CN111505011A - Appearance detection device and detection method thereof - Google Patents
Appearance detection device and detection method thereof Download PDFInfo
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- CN111505011A CN111505011A CN202010405087.6A CN202010405087A CN111505011A CN 111505011 A CN111505011 A CN 111505011A CN 202010405087 A CN202010405087 A CN 202010405087A CN 111505011 A CN111505011 A CN 111505011A
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- 238000001514 detection method Methods 0.000 title claims abstract description 165
- 230000007246 mechanism Effects 0.000 claims abstract description 260
- 238000007599 discharging Methods 0.000 claims abstract description 16
- 239000000463 material Substances 0.000 claims description 50
- 238000007689 inspection Methods 0.000 claims description 16
- 238000005070 sampling Methods 0.000 claims description 12
- 238000000034 method Methods 0.000 claims description 8
- 230000005540 biological transmission Effects 0.000 claims description 4
- 230000001154 acute effect Effects 0.000 claims description 2
- 238000005498 polishing Methods 0.000 claims description 2
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/8806—Specially adapted optical and illumination features
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/01—Arrangements or apparatus for facilitating the optical investigation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/01—Arrangements or apparatus for facilitating the optical investigation
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Abstract
The invention discloses appearance detection equipment, which comprises a conveying mechanism for conveying workpieces, a first discharging mechanism, a plurality of groups of appearance detection modules and a discharging mechanism, wherein the first discharging mechanism, the plurality of groups of appearance detection modules and the discharging mechanism are arranged on the periphery of the conveying mechanism; the plurality of groups of appearance detection modules comprise appearance detection modules with at least two different detection angles, which are arranged above the conveying mechanism; the appearance detection module comprises a light source for providing detection light for the workpiece and a camera for collecting the detection light on the workpiece. The invention provides appearance detection equipment and a detection method thereof, which improve the conveying stability and detection efficiency of workpieces and expand the detection function; the optical principle is utilized to realize image acquisition on defects on the workpiece by acquiring the image reflected and imaged by the light source irradiated on the workpiece, and the appearance state of the workpiece can be detected.
Description
Technical Field
The invention relates to the machining industry, in particular to the field of machining detection, and particularly relates to appearance detection equipment and a detection method thereof.
Background
The appearance detection is mainly used for rapidly identifying appearance defects of the sample, such as pits, cracks, warps, gaps, stains, sand grains, burrs, bubbles, uneven color and the like. The prior product appearance detection generally adopts a visual identification mode, so that the measuring standard is not uniform due to human factors, and the condition of misjudgment due to visual fatigue is detected for a long time. With the deep cooperation of computer technology and optical, mechanical and electrical technologies, the method has the characteristics of rapidness and accuracy in detection.
In the prior art, a camera shooting mechanism is generally used for collecting images of the front side of a workpiece, and the collected images and good images are subjected to parameter comparison to judge whether the images are qualified or not. The camera shooting mechanism is directly utilized to shoot the image to realize data acquisition, and the data acquisition of the product size and the obvious dirt on the surface of the product sheet is facilitated. However, the outline image acquired by forward photographing only the product can detect a large defect on the product, but the detection accuracy is not high for a small appearance defect. In particular scratches, pits, burrs, gaps, etc. on the surface of the product. Meanwhile, when the appearance of a product with a small thickness is detected, the stability and the accuracy of workpiece transmission are also very important in the appearance detection.
Disclosure of Invention
The invention overcomes the defects of the prior art, provides the appearance detection equipment and the detection method thereof, improves the detection efficiency and the transmission stability of workpieces, and expands the detection function; the optical principle is utilized to realize image acquisition on defects on the workpiece by acquiring the image reflected and imaged by the light source irradiated on the workpiece, and the appearance state of the workpiece can be detected.
In order to achieve the purpose, the invention adopts the technical scheme that: appearance detection equipment comprises a conveying mechanism for conveying workpieces, a feeding mechanism, a plurality of groups of appearance detection modules and a discharging mechanism, wherein the feeding mechanism, the plurality of groups of appearance detection modules and the discharging mechanism are arranged on the periphery of the conveying mechanism; the plurality of groups of appearance detection modules comprise appearance detection modules with at least two different detection angles, which are arranged above the conveying mechanism; the appearance detection module comprises a light source for providing detection light for the workpiece and a camera for collecting the detection light on the workpiece.
In a preferred embodiment of the present invention, the incident angle and the exit angle of the light source of the appearance inspection module on the workpiece are acute angles.
In a preferred embodiment of the invention, the camera is arranged at the exit angle of the light source.
In a preferred embodiment of the present invention, the plurality of sets of appearance inspection modules include at least two types of line-scan appearance inspection modules using different inspection angles, and a plurality of area array appearance inspection modules.
Further, outward appearance detection mechanism is swept to line still includes the position control frame that sets up on the operation panel, and position control frame is including setting up the horizontal displacement mechanism on the operation panel, it is provided with vertical displacement mechanism to slide on the horizontal displacement mechanism, be provided with on the vertical displacement mechanism can mutually the bracing piece of horizontal displacement mechanism displacement from top to bottom, be provided with at least one light source and at least one line on the bracing piece and sweep the camera.
