212 is executed;

s22, controlling the work of the feeding device by the controller, and specifically comprising the following steps:

s221, the controller sends a first control signal to the feeding three-dimensional linear module to control the clamp on the feeding three-dimensional linear module to move to the vibration disc;

s222, the controller sends a second control signal to the feeding clamping cylinder to control the clamp on the feeding three-dimensional linear module to open, and after the clamp on the feeding three-dimensional linear module opens, the controller sends a third control signal to the feeding clamping cylinder to control the clamp on the feeding three-dimensional linear module to clamp the workpiece;

s223, the controller sends a fourth control signal to the feeding three-dimensional linear module to control the clamp on the feeding three-dimensional linear module to move to the rotary detection table;

s224, when the rotation detection table stops rotating, the controller sends a fifth control signal to the feeding three-dimensional linear module to control the clamp on the feeding three-dimensional linear module to place the workpiece on a feeding station; returning to step S221;

s23, controlling the discharge device to work by the controller, and specifically comprising the following steps:

s231, the controller sends a first control signal to the first lead screw sliding table mechanism to control the clamp on the first lead screw sliding table mechanism to move to the rotary detection table;

s232, when the rotary detection table stops rotating, the controller sends a second control signal to the discharging clamping cylinder to control a clamp on the discharging clamping cylinder to clamp the workpiece;

s233, if the workpiece clamped by the clamp on the discharging clamping cylinder is detected to be an unqualified workpiece for hole detection according to the visual detection device, the controller sends a third control signal to the first lead screw sliding table mechanism to control the clamp on the first lead screw sliding table mechanism to move to a unqualified hole detection classification box, and when the controller receives an approach signal sent by an approach switch of the classification box in the unqualified hole detection classification box, the controller sends a fourth control signal to the discharging clamping cylinder to control the clamp on the discharging clamping cylinder to loosen the workpiece and place the unqualified hole detection workpiece into the unqualified hole detection classification box; returning to step S231;

if the workpiece clamped by the clamp on the discharging clamping cylinder is detected to be an unqualified workpiece detected by the groove according to the visual detection device, the controller sends a fifth control signal to the first lead screw sliding table mechanism to control the clamp on the first lead screw sliding table mechanism to move to the unqualified classification box for groove detection, and when the controller receives an approach signal sent by an approach switch of the classification box in the unqualified classification box for groove detection, the controller sends a sixth control signal to the discharging clamping cylinder to control the clamp on the discharging clamping cylinder to loosen the workpiece and place the unqualified workpiece for groove detection into the unqualified classification box for groove detection; returning to step S231;

if the workpiece clamped by the clamp on the discharging clamping cylinder is detected to be a workpiece with unqualified top surface detection according to the visual detection device, the controller sends a seventh control signal to the first lead screw sliding table mechanism to control the clamp on the first lead screw sliding table mechanism to move to the classification box with unqualified top surface detection, and when the controller receives an approach signal sent by an approach switch of the classification box in the classification box with unqualified top surface detection, the controller sends an eighth control signal to the discharging clamping cylinder to control the clamp on the discharging clamping cylinder to loosen the workpiece and place the workpiece with unqualified top surface detection into the classification box with unqualified top surface detection; returning to step S231;

if the workpiece clamped by the clamp on the discharging clamping cylinder is detected to be a workpiece with unqualified bottom surface detection according to the visual detection device, the controller sends a ninth control signal to the first screw rod sliding table mechanism to control the clamp on the first screw rod sliding table mechanism to move to the classified box with unqualified bottom surface detection, and when the controller receives an approach signal sent by an approach switch of the classified box in the classified box with unqualified bottom surface detection, the controller sends a tenth control signal to the discharging clamping cylinder to control the clamp on the discharging clamping cylinder to loosen the workpiece and place the workpiece with unqualified bottom surface detection into the classified box with unqualified bottom surface detection; returning to step S231;

if the workpiece clamped by the clamp on the discharging clamping cylinder is detected to be a qualified workpiece by the visual detection device, the controller sends an eleventh control signal to the first lead screw sliding table mechanism to control the clamp on the first lead screw sliding table mechanism to move to the qualified detection sorting box; the process returns to step S231.

In a preferred embodiment of the present invention, in step S213, the feeding and discharging comprises the steps of:

s213a, when the controller receives a workpiece control command that the workpiece on the feeding station is placed on the feeding station and receives a workpiece control command that the workpiece on the discharging station is taken off from the discharging station, the controller sends a third control signal to the first power device, wherein the third control signal is used for enabling the turntable of the first power device to continue to rotate anticlockwise; only one workpiece is placed on the rotary detection table;

s213b, when the controller receives the rotating stop signal sent by the infrared correlation receiving module, the controller sends a fourth control signal to the first power device, and the fourth control signal is to stop the rotating of the rotating disc;

s213c, when the controller receives a workpiece placing control command of the feeding station sent by the workpiece proximity switch on the feeding station and receives a workpiece removing control command of the discharging station sent by the workpiece proximity switch on the discharging station, the controller sends a fifth control signal to the first power device, wherein the fifth control signal is used for enabling the turntable of the first power device to continue to rotate anticlockwise; only two workpieces are placed on the rotary detection table;

