CN111940325B - Appearance detection system for upper surface, lower surface and side surface of product - Google Patents
Appearance detection system for upper surface, lower surface and side surface of product Download PDFInfo
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- CN111940325B CN111940325B CN202010809807.5A CN202010809807A CN111940325B CN 111940325 B CN111940325 B CN 111940325B CN 202010809807 A CN202010809807 A CN 202010809807A CN 111940325 B CN111940325 B CN 111940325B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/34—Sorting according to other particular properties
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/02—Measures preceding sorting, e.g. arranging articles in a stream orientating
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/361—Processing or control devices therefor, e.g. escort memory
- B07C5/362—Separating or distributor mechanisms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/38—Collecting or arranging articles in groups
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Abstract
The invention discloses an appearance detection system for the upper surface, the lower surface and the side surface of a product, which comprises a feeding mechanism, a positioning mechanism, an appearance detection mechanism, a caching mechanism, a recovery mechanism, a qualified product discharging mechanism and a repairable product discharging mechanism, wherein the appearance detection