In a preferred embodiment of the invention, the conveying mechanism comprises a rotary table which is arranged on the operating platform and can rotate relative to the operating platform; the edge of revolving stage is provided with a plurality of and is used for placing the tool station of work piece, the operation panel is last to have set gradually according to material direction of transfer around feed mechanism, multiunit outward appearance detection module, the unloading mechanism that the revolving stage was arranged.
Furthermore, a recovery area is arranged on one side of the operating platform, which is positioned on the blanking mechanism.
In a preferred embodiment of the present invention, the conveying mechanism further comprises a first workpiece transfer mechanism disposed between the feeding mechanism and the turntable; the first workpiece transfer mechanism comprises a first conveying channel and a first conveying mechanism which are arranged on the operating platform; the conveying mechanism further comprises a feeding mechanism arranged on the feeding side of the feeding mechanism.
In a preferred embodiment of the invention, the conveying mechanism further comprises a second workpiece transfer mechanism arranged on the blanking side of the blanking mechanism; and the second workpiece transfer mechanism comprises a second conveying channel and a material receiving mechanism.
In a preferred embodiment of the invention, the feeding mechanism comprises a feeding manipulator, the feeding manipulator comprises a first mounting frame arranged on the operating platform, a swing mechanism is pivotally connected to the first mounting frame, a telescopic mechanism is arranged on the swing mechanism, one end of the telescopic mechanism is connected with the swing mechanism, a first transfer part is arranged at the other end of the telescopic mechanism, and at least one pair of suction heads and at least one telescopic ejector rod which are arranged at intervals are arranged at the lower part of the first transfer part.
In a preferred embodiment of the invention, a turnover mechanism is arranged on the operating platform and between the appearance detection module and the blanking mechanism, the turnover mechanism comprises a mounting rack five mounted on the operating platform, a lifting mechanism capable of lifting up and down relative to the mounting rack five is arranged on the mounting rack five, an assembly plate is arranged on the lifting mechanism, a rotating mechanism is arranged on the assembly plate, a transfer part three is arranged on the rotating mechanism in a driving manner, and a plurality of suction heads for adsorbing the workpiece are arranged on one surface of the transfer part three which is turned up and down relative to the mounting rack five.
In a preferred embodiment of the present invention, a method for detecting an appearance detecting apparatus includes: comprises the following steps of (a) carrying out,
feeding; placing a workpiece to be detected on the conveying mechanism through the feeding mechanism, and conveying the workpiece to be detected through the conveying mechanism;
detecting the surface array appearance; the conveying mechanism conveys the workpiece to be detected to the lower part of the area array appearance detection mechanism, the workpiece is polished by a light source of the area array appearance detection mechanism, and image sampling detection is carried out by an area array camera of the area array appearance detection mechanism;
detecting the appearance of the line scan; the transmission mechanism transmits the workpiece to be detected below a plurality of groups of linear scanning detection mechanisms with different detection angles in sequence, the workpiece to be detected is polished by light sources with different angles in the plurality of groups of linear scanning detection mechanisms respectively, and reflected light at different polishing angles is sampled and detected by a camera arranged at an emergent angle of the light source;
blanking; and (4) blanking the workpiece subjected to the area array appearance detection and the line scanning appearance detection through a blanking mechanism.
According to the appearance detection device and the detection method thereof disclosed by the embodiment, the beneficial effects are achieved as follows:
an appearance detection device and a detection method thereof improve the conveying stability and the detection efficiency of workpieces and expand the detection function; the light reflected by the workpiece irradiated by the light source is collected by utilizing the optical principle, so that the defects on the workpiece are collected, and the appearance state of the workpiece can be detected.
1. The appearance detection module through multiple different detection angles carries out the defect detection of different angles to the work piece in proper order. The appearance degrees of different appearance defects on the workpiece are different after the workpiece is polished at different angles. Therefore, the defects on the workpiece can be comprehensively detected by utilizing the different light source lighting angles in the linear scanning appearance detection mechanisms with different angles.
2. The camera is arranged in the emergent direction of the light rays, and the poor detection effect is better.
3. The comprehensiveness of appearance detection is further promoted through the combination of line scanning appearance detection mechanism and area array appearance detection mechanism.
4. The feeding manipulator is provided with a telescopic ejector rod and a suction head connected with a suction cylinder, so that on one hand, a workpiece is convenient to obtain, and on the other hand, the telescopic ejector rod pushes and ejects the workpiece adsorbed on the suction head. The workpiece which is additionally adhered to the workpiece is conveniently ejected and deformed to be separated from the other workpiece which is adhered to the adsorbed workpiece, so that the stability and the accuracy of material taking are improved.