s213d, when the controller receives the rotating stop signal sent by the infrared correlation receiving module, the controller sends a sixth control signal to the first power device, and the sixth control signal is to stop the rotating of the rotating disc;

s213e, when the controller receives a workpiece placing control command of the feeding station sent by the workpiece proximity switch on the feeding station and receives a workpiece removing control command of the discharging station sent by the workpiece proximity switch on the discharging station, the controller sends a seventh control signal to the first power device, wherein the seventh control signal is used for enabling the turntable of the first power device to continue to rotate anticlockwise; only three workpieces are placed on the rotary detection table;

s213f, when the controller receives the rotating stop signal sent by the infrared correlation receiving module, the controller sends an eighth control signal to the first power device, and the eighth control signal is to stop the rotating of the rotating disc;

s213g, when the controller receives a workpiece placing control command of the feeding station sent by the workpiece proximity switch on the feeding station and receives a workpiece removing control command of the discharging station sent by the workpiece proximity switch on the discharging station, the controller sends a ninth control signal to the first power device, wherein the ninth control signal is used for enabling the turntable of the first power device to continue to rotate anticlockwise; only four workpieces are placed on the rotary detection table;

s213h, when the controller receives the rotation stop signal sent by the infrared correlation receiving module, the controller sends a tenth control signal to the first power device, where the tenth control signal is to stop the rotation of the turntable;

s213i, when the controller receives a workpiece placing control command of the feeding station sent by the workpiece proximity switch on the feeding station and receives a workpiece removing control command of the discharging station sent by the workpiece proximity switch on the discharging station, the controller sends an eleventh control signal to the first power device, wherein the eleventh control signal is used for enabling the turntable of the first power device to continue to rotate anticlockwise; at the moment, only five workpieces are placed on the rotary detection table;

s213j, when the controller receives the rotating stop signal sent by the infrared correlation receiving module, the controller sends a twelfth control signal to the first power device, and the twelfth control signal is used for stopping the rotating of the rotating disc;

s213k, when the controller receives a workpiece placing control command of the feeding station sent by the workpiece proximity switch on the feeding station and receives a workpiece removing control command of the discharging station sent by the workpiece proximity switch on the discharging station, the controller sends a thirteenth control signal to the first power device, wherein the thirteenth control signal is used for enabling the turntable of the first power device to continue to rotate anticlockwise; at the moment, five workpieces are arranged on the rotary detection table in total; returning to step S213 j;

in step S213, the discharging includes the steps of:

s213l, when the controller receives the signal of stopping the rotation of the turntable sent by the infrared correlation receiving module, the controller sends a fourteenth control signal to the first power device, and the fourteenth control signal is to stop the rotation of the turntable;

s213m, when the controller receives a control command that the workpiece is not placed on the feeding station and a control command that the workpiece is taken off from the discharging station, which are sent by the workpiece proximity switch on the discharging station, the controller sends a fifteenth control signal to the first power device, wherein the fifteenth control signal is used for enabling the turntable of the first power device to continue to rotate anticlockwise; only four workpieces are arranged on the rotary detection table;

s213n, when the controller receives the rotation stop signal sent by the infrared correlation receiving module, the controller sends a sixteenth control signal to the first power device, where the sixteenth control signal is to stop the rotation of the turntable;

s213o, when the controller receives a control command that the workpiece is not placed on the feeding station and a control command that the workpiece is taken off from the discharging station, which are sent by the workpiece proximity switch on the discharging station, the controller sends a seventeenth control signal to the first power device, wherein the seventeenth control signal is used for enabling the turntable of the first power device to continue to rotate anticlockwise; only three workpieces are arranged on the rotary detection table;

s213p, when the controller receives the rotating stop signal sent by the infrared correlation receiving module, the controller sends an eighteenth control signal to the first power device, and the eighteenth control signal is to stop the rotating of the rotating disc;

s213q, when the controller receives a workpiece control command that the workpiece approach switch on the feeding station is not placed on the feeding station and receives a workpiece control command that the workpiece approach switch on the discharging station is taken off from the discharging station, the controller sends a nineteenth control signal to the first power device, wherein the nineteenth control signal is used for enabling the turntable to continue to rotate anticlockwise; only two workpieces are arranged on the rotary detection table;

s213r, when the controller receives the rotating stop signal sent by the infrared correlation receiving module, the controller sends a twentieth control signal to the first power device, and the twentieth control signal is to stop the rotating of the rotating disc;

S213S, when the controller receives a control command that the workpiece is not placed on the feeding station and a control command that the workpiece is taken off from the discharging station, the controller sends a twenty-first control signal to the first power device, wherein the twenty-first control signal is used for enabling the turntable to continue to rotate anticlockwise; at the moment, a workpiece is arranged on the rotary detection table;

s213t, when the controller receives the rotating stop signal sent by the infrared correlation receiving module, the controller sends a twenty-second control signal to the first power device, and the twenty-second control signal is to stop the rotating of the rotating disc;

s213u, when the controller receives a workpiece control command that the workpiece proximity switch on the feeding station sends that the workpiece is not placed on the feeding station and receives a workpiece control command that the workpiece proximity switch on the discharging station sends that the workpiece is taken off from the discharging station, no workpiece exists on the rotary detection table; and all the workpieces are taken down from the rotary detection table.

The invention has the beneficial effects that: 1. the system can carry out omnibearing visual detection on the workpiece, can complete the detection of multiple elements such as the flatness, holes, grooves and the like of the workpiece at one time, has simple and quick detection process, effectively improves the detection efficiency and quickens the production progress; 2. the rotary table rotates, so that the workpiece can be driven to sequentially carry out multiple visual detections, the workpiece positioning seat rotates, the completeness and no dead angle of each detection can be ensured, and the structure is ingenious; 3. compact structure, arrange rationally, occupation space is little, does benefit to the arrangement in the factory building.

In summary, due to the adoption of the technical scheme, the invention can: 1. the system can carry out omnibearing visual detection on the workpiece, can complete the detection of multiple elements such as the flatness, holes, grooves and the like of the workpiece at one time, has simple and quick detection process, effectively improves the detection efficiency and quickens the production progress; 2. the rotary table rotates, so that the workpiece can be driven to sequentially carry out multiple visual detections, the workpiece positioning seat rotates, the completeness and no dead angle of each detection can be ensured, and the structure is ingenious; 3. compact structure, arrange rationally, occupation space is little, does benefit to the arrangement in the factory building.

Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

Drawings

The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

FIG. 1 is a schematic structural diagram of the present invention.

Fig. 2 is a top view of the present invention.

Fig. 3 is a schematic structural diagram of the rotation detection table, the first power device and the second power device.

Fig. 4 is a plan view of the rotation detection table, the first power unit, and the second power unit.

Fig. 5 is a cross-sectional view taken at a-a in fig. 4.

Fig. 6 is a front view of the present invention.

Fig. 7 is a right side view of the present invention.

Fig. 8 is a rear view of the present invention.

Fig. 9 is a left side view of the present invention.

FIG. 10 is another schematic structural diagram of the present invention.

Fig. 11 is a schematic structural view of the present invention (including a protective cover).

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.

As shown in fig. 1 to 11, an omnidirectional visual inspection system mainly comprises a workbench 1, a visual inspection device 2, a rotary inspection table 3, a first power device 4, a second power device 5, a feeding device 6, a discharging device 7, a three-dimensional linear module 8, a bracket 9 and a second screw rod sliding table mechanism 10.

As shown in fig. 1 to 11, the workbench 1 is a box structure, supporting legs and universal wheels are arranged at the bottom of the workbench, a protective cover 101 is arranged above the table top of the workbench 1, the protective cover 101 plays a role in dust prevention and noise reduction, an observation window 101a and a flat door 101b are arranged on the side surface of the protective cover 101, and an alarm lamp 11 is arranged above the protective cover 101.

As shown in fig. 1 to 10, the rotation detection table 3 is arranged on the working table 1, the rotation detection table 3 comprises a rotary table 301, the rotary table 301 is of a circular box-shaped structure, a plurality of workpiece positioning seats 302 are arranged on the rotary table 301, the plurality of workpiece positioning seats 302 are circumferentially arranged at equal intervals, the workpiece positioning seats 302 are used for positioning and supporting workpieces, in the embodiment, the workpiece positioning seats 302 are cylindrical, a containing groove used for containing a workpiece proximity switch is arranged at the top end of the workpiece positioning seats 302, the workpieces are placed on the workpiece positioning seats 302, and the periphery of the workpieces is free of shielding, so that the detection is facilitated.

Furthermore, the signal control end of the first power device 4 is connected with the signal control output end of the first power device of the controller, the lower surface of the turntable 301 is provided with infrared correlation transmitting modules with the number equal to that of the workpiece positioning seats 302, an infrared correlation receiving module for receiving infrared rays transmitted by the infrared correlation transmitting modules is arranged below the turntable 301, and the signal output end of the infrared correlation receiving module is connected with the infrared signal input end of the controller; the controller controls the first power device 4 to drive the turntable 301 to intermittently rotate according to signals sent by the infrared correlation receiving module, when the turntable 301 rotates 360 degrees, the intermittent rotation times are equal to the number of the workpiece positioning seats 302, the first power device 302 is a DD direct drive motor or an intermittent divider, in the embodiment, the first power device 302 is a DD direct drive motor, the DD direct drive motor is installed on the table top of the workbench 1 through a flange, and the turntable 301 is fixed above the DD direct drive motor.