Drawings
The invention is further explained below with reference to the figures and examples;
FIG. 1 is a schematic top view of an embodiment of the present disclosure;
FIG. 2 is a schematic diagram illustrating a feeding mechanism according to an embodiment of the disclosure;
FIG. 3 is a schematic diagram of a loading robot according to an embodiment of the disclosure;
fig. 4 is a schematic structural diagram of a first conveying channel according to an embodiment of the disclosure;
FIG. 5 is a schematic diagram of a loading mechanism according to an embodiment of the disclosure;
FIG. 6 is a schematic diagram of an axial view of an area array detection mechanism according to an embodiment of the disclosure;
FIG. 7 is a schematic diagram of a front view of a first exemplary linear scan detection mechanism according to the present disclosure;
FIG. 8 is a schematic axial view of a first exemplary linear scan detection mechanism according to the present disclosure;
FIG. 9 is a schematic diagram illustrating a second exemplary embodiment of a line scan detection mechanism according to the present disclosure;
FIG. 10 is a schematic top view illustrating a second embodiment of the present disclosure;
FIG. 11 is a schematic axial view illustrating a second embodiment of the present disclosure;
FIG. 12 is a schematic axial view illustrating a blanking mechanism according to a second embodiment of the disclosure;
FIG. 13 is a schematic axial view illustrating a tray transferring mechanism according to a second embodiment of the disclosure;
FIG. 14 is a schematic axial view illustrating a second exemplary embodiment of a turnover mechanism according to the present disclosure;
FIG. 15 is a schematic axial view illustrating a material receiving mechanism according to a second embodiment of the disclosure;
FIG. 16 is a schematic diagram illustrating an axial view of an area array detection mechanism according to a second embodiment of the disclosure;
1-a machine base, 10-an operation table, 11-a rotary table, 12-a jig station, 13-a recovery area, 2-a material receiving mechanism, 20-a material tray rack, 21-a material loading material tray rack, 211-a limiting rod, 22-a recovery material tray rack, 221-a limiting rack and 23-a conveyor belt I; 31-a feeding mechanical arm, 310-a first mounting frame, 311-a swing rod, 312-a swing arm, 313-a telescopic mechanism, 314-a suction cylinder, 315-a first transfer part, 316-a suction head, 317-a telescopic ejector rod, 32-a first conveying channel, 320-a first feeding frame, 321-a second conveying belt, 322-a first jig plate, 33-a conveying mechanism, 330-a second mounting frame, 331-a first sliding rail, 332-a first sliding block, 333-a first lifting cylinder and 334-a second transfer part; 4-area array appearance detection mechanism, 40-mounting rack three, 41-sampling cabinet, 42-area array camera, 51-linear scanning appearance detection mechanism I, 510-mounting rack four, 511-transverse displacement mechanism, 512-longitudinal displacement mechanism, 513-displacement sleeve, 514-supporting rod, 515-displacement screw plate, 516-light source seat, 517-light source, 518-sampling seat, 519-linear scanning camera and 52-linear scanning appearance detection mechanism II; 6-a blanking manipulator; 7-a turnover mechanism, 70-a mounting rack five, 71-a lifting mechanism, 72-an assembly plate, 73-a rotating mechanism and 74-a transfer part three; 8-a second workpiece transfer mechanism, 80-a support table, 801-a feeding tray bin, 802-a receiving bin, 81-a second conveying channel, 810-a second feeding rack, 811-a third conveying belt, 812-a second jig plate, 82-a receiving mechanism, 820-a first transverse X-axis displacement mechanism, 821-a first transverse Y-axis displacement mechanism, 822-a first longitudinal displacement cylinder and 823-a fourth transfer part; 83-tray transfer mechanism, 830-transverse X-axis displacement mechanism II, 831-transverse Y-axis displacement mechanism II, 832-longitudinal displacement cylinder II, 833-transfer part five and 9-workpiece.
Detailed Description
The invention will now be described in further detail with reference to the accompanying drawings and examples, which are simplified schematic drawings and illustrate only the basic structure of the invention in a schematic manner, and thus show only the constituents relevant to the invention.
It should be noted that, if directional indications (such as up, down, bottom, top, etc.) are involved in the embodiment of the present invention, the directional indications are only used for explaining the relative position relationship, motion situation, etc. of each component in a certain posture, and if the certain posture is changed, the directional indications are changed accordingly. The terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. Unless expressly stated or limited otherwise, the terms "disposed," "connected," and "connected" are intended to be inclusive and mean, for example, that there may be a fixed connection, a removable connection, or an integral connection; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Example one
As shown in fig. 1 to 9, an appearance inspection apparatus includes a conveying mechanism for conveying a workpiece 9, the conveying mechanism including a turn table 11 provided on an operation table 10. The rotary table 11 can rotate relative to the operation table 10, five jig stations 12 corresponding to the detection area are arranged on the periphery of the rotary table 11, and the five jig stations 12 comprise a feeding station, an area array appearance detection station, a linear scanning appearance detection station I, a linear scanning appearance detection station II and a discharging station. The operation panel 10 is sequentially provided with a feeding mechanism, a plurality of appearance detection modules and a discharging mechanism which are arranged around the rotary table 11 and correspond to the five jig stations 12 one by one according to the material conveying direction. The feeding mechanism comprises a feeding manipulator 31; the plurality of appearance detection modules comprise an area array appearance detection mechanism 4 and two linear scanning appearance detection mechanisms; the two linear scanning detection mechanisms are respectively a linear scanning appearance detection mechanism I51 and a linear scanning appearance detection mechanism II 52; the blanking mechanism comprises a blanking manipulator 6.