Furthermore, a signal control end of the second power device 5 is connected with a second power device signal control output end of the controller, each workpiece positioning seat 302 can be driven by the second power device 5 to rotate, each workpiece positioning seat 302 can be individually provided with one second power device 5, and can also share one second power device 5, in this embodiment, all the workpiece positioning seats 302 share the second power device 5 for driving, when each workpiece positioning seat 302 rotates, the synchronism is high, the detection error is reduced, and the energy consumption is reduced, the second power device 5 comprises a driving motor 501 and a transmission mechanism 502, the transmission mechanism 502 comprises a driving gear 502a and a plurality of driven gears 502b, the driving gear 502a is driven by the driving motor 501, the driven gears 502b are circumferentially and uniformly arranged around the driving gear 502a at intervals, and are all engaged with the drive gear 502 a. Referring to fig. 5, the transmission mechanism 502 is located in the turntable 301, bearings are arranged between the mounting shaft of the driving gear 502a and the mounting shaft of the driven gear 502b and the turntable 301, the driving motor 501 is mounted below the table top of the workbench 1, the output shaft of the driving motor passes through the center of the DD direct drive motor and then is connected with the driving gear 502a, the signal control end of the DD direct drive motor is connected with the signal output end of the DD direct drive motor of the controller, and the workpiece positioning seat 302 is mounted on the mounting shaft corresponding to the driven gear 502 b.

As shown in fig. 1 to 11, the feeding device 6 comprises a vibration plate 601 and a feeding clamping cylinder 602, a signal control end of the feeding clamping cylinder 602 is connected with a signal control output end of the feeding clamping cylinder of the controller, the vibration plate 601 is mounted on one side of the worktable 1 through a vibration plate mounting seat, the feeding clamping cylinder 602 is installed on the table top of the workbench 1 through the feeding three-dimensional linear module 603, the signal control end of the feeding three-dimensional linear module 603 is connected with the signal control output end of the feeding three-dimensional linear membrane module of the controller, the feeding clamping cylinder 602 is located between the vibrating disc 601 and the rotary disc 301, a clamp matched with a workpiece is installed on the feeding clamping cylinder 602, and the feeding clamping cylinder 602 is driven by the feeding three-dimensional linear module 603 to move the workpieces conveyed by the vibrating disc 601 one by one to the workpiece positioning seat 302 close to the feeding station, so that automatic feeding is realized.

As shown in fig. 1 to 11, the discharging device 7 is disposed on the table top of the working table 1, the discharging device 7 is disposed on one side of the turntable 301 and outside the protective cover 101, the discharging device 7 includes a first screw rod sliding table mechanism 701 and a discharging clamping cylinder 702 disposed on the first screw rod sliding table mechanism 701, a clamp adapted to a workpiece is mounted on the discharging clamping cylinder 702, a signal control end of the first screw rod sliding table mechanism 701 is connected to a signal control output end of the first screw rod sliding table mechanism of the controller, a signal control end of the discharging clamping cylinder 702 is connected to a signal control output end of the discharging clamping cylinder of the controller, a plurality of sorting boxes 703 sequentially arranged along the length direction of the first screw rod sliding table mechanism 701 are disposed below the first screw rod sliding table mechanism 701, different sorting boxes 703 are used for storing workpieces with different detection results, for example, a workpiece with an unqualified hole detection is disposed in a hole detection sorting box, The workpieces with unqualified slot detection are placed in the unqualified slot detection classification box, the workpieces with unqualified top surface detection are placed in the unqualified top surface detection classification box, the workpieces with unqualified bottom surface detection are placed in the unqualified bottom surface detection classification box, the workpieces with qualified detection are placed in the qualified detection classification box, etc., the signal output end of the proximity switch of the classification box in the unqualified hole detection classification box is connected with the signal input end of the unqualified hole detection classification box of the controller, the signal output end of the proximity switch of the classification box in the unqualified slot detection classification box is connected with the signal input end of the unqualified slot detection classification box of the controller, the signal output end of the proximity switch of the classification box in the unqualified top surface detection classification box is connected with the signal input end of the unqualified top surface detection classification box of the controller, and the signal, the signal output end of a sorting box proximity switch in the qualified detection sorting box is connected with the signal input end of the qualified detection sorting box of the controller; the discharging clamping cylinder 702 is driven by the first screw rod sliding table mechanism 701 to move the detected workpiece to different sorting boxes 703 from the workpiece positioning seat 302 close to the discharging station.

As shown in fig. 1 to 10, a plurality of visual inspection devices 2 are disposed on a workbench 1, the plurality of visual inspection devices 2 are arranged around a rotation inspection table 3, in the present embodiment, the visual inspection devices 2 include a bottom surface inspection device 203, a top surface inspection device 204, and a plurality of side surface inspection devices 205, each of the inspection devices includes an industrial camera 201 and a light source 202, the industrial camera 201 of the bottom surface inspection device 203 faces upward, the industrial camera 201 of the top surface inspection device 204 faces downward, and the industrial camera 201 of the plurality of side surface inspection devices 205 faces the center of a turntable 301. Every industry camera 201 all installs on workstation 1 through detecting three-dimensional linear module 8, light source 202 passes through support 9 and installs on workstation 1, and be located corresponding industry camera 201 and wait to detect between the work piece, be provided with second lead screw slip table mechanism 10 on the support 9, the signal control end of second lead screw slip table mechanism links to each other with the second lead screw slip table mechanism signal control output of controller, light source 202 can move under the drive of second lead screw slip table mechanism 10, thereby adjustment and industry camera 201, wait the distance between the work piece.

Further, in the present embodiment, six workpiece positioning seats 302 are disposed on the turntable 301, referring to fig. 2, the six workpiece positioning seats 302 correspond to six stations, the six stations are respectively a feeding station, a first side detecting station, a second side detecting station, a third side detecting station, a top detecting station and a discharging station along the counterclockwise direction, the feeding device 6, the three side detecting devices 205 (respectively a first side detecting device, a second side detecting device and a third side detecting device along the counterclockwise direction), the top detecting device 204 and the discharging device 7 are respectively located at the corresponding stations, the image data output end of the industrial camera on the bottom detecting device 203 is connected to the bottom industrial camera image data input end of the controller, the image data output end of the industrial camera on the top detecting device 204 is connected to the top industrial camera image data input end of the controller, the image data output end of the industrial camera on the first side detection device is connected with the image data input end of the first side industrial camera of the controller, the image data output end of the industrial camera on the second side detection device is connected with the image data input end of the second side industrial camera of the controller, and the image data output end of the industrial camera on the third side detection device is connected with the image data input end of the third side industrial camera of the controller; the signal control end of the light source on the bottom surface detection device 203 is connected with the bottom surface light source signal control output end of the controller, the signal control end of the light source on the top surface detection device 204 is connected with the top surface light source signal control output end of the controller, the signal control end of the light source on the first side surface detection device is connected with the first side surface light source signal control output end of the controller, the signal control end of the light source on the second side surface detection device is connected with the second side surface light source signal control output end of the controller, and the signal control end of the light source on the third side surface detection device is connected with the third side surface light source signal control output end of the controller; the signal output end of a workpiece proximity switch on the feeding station is connected with the workpiece proximity signal input end of the feeding station of the controller, the signal output end of a workpiece proximity switch on the first side detection station is connected with the workpiece proximity signal input end of the first side detection station of the controller, the signal output end of a workpiece proximity switch on the second side detection station is connected with the workpiece proximity signal input end of the second side detection station of the controller, the signal output end of a workpiece proximity switch on the third side detection station is connected with the workpiece proximity signal input end of the third side detection station of the controller, the signal output end of the workpiece proximity switch on the top side detection station is connected with the workpiece proximity signal input end of the top side detection station of the controller, and the signal output end of the workpiece proximity switch on the discharging station is connected with the workpiece proximity signal input end of the discharging station of; the bottom surface detection device 203 is located below the feeding clamping cylinder 602, when the bottom surface detection needs to be performed on a workpiece, the feeding clamping cylinder 602 moves the workpiece conveyed by the vibration disc 601 to the position above the bottom surface detection device 203 firstly, and moves the workpiece to the workpiece positioning seat 302 after the bottom surface detection is completed, so that the feeding station is also used as a bottom surface detection station. When the rotary disc 301 intermittently rotates once under the driving of the first power device 4, the workpiece positioning seat 302 moves from one station to the next station, and the workpiece positioning seat 302 rotates from the feeding station to the discharging station, so that the whole process of feeding, visual detection and discharging is completed once. The system has the advantages of ingenious structure, stability, reliability, reasonable arrangement, high automation degree and effective improvement of detection efficiency, and can perform all-dimensional visual detection on the workpiece without dead angles at one time.

s1, initializing the system;

and S2, controlling one or any combination of the feeding device 6, the rotary detection table 3, the visual detection device 2 and the discharging device 7 to work by the controller, so that the workpieces are placed in different sorting boxes.

s21, the controller controls the rotary detection table 3 to work, and the method specifically comprises the following steps:

s211, the controller sends a first control signal to the first power device 4, wherein the first control signal is used for enabling the turntable 301 to rotate anticlockwise;

s212, when the controller receives a turntable rotation stopping signal sent by the infrared correlation receiving module, the controller sends a second control signal to the first power device 4, wherein the second control signal is used for stopping the rotation of the turntable 301;

s213, when the controller receives a workpiece control command that the workpiece proximity switch on the feeding station has placed on the feeding station and the controller receives a workpiece control command that the workpiece proximity switch on the discharging station has removed from the discharging station, or when the controller receives a workpiece control command that the workpiece proximity switch on the feeding station has not placed on the feeding station and the controller receives a workpiece control command that the workpiece proximity switch on the discharging station has removed from the discharging station, the controller sends a third control signal to the first power device 4, where the third control signal is to make the turntable 301 rotate counterclockwise continuously; step S212 is executed;

s22, controlling the feeding device 6 to work by the controller, and specifically comprising the following steps:

s221, the controller sends a first control signal to the feeding three-dimensional linear module 603 and controls the clamp on the feeding three-dimensional linear module 603 to move to the vibrating disc 601;

s222, the controller sends a second control signal to the feeding clamping cylinder 602 to control the clamp on the feeding three-dimensional linear module 603 to open, and after the clamp on the feeding three-dimensional linear module 603 opens, the controller sends a third control signal to the feeding clamping cylinder 602 to control the clamp on the feeding three-dimensional linear module 603 to clamp the workpiece;

s223, the controller sends a fourth control signal to the feeding three-dimensional linear module 603, and controls the clamp on the feeding three-dimensional linear module 603 to move to the rotary detection table 3;