Specifically, as shown in fig. 1 to 9, the area array appearance detection mechanism 4 includes a third mounting frame 40 disposed on the operation table 10, an area array camera 42 corresponding to the turntable 11 is disposed on the third mounting frame 40, and a sampling lens of the area array camera 42 corresponds to the jig station 12 disposed on the turntable 11.
Specifically, as shown in fig. 1 to 9, a first line-scan appearance detection mechanism 51 and a second line-scan appearance detection mechanism 52 are respectively arranged on an operation table 10 through a position adjustment rack, the position adjustment rack comprises a transverse displacement mechanism 511 arranged on the operation table 10, a longitudinal displacement mechanism 512 is slidably arranged on the transverse displacement mechanism 511, a support rod 514 capable of vertically displacing relative to the transverse displacement mechanism 511 is arranged on the longitudinal displacement mechanism 512, a light source seat 516 and a sampling seat 518 are arranged on the support rod 514, a light source 517 is arranged on the light source seat 516, a line-scan camera 519 is arranged on the sampling seat 518, a workpiece 9 to be detected on a jig station 12 is horizontally arranged, an incident angle between light of the light source 517 in the first line-scan appearance detection mechanism 51 and the workpiece 9 to be detected is α, a refraction angle is α ', an incident angle between light of the light source 517 in the second line-scan appearance detection mechanism 52 and the workpiece 9 to be detected is α, a refraction angle is 894', α is equal to α ', α', α ', 589 is equal to α', α, more specifically, two sets of detection modules are adopted, and the detection modules are adopted, the detection modules for detecting defects in the detection angles of the directions of 3530 degrees, the angles, preferably, the angles are equal to 636, the angles are equal to 6355, the angles of 3655, the two sets of the detection modules, the detection modules are equal to 636, the detection modules, the detection.
Specifically, as shown in fig. 1 to 9, the feeding manipulator 31 includes a first mounting frame 310 disposed on the operating platform 10, a swing mechanism is pivotally connected to the first mounting frame 310, the swing mechanism includes a swing rod 311 pivotally disposed on the first mounting frame 310 and a swing arm 312 pivotally disposed on the swing rod 311, a telescopic mechanism 313 is disposed on the swing arm 312, one end of the telescopic mechanism 313 is connected to the swing mechanism, a first transfer portion 315 is disposed at the other end of the telescopic mechanism 313, and at least two suction heads 316 disposed opposite to each other and two telescopic push rods 317 disposed opposite to each other are disposed at the lower portion of the first transfer portion 315. The blanking manipulator 6 replaces two telescopic push rods 317 with two suction heads 316 on the basis of the mechanism of the blanking manipulator 31, so that the workpieces 9 can be better sucked.
Specifically, as shown in fig. 1 to 9, the conveying mechanism further includes a first workpiece transfer mechanism disposed between the feeding manipulator 31 and the rotary table 11; the first workpiece transfer mechanism comprises a first conveying channel 32 and a first conveying mechanism 33 which are arranged on the operating platform 10; the transfer mechanism further includes a feeding mechanism provided on the feeding side of the feeding robot 31. More specifically, a first material conveying channel 32 and a material conveying mechanism 33 are further disposed on the console 10 between the feeding manipulator 31 and the appearance detection module, and the material receiving mechanism 2 is disposed on one side of the feeding manipulator 31. The feeding mechanism 2 comprises a tray frame 20 arranged on one side of the feeding manipulator 31, the tray frame 20 is provided with a feeding tray frame 21 and a recovery tray frame 22, and the lower part of the tray frame 20 is provided with a first conveyor belt 23 corresponding to the feeding tray frame 21 and the recovery tray frame 22; the lower part of the material tray rack 20 is also provided with a first lifting mechanism corresponding to the material loading material tray rack 21 and a second lifting mechanism corresponding to the recovery material tray rack 22; the feeding material tray frame 21 is provided with a first telescopic support rod, and the recycling material tray frame 22 is internally provided with a support swing rod 311. The feeding efficiency is improved through the matching of the feeding tray frame 21 and the recovery tray frame 22 in the feeding mechanism 2, and meanwhile, the working stroke of recovering empty trays is optimized.
Further, as shown in fig. 1 to 9, a second conveyor belt 321 is disposed on the first conveyor belt 32, and a plurality of first jig plates 322 disposed at intervals are fixedly disposed on the second conveyor belt 321. During feeding, the workpiece 9 to be measured is placed into the first jig plate 322 on the first conveying channel 32 through the feeding manipulator 31, and the workpiece 9 to be measured is limited through the first jig plate 322.
Further, as shown in fig. 1 to 9, the material conveying mechanism 33 includes a second mounting frame 330 disposed on the operating platform 10, a first slide rail 331 and a first slide block 332 slidably disposed on the first slide rail 331 are disposed on the upper portion of the second mounting frame 330, a first lifting cylinder 333 is disposed on the first slide block 332, a second transfer portion 334 is disposed on the first lifting cylinder 333 in a driving manner, and four suction heads 316 are disposed on the lower portion of the second transfer portion 334. The second transfer part 334 is matched with the first slide rail 331 of the first slide block 332 to convey the workpiece 9 to be tested to the position above the jig station 12 on the operating platform 10, and the first lifting cylinder 333 is lowered to place the workpiece 9 to be tested into the jig station 12. The rotary table 11 rotates to transfer the workpiece 9 to be measured to the lower part of the area array detection mechanism 4 corresponding to the area array camera 42 of the area array detection mechanism 4.
Example two
As shown in fig. 7 to 16, a rotary table 11 capable of rotating relative to the operation table 10 is arranged on the operation table 10, five jig stations 12 corresponding to the detection area are arranged on the periphery of the rotary table 11, and the six jig stations 12 include a feeding station, an area array detection station, a linear scanning detection station i, a linear scanning detection station ii, a turnover station and a blanking station. The operation table 10 is sequentially provided with a feeding manipulator 31, a plurality of appearance detection modules, a turnover mechanism 7 and a discharging manipulator 6 which are arranged around the rotary table 11 and correspond to the five jig stations 12 one by one according to the material conveying direction. The plurality of appearance detection modules comprise an area array appearance detection mechanism 4 and two line scanning appearance detection mechanisms. The two linear scanning detection mechanisms are a first linear scanning detection mechanism 51 and a second linear scanning detection mechanism 52 respectively. And a second workpiece transfer mechanism is arranged on the discharging side of the discharging manipulator 6 on the operating platform 10. The second workpiece transfer mechanism includes a material receiving mechanism 82 provided on the feeding side of the feeding robot 6, and a second conveying path 81 located between the feeding robot 6 and the material receiving mechanism 82.
Specifically, as shown in fig. 7 to 16, the area array appearance detection mechanism 4 includes a third mounting frame 40 disposed on the operation table 10, an area array camera 42 corresponding to the turntable 11 is disposed on the third mounting frame 40, and a sampling lens of the area array camera 42 corresponds to the jig station 12 disposed on the turntable 11.
Specifically, as shown in fig. 7 to 16, a first line-scan appearance detection mechanism 51 and a second line-scan appearance detection mechanism 52 are respectively arranged on an operation table 10 through a position adjustment rack, the position adjustment rack comprises a transverse displacement mechanism 511 arranged on the operation table 10, a longitudinal displacement mechanism 512 is slidably arranged on the transverse displacement mechanism 511, a support rod 514 capable of vertically displacing relative to the transverse displacement mechanism 511 is arranged on the longitudinal displacement mechanism 512, a light source seat 516 and a sampling seat 518 are arranged on the support rod 514, a light source 517 is arranged on the light source seat 516, a line-scan camera 519 is arranged on the sampling seat 518, a workpiece 9 to be detected on a jig station 12 is horizontally arranged, an incident angle between light of the light source 517 in the first line-scan appearance detection mechanism 51 and the workpiece 9 to be detected is α, a refraction angle is α ', an incident angle between light of the light source 517 in the second line-scan appearance detection mechanism 52 and the workpiece 9 to be detected is α, a refraction angle is 894 ', α is equal to α ', α ', α ', 589 is equal to 3955, more specifically, two sets of detection modules are adopted, and the detection modules for detecting defects, the detection modules are preferably, the detection modules are adopted for detecting defects in the detection angles of the directions of 3530 degrees, the angles are equal to 636, the angles are equal to 6355, the angles are equal to 636, the angles are equal to 6355, the angles are preferably equal to 636, the angles are equal to 636.
Specifically, as shown in fig. 7 to 16, the feeding manipulator 31 includes a first mounting frame 310 disposed on the operating platform 10, a swing mechanism is pivotally connected to the first mounting frame 310, the swing mechanism includes a swing rod 311 pivotally disposed on the first mounting frame 310 and a swing arm 312 pivotally disposed on the swing rod 311, a telescopic mechanism 313 is disposed on the swing arm 312, one end of the telescopic mechanism 313 is connected to the swing mechanism, a first transfer portion 315 is disposed at the other end of the telescopic mechanism 313, and at least two suction heads 316 disposed opposite to each other and two telescopic push rods 317 disposed opposite to each other are disposed at the lower portion of the first transfer portion 315. The blanking manipulator 6 replaces two telescopic push rods 317 with two suction heads 316 on the basis of the mechanism of the blanking manipulator 31, so that the workpieces 9 can be better sucked.
Specifically, as shown in fig. 7 to 16, the turnover mechanism 7 includes a fifth mounting frame 70 mounted on the operation table 10, a lifting mechanism 71 capable of lifting up and down relative to the fifth mounting frame 70 is disposed on the fifth mounting frame 70, an assembly plate 72 is disposed on the lifting mechanism 71, a rotating mechanism 73 is disposed on the assembly plate 72, a third transfer portion 74 is drivingly disposed on the rotating mechanism 73, and a plurality of suction heads 316 are disposed on one surface of the third transfer portion 74, which is turned up and down relative to the fifth mounting frame 70.
Specifically, as shown in fig. 7 to 16, a second workpiece transfer mechanism 8 is disposed on one side of the feeding manipulator 6, the second workpiece transfer mechanism 8 includes a supporting table 80, a feeding tray bin 801 and a receiving bin 802 are disposed on the supporting table 80, and a second conveying channel 81, a receiving mechanism 82 and a tray transfer mechanism 83 which are disposed between the feeding tray bin 801, the receiving bin 802 and the feeding manipulator 6.
More specifically, the second conveying channel 81 includes a pair of linear rails slidably disposed on the operating platform 10, two pairs of jig plates 812 alternately disposed are slidably disposed on the linear rails, and the jig plates 812 are driven by a third conveying belt 811 disposed on the operating platform 10. The third conveyor 811 drives two pairs of jig plates 812 alternately disposed to reciprocate linearly along the linear rail. The transfer of the workpiece 9 is effected. One end of the linear rail corresponds to the feeding manipulator 6, and the other end of the linear rail corresponds to the receiving mechanism 82. More specifically, the material receiving mechanism 82 includes a first transverse X-axis displacement mechanism 820 disposed on the operation table 10, a first transverse Y-axis displacement mechanism 821 slidably disposed on the first transverse X-axis displacement mechanism 820, and a first longitudinal displacement cylinder 822 movably disposed on the first transverse Y-axis displacement mechanism 821, wherein a fourth transfer portion 823 is drivingly disposed on the first longitudinal displacement cylinder 822, and four suction heads 316 are disposed below the fourth transfer portion 823. The receiving mechanism 82 transfers the workpiece 9 from the second jig plate 812 to the empty tray placed in the receiving bin 802 by the four suction heads 316 arranged below the fourth transfer portion 823. The empty tray in the material receiving bin 802 is supported by the supporting device, after the material receiving bin 802 is full of the workpieces 9, the supporting device II descends by the depth of one tray, the supporting device I is arranged in the material loading bin 801, and the empty tray is supported by the supporting device I. When an empty tray is taken away, the first supporting device lifts the height of one tray through the lifting cylinder.
Further, the tray transfer mechanism 83 includes a second transverse X-axis displacement mechanism 830 disposed on the operating platform 10, a second transverse Y-axis displacement mechanism 831 slidably disposed on the second transverse X-axis displacement mechanism 830, and a second longitudinal displacement cylinder 832 movably disposed on the second transverse Y-axis displacement mechanism 831, a fifth transfer portion 833 is disposed on the second longitudinal displacement cylinder 832 in a driving manner, and four suckers 316 are disposed below the fifth transfer portion 833. The second transverse X-axis displacement mechanism 830, the second transverse Y-axis displacement mechanism 831 and the second longitudinal displacement cylinder 832 transfer the empty tray into the receiving bin 802.
EXAMPLE III
The detection method of the appearance detection apparatus according to the first embodiment, as shown in fig. 1 to 9, includes:
step one, feeding. Specifically, the workpiece 9 to be measured is placed on the fixture station 12 on the rotary table 11 through the feeding manipulator 31, and the fixture station 12 is driven by the rotary table 11 to transfer the workpiece 9 to be measured. Specifically, the suction cups arranged on the feeding manipulator 31 suck different areas of the workpiece 9 to be tested, and the telescopic ejector rods 317 arranged on the feeding manipulator 31 push the workpiece 9 to be tested sucked by the suction cups, so that the workpiece 9 to be tested is bent and deformed, and the redundant adhered workpiece 9 to be tested falls off.
More specifically, the method also comprises the step of recovering the material tray before the feeding step. The method comprises the steps that a material tray containing a plurality of workpieces 9 is placed on a material loading tray frame 21 of a material receiving mechanism 2, the material tray is supported through a plurality of first telescopic supporting rods and a lifting mechanism, when the workpieces 9 in the material tray are taken out, the first telescopic supporting rods are retracted, the first lifting mechanism descends, an empty material tray is placed on a conveyor belt 23, meanwhile, the first telescopic supporting rods reset, another material tray containing the workpieces 9 is placed in the material loading tray frame 21, the first telescopic supporting rods support the empty material tray and is lifted by a lifting mechanism II, the supporting swing rod 311 is pushed and supported, the supporting swing rod 311 swings upwards, when the empty material tray pushes the supporting swing rod 311, the external force pushing the supporting swing rod 311 is removed, the supporting swing rod 311 resets through an elastic resetting piece, the lifting mechanism II descends, the supporting swing rod 311 drags the empty material tray, and the material loading and empty material tray recovery are achieved through sequential circular reciprocation.
More specifically, the material transfer during the loading is also included between the loading step and the area array appearance detection step. During material transfer during feeding, a workpiece 9 to be measured is placed into a first jig plate 322 on a first conveying channel 32 through a feeding manipulator 31, the workpiece 9 to be measured is limited through the first jig plate 322, the first jig plate 322 is conveyed to a material conveying mechanism 33 through the first conveying channel 32, a second conveying part 334 is driven to descend through a first lifting cylinder 333 of the first discharging mechanism 33, a plurality of suction heads 316 arranged at the lower part of the second conveying part 334 suck the workpiece 9 to be measured, the second conveying part 334 conveys the workpiece 9 to be measured to the upper part of a jig station 12 on an operation table 10 through the cooperation of a first sliding rail 331 of a first sliding block 332, and the first lifting cylinder 333 descends to place the workpiece 9 to be measured into the jig station 12. The turntable 11 rotates to transfer the jig plate on which the workpiece 9 to be measured is placed to the lower part of the area array appearance detection mechanism 4 to correspond to the area array camera 42 of the area array appearance detection mechanism 4.
And step two, detecting the surface array appearance. Specifically, the workpiece 9 to be detected is moved to the detection area of the area array appearance detection mechanism 4 through the turntable 11, and image sampling detection is performed through the area array camera 42 which is over against the workpiece 9 to be detected on the workpiece 9 to be detected;
and step three, detecting the appearance of the line scan. Specifically, the workpiece 9 to be measured is sequentially moved into the detection areas of the plurality of linear scanning appearance detection mechanisms through the rotary table 11, and the images of the workpiece 9 to be measured are respectively acquired through reflection at different angles as far as possible. Specifically, in the line scanning detection step, the workpiece 9 to be detected is polished at different angles by the light source device 517, and the line scanning camera 519 is used to sample the images of the reflections at different angles on the workpiece 9.
Step four, blanking; the workpiece 9 is placed by the blanking robot 6.
Example four
As shown in fig. 7 to 16, the detection method of the appearance detection apparatus according to the second embodiment includes:
step one, feeding. Specifically, the workpiece 9 to be measured is placed on the fixture station 12 on the rotary table 11 through the feeding manipulator 31, and the fixture station 12 is driven by the rotary table 11 to transfer the workpiece 9 to be measured. Specifically, the suction cups arranged on the feeding manipulator 31 suck different areas of the workpiece 9 to be tested, and the telescopic ejector rods 317 arranged on the feeding manipulator 31 push the workpiece 9 to be tested sucked by the suction cups, so that the workpiece 9 to be tested is bent and deformed, and the redundant adhered workpiece 9 to be tested falls off.
And step two, detecting the surface array appearance. Specifically, the workpiece 9 to be detected is moved to the detection area of the area array appearance detection mechanism 4 through the turntable 11, and image sampling detection is performed through the area array camera 42 which is over against the workpiece 9 to be detected on the workpiece 9 to be detected;
and step three, detecting the appearance of the line scan. Specifically, the workpiece 9 to be measured is sequentially moved to the detection areas of the plurality of linear scanning appearance detection mechanisms through the rotary table 11, and the light collection is performed by reflecting the workpiece 9 to be measured at different angles. Specifically, in the line scan appearance detection step, the workpiece 9 to be detected is polished at different angles by the light source device 517, and the line scan camera 519 is used to sample the images of the reflections at different angles on the workpiece 9.
More specifically, the method also comprises a turning step between the line scanning appearance detection and the blanking. The overturning step includes that the suction head 316 on the third transfer part 74 in the overturning mechanism 7 sucks the workpiece 9 subjected to the appearance detection, and the sucked workpiece 9 is overturned by rotating the rotating mechanism 73 so that the sucked workpiece 9 faces upwards.
And step four, blanking. Specifically, the workpiece 9 is placed by the blanking robot 6.
More specifically, the material transfer during blanking is also included after the blanking step. The material transfer during the blanking process is to sequentially place the detected workpieces 9 on the second conveying channel 81 through the blanking manipulator 6, to alternately place the second jig plate on the receiving mechanism 82 through the third conveying belt 811, to convey the second jig plate on which the workpieces 9 are placed to the receiving mechanism 82 through the fourth transferring part 823 with the suction head 316 in the receiving mechanism 82, to suck the workpieces 9 through the first transverse X-axis displacement mechanism 820, the first transverse Y-axis displacement mechanism 821 and the first longitudinal displacement cylinder 822 in the receiving mechanism 82, and to sequentially place the workpieces 9 in empty trays in the receiving bin 802 on the supporting table 80. After the empty tray in the material receiving bin 802 is full of the workpieces 9, the empty tray descends by one tray depth, the transfer part 833 provided with the suction head 316 in the tray transfer mechanism 83 sucks the hole tray in the upper tray bin 801 on the support platform 80, and the empty tray is transferred into the material receiving bin 802 through the transverse X-axis displacement mechanism II 830, the transverse Y-axis displacement mechanism II 831 and the longitudinal displacement cylinder II 832 in the tray transfer mechanism 83.
In light of the foregoing description of the preferred embodiment of the present invention, it is to be understood that various changes and modifications may be made by one skilled in the art without departing from the spirit and scope of the invention. The technical scope of the present invention is not limited to the content of the specification, and must be determined according to the scope of the claims.
Claims (10)
1. Appearance detection equipment comprises a conveying mechanism for conveying workpieces, a feeding mechanism, a plurality of groups of appearance detection modules and a discharging mechanism, wherein the feeding mechanism, the plurality of groups of appearance detection modules and the discharging mechanism are arranged on the periphery of the conveying mechanism; the method is characterized in that: the plurality of groups of appearance detection modules comprise appearance detection modules with at least two different detection angles, which are arranged above the conveying mechanism; the appearance detection module comprises a light source for providing detection light for the workpiece and a camera for collecting the detection light on the workpiece.
2. The appearance inspection apparatus according to claim 2, characterized in that: the incident angle and the exit angle of the light source of the appearance detection module irradiating on the workpiece are acute angles.
3. The appearance inspection apparatus according to claim 3, characterized in that: the camera is arranged at an exit angle of the light source.
4. The appearance inspection apparatus according to claim 1, characterized in that: the multi-group appearance detection module comprises at least two line scanning appearance detection modules adopting different detection angles and a plurality of area array appearance detection modules.
5. The appearance inspection apparatus according to claim 4, characterized in that: the conveying mechanism comprises a rotary table which is arranged on an operating platform and can rotate relative to the operating platform; the edge of revolving stage is provided with a plurality of and is used for placing the tool station of work piece, the operation panel is last to have set gradually according to material direction of transfer around feed mechanism and the multiunit outward appearance that the revolving stage was arranged detects module and unloading mechanism.
6. The appearance inspection apparatus according to claim 5, characterized in that: the conveying mechanism further comprises a first workpiece transfer mechanism arranged between the feeding mechanism and the rotary table; the first workpiece transfer mechanism comprises a first conveying channel and a first conveying mechanism which are arranged on the operating platform; the conveying mechanism further comprises a feeding mechanism arranged on the feeding side of the feeding mechanism.
7. The appearance inspection apparatus according to claim 1, characterized in that: the conveying mechanism further comprises a second workpiece transfer mechanism arranged on the discharging side of the discharging mechanism; and the second workpiece transfer mechanism comprises a second conveying channel and a material receiving mechanism.
8. The appearance inspection apparatus according to claim 5, characterized in that: the feeding mechanism comprises a feeding mechanical arm, the feeding mechanical arm comprises a first mounting frame arranged on an operating platform, the first mounting frame is connected with a swing mechanism in a pivoting mode, a telescopic mechanism is arranged on the swing mechanism, one end of the telescopic mechanism is connected with the swing mechanism, a first transfer portion is arranged at the other end of the telescopic mechanism, and at least one pair of suction heads and at least one telescopic ejector rod which are arranged at intervals are arranged on the lower portion of the first transfer portion.
9. The appearance inspection apparatus according to claim 1, characterized in that: lie in on the operation panel be provided with tilting mechanism between outward appearance detection module and the unloading mechanism, tilting mechanism is including installing mounting bracket five on the operation panel, it is relative to be provided with on the mounting bracket five elevating system of the five oscilaltions of mounting bracket, the last equipment board that is provided with of elevating system, be provided with rotary mechanism on the equipment board, the last drive of rotary mechanism is provided with transfer portion three, and is relative the mounting bracket five overturns from top to bottom be provided with a plurality of in wherein one side of transfer portion three and be used for adsorbing the suction head of work piece.
10. The inspection method of the appearance inspection apparatus according to any one of claims 1 to 9, characterized in that: comprises the following steps of (a) carrying out,
feeding; placing a workpiece to be detected on the conveying mechanism through the feeding mechanism, and conveying the workpiece to be detected through the conveying mechanism;
detecting the surface array appearance; the conveying mechanism conveys the workpiece to be detected to the lower part of the area array appearance detection mechanism, the workpiece is polished by a light source of the area array appearance detection mechanism, and image sampling detection is carried out by an area array camera of the area array appearance detection mechanism;
detecting the appearance of the line scan; the transmission mechanism transmits the workpiece to be detected below a plurality of groups of linear scanning appearance detection mechanisms with different detection angles in sequence, the workpiece to be detected is polished by light sources with different angles in the plurality of groups of linear scanning appearance detection mechanisms respectively, and reflected light at different polishing angles is sampled and detected by a camera arranged at an emergent angle of the light source;
blanking; and (4) blanking the workpiece subjected to the area array appearance detection and the line scanning appearance detection through a blanking mechanism.
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| CN202010405087.6A CN111505011A (en) | 2020-05-14 | 2020-05-14 | Appearance detection device and detection method thereof |
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| CN202010405087.6A CN111505011A (en) | 2020-05-14 | 2020-05-14 | Appearance detection device and detection method thereof |
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| CN113044288A (en) * | 2021-03-10 | 2021-06-29 | 苏州富强科技有限公司 | Go up unloading integral type pad pasting device |
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Application publication date: 20200807 |