s224, when the rotation detection table 3 stops rotating, the controller sends a fifth control signal to the feeding three-dimensional linear module 603, and controls the clamp on the feeding three-dimensional linear module 603 to place the workpiece on a feeding station; returning to step S221;

s23, controlling the discharging device 7 to work by the controller, and specifically comprising the following steps:

s231, the controller sends a first control signal to the first lead screw sliding table mechanism 701 to control the clamp on the first lead screw sliding table mechanism 701 to move to the rotary detection table 3;

s232, when the rotary detection table 3 stops rotating, the controller sends a second control signal to the discharging clamping cylinder 702 to control the clamp on the discharging clamping cylinder 702 to clamp the workpiece;

s233, if the workpiece clamped by the clamp on the discharging clamping cylinder 702 is detected to be an unqualified hole detection workpiece according to the visual detection device 2, the controller sends a third control signal to the first lead screw sliding table mechanism 701 to control the clamp on the first lead screw sliding table mechanism 701 to move to a unqualified hole detection classification box, and when the controller receives an approach signal sent by an approach switch of the classification box in the unqualified hole detection classification box, the controller sends a fourth control signal to the discharging clamping cylinder 702 to control the clamp on the discharging clamping cylinder 702 to loosen the workpiece and place the unqualified hole detection workpiece into the unqualified hole detection classification box; returning to step S231;

if the workpiece clamped by the clamp on the discharging clamping cylinder 702 is detected to be a workpiece which is unqualified in groove detection according to the visual detection device 2, the controller sends a fifth control signal to the first lead screw sliding table mechanism 701 to control the clamp on the first lead screw sliding table mechanism 701 to move to a classified box which is unqualified in groove detection, and when the controller receives an approach signal sent by an approach switch of the classified box in the classified box which is unqualified in groove detection, the controller sends a sixth control signal to the discharging clamping cylinder 702 to control the clamp on the discharging clamping cylinder 702 to loosen the workpiece and place the workpiece which is unqualified in groove detection into the classified box which is unqualified in groove detection; returning to step S231;

if the workpiece clamped by the clamp on the discharging clamping cylinder 702 is detected to be a workpiece with unqualified top surface detection according to the visual detection device 2, the controller sends a seventh control signal to the first lead screw sliding table mechanism 701 to control the clamp on the first lead screw sliding table mechanism 701 to move to a classified box with unqualified top surface detection, and when the controller receives an approach signal sent by an approach switch of the classified box in the classified box with unqualified top surface detection, the controller sends an eighth control signal to the discharging clamping cylinder 702 to control the clamp on the discharging clamping cylinder 702 to loosen the workpiece and place the workpiece with unqualified top surface detection into the classified box with unqualified top surface detection; returning to step S231;

if the workpiece clamped by the clamp on the discharging clamping cylinder 702 is detected to be a workpiece with unqualified bottom surface detection according to the visual detection device 2, the controller sends a ninth control signal to the first lead screw sliding table mechanism 701 to control the clamp on the first lead screw sliding table mechanism 701 to move to a classified box with unqualified bottom surface detection, and when the controller receives an approach signal sent by an approach switch of the classified box in the classified box with unqualified bottom surface detection, the controller sends a tenth control signal to the discharging clamping cylinder 702 to control the clamp on the discharging clamping cylinder 702 to loosen the workpiece and place the workpiece with unqualified bottom surface detection into the classified box with unqualified bottom surface detection; returning to step S231;

if the workpiece clamped by the clamp on the discharging clamping cylinder 702 is detected to be a qualified workpiece according to the visual detection device 2, the controller sends an eleventh control signal to the first lead screw sliding table mechanism 701 to control the clamp on the first lead screw sliding table mechanism 701 to move to a qualified detection classification box, and when the controller receives an approach signal sent by an approach switch of the classification box in the qualified detection classification box, the controller sends a twelfth control signal to the discharging clamping cylinder 702 to control the clamp on the discharging clamping cylinder 702 to loosen the workpiece and place the qualified detection workpiece into the qualified detection classification box; the process returns to step S231.

s213a, when the controller receives a workpiece control command that the workpiece proximity switch on the feeding station has placed on the feeding station and receives a workpiece control command that the workpiece proximity switch on the discharging station has removed from the discharging station, the controller sends a third control signal to the first power device 4, where the third control signal is to make the turntable 301 rotate counterclockwise; only one workpiece is placed on the rotary detection table 3;

s213b, when the controller receives the rotation stop signal sent by the infrared correlation receiving module, the controller sends a fourth control signal to the first power device 4, where the fourth control signal is to stop the rotation of the turntable 301;

s213c, when the controller receives a workpiece placing control command from the workpiece proximity switch on the feeding station and receives a workpiece removing control command from the discharging station from the workpiece proximity switch on the discharging station, the controller sends a fifth control signal to the first power device 4, where the fifth control signal is to make the turntable 301 rotate counterclockwise; only two workpieces are placed on the rotary detection table 3;

s213d, when the controller receives the rotation stop signal sent by the infrared correlation receiving module, the controller sends a sixth control signal to the first power device 4, where the sixth control signal is to stop the rotation of the turntable 301;

s213e, when the controller receives a control command that the workpiece is placed on the feeding station and a control command that the workpiece is removed from the discharging station, the controller sends a seventh control signal to the first power device 4, where the seventh control signal is to make the turntable 301 rotate counterclockwise; only three workpieces are placed on the rotary detection table 3;

s213f, when the controller receives the rotation stop signal sent by the infrared correlation receiving module, the controller sends an eighth control signal to the first power device 4, where the eighth control signal is to stop the rotation of the turntable 301;

s213g, when the controller receives a control command that the workpiece is placed on the feeding station and a control command that the workpiece is removed from the discharging station, the controller sends a ninth signal to the first power device 4, where the ninth signal is to make the turntable 301 rotate counterclockwise; only four workpieces are placed on the rotary detection table 3;

s213h, when the controller receives the rotation stop signal sent by the infrared correlation receiving module, the controller sends a tenth control signal to the first power device 4, where the tenth control signal is to stop the rotation of the turntable 301;

s213i, when the controller receives the workpiece placing control command from the workpiece proximity switch on the feeding station and the workpiece removing control command from the discharging station from the workpiece proximity switch on the discharging station, the controller sends an eleventh control signal to the first power device 4, where the eleventh control signal is to make the turntable 301 rotate counterclockwise continuously; at the moment, only five workpieces are placed on the rotary detection table 3;

s213j, when the controller receives the rotation stop signal sent by the infrared correlation receiving module, the controller sends a twelfth control signal to the first power device 4, where the twelfth control signal is to stop the rotation of the turntable 301;

s213k, when the controller receives a control command that the workpiece is placed on the feeding station and a control command that the workpiece is removed from the discharging station, which are sent by the workpiece proximity switch on the feeding station, the controller sends a thirteenth control signal to the first power device 4, where the thirteenth control signal is to make the turntable 301 rotate counterclockwise; at the moment, five workpieces are arranged on the rotary detection table 3 in total; returning to step S213 j;

in step S213, the discharging includes the steps of:

s213l, when the controller receives the rotation stop signal sent by the infrared correlation receiving module, the controller sends a fourteenth control signal to the first power device 4, where the fourteenth control signal is to stop the rotation of the turntable 301;

s213m, when the controller receives a control command that the workpiece is not placed on the feeding station sent by the workpiece proximity switch on the feeding station and receives a control command that the workpiece is removed from the discharging station sent by the workpiece proximity switch on the discharging station, the controller sends a fifteenth control signal to the first power device 4, where the fifteenth control signal is to make the turntable 301 rotate counterclockwise continuously; only four workpieces are arranged on the rotary detection table 3;

s213n, when the controller receives the rotation stop signal sent by the infrared correlation receiving module, the controller sends a sixteenth control signal to the first power device 4, where the sixteenth control signal is to stop the rotation of the turntable 301;

s213o, when the controller receives a control command that the workpiece is not placed on the feeding station sent by the workpiece proximity switch on the feeding station and receives a control command that the workpiece is removed from the discharging station sent by the workpiece proximity switch on the discharging station, the controller sends a seventeenth control signal to the first power device 4, where the seventeenth control signal is to make the turntable 301 rotate counterclockwise continuously; only three workpieces are arranged on the rotary detection table 3;

s213p, when the controller receives the rotation stop signal sent by the infrared correlation receiving module, the controller sends an eighteenth control signal to the first power device 4, where the eighteenth control signal is to stop the rotation of the turntable 301;

s213q, when the controller receives a control command that the workpiece is not placed on the feeding station and a control command that the workpiece is removed from the discharging station, which are sent by the workpiece proximity switch on the discharging station, the controller sends a nineteenth control signal to the first power device 4, where the nineteenth control signal is to make the turntable 301 rotate counterclockwise; only two workpieces are arranged on the rotary detection table 3;

s213r, when the controller receives the rotation stop signal sent by the infrared correlation receiving module, the controller sends a twentieth control signal to the first power device 4, where the twentieth control signal is to stop the rotation of the turntable 301;

S213S, when the controller receives a control command that the workpiece is not placed on the feeding station and a control command that the workpiece is removed from the discharging station, the controller sends a twenty-first control signal to the first power device 4, where the twenty-first control signal is to make the turntable 301 rotate counterclockwise; at this time, a workpiece is arranged on the rotary detection table 3;

s213t, when the controller receives the rotation stop signal sent by the infrared correlation receiving module, the controller sends a twenty-second control signal to the first power device 4, where the twenty-second control signal is to stop the rotation of the turntable 301;

s213u, when the controller receives a workpiece control command that the workpiece proximity switch on the feeding station has not placed on the feeding station and receives a workpiece control command that the workpiece proximity switch on the discharging station has removed from the discharging station, then there is no workpiece on the rotary inspection table 3; all the workpieces are removed from the rotation inspection table 3.

While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. An omnibearing visual detection system comprises a workbench and a plurality of visual detection devices arranged on the workbench, wherein the image data output end of each visual detection device is connected with the visual image signal input end of a controller; the controller is according to the signal that infrared correlation receiving module sent, and the drive of first power device of controller control carousel intermittent type nature rotates, and the signal control end of first power device links to each other with the first power device signal control output of controller, makes the work piece on the work piece positioning seat aim at with a plurality of visual detection device in proper order to carry out visual detection, every the work piece positioning seat homoenergetic rotates under the drive of second power device, and the signal control end of second power device links to each other with the second power device signal control output of controller, thereby drives the work piece and rotates in the visual detection process.

2. The omnidirectional visual inspection system according to claim 1, wherein the second power device comprises a driving motor and a transmission mechanism, a signal control end of the driving motor is connected to a signal output end of the driving motor of the controller, the transmission mechanism comprises a driving gear and a plurality of driven gears, the driving gear is disposed on the turntable, the driven gears correspond to the workpiece positioning seats one by one, the driving gear is driven by the driving motor, the driven gears are circumferentially and uniformly spaced around the driving gear and are engaged with the driving gear, and the workpiece positioning seats are mounted on the corresponding driven gears, so that all the workpiece positioning seats are driven by the second power device.

3. The omnidirectional visual inspection system of claim 2, wherein said turntable is a circular box-like structure, said drive motor is located below said turntable, said transmission mechanism is located within said turntable, and said workpiece positioning seat protrudes upwardly from a top cover of said turntable.

4. The omnidirectional visual inspection system according to claim 1, wherein the visual inspection apparatus comprises a bottom surface inspection apparatus, a top surface inspection apparatus, and a plurality of side surface inspection apparatuses, wherein a bottom surface image data output terminal of the bottom surface inspection apparatus is connected to a bottom surface image data input terminal of the controller, a top surface image data output terminal of the top surface inspection apparatus is connected to a top surface image data input terminal of the controller, a side surface image data output terminal of each side surface inspection apparatus is correspondingly connected to each side surface image data input terminal of the controller, each inspection apparatus comprises an industrial camera and/or a light source, an image data output terminal of the industrial camera is connected to an industrial camera image data output terminal of the controller, a signal control terminal of the light source is connected to a light source signal control output terminal of the controller, an industrial camera of the bottom surface inspection apparatus is directed upward, the industrial cameras of the top surface detection device face downwards, and the industrial cameras of the side surface detection devices face towards the center of the turntable.

5. The omnidirectional visual inspection system according to claim 4, further comprising a feeding device, wherein the feeding device comprises a vibration plate and a feeding clamping cylinder, a signal control end of the feeding clamping cylinder is connected to a signal control output end of the feeding clamping cylinder of the controller, the feeding clamping cylinder is located between the vibration plate and the turntable and above the bottom surface detection device, a signal control end of the feeding three-dimensional linear module is connected to a signal control output end of the feeding three-dimensional linear module of the controller, the feeding clamping cylinder can move the workpieces conveyed by the vibration plate one by one to a workpiece positioning seat near the feeding station under the driving of the feeding three-dimensional linear module, and meanwhile, when the workpieces need to be subjected to bottom surface detection, the feeding clamping cylinder can move the workpieces conveyed by the vibration plate one by one above the bottom surface detection device, and after the bottom surface detection is finished, moving to the workpiece positioning seat.

6. The omnibearing vision detection system as recited in claim 1, wherein a discharging device is disposed on one side of the rotary table, the discharging device comprises a first screw rod sliding table mechanism and a discharging clamping cylinder disposed on the first screw rod sliding table mechanism, a signal control end of the first screw rod sliding table mechanism is connected with a signal control output end of the first screw rod sliding table mechanism of the controller, a signal control end of the discharging clamping cylinder is connected with a signal control output end of the discharging clamping cylinder of the controller, a plurality of sorting boxes sequentially arranged along a length direction of the first screw rod sliding table mechanism are disposed below the first screw rod sliding table mechanism, a sorting box proximity switch is disposed in each sorting box, a signal output end of each sorting box proximity switch is connected with a sorting box signal input end of the controller, and the discharging clamping cylinder can move a detected workpiece to a sorting box from a workpiece positioning seat close to the discharging station under the driving of the first screw rod sliding table mechanism A box-like box;

or/and the first power device is a DD direct drive motor or an intermittent divider;

or/and a workpiece proximity switch is arranged on each workpiece positioning seat, and the signal output end of the workpiece proximity switch is connected with the workpiece signal input end of the controller.

7. The omnibearing vision detection system as recited in claim 4, wherein each of the industrial cameras is mounted on the workbench by detecting a three-dimensional linear module, the light source is mounted on the workbench by a bracket and can be driven by the second screw rod sliding table mechanism to move, and a signal control end of the second screw rod sliding table mechanism is connected with a signal control output end of the second screw rod sliding table mechanism of the controller, so as to adjust the distance between the industrial camera and the workpiece to be detected.

8. A working method of an omnibearing visual detection system is characterized by comprising the following steps:

s1, initializing the system;

9. The method of claim 8, wherein the step S2 comprises the steps of:

10. The method of operating an omnidirectional visual inspection system according to claim 9, wherein the feeding and discharging in step S213 includes the steps of:

in step S213, the discharging includes the steps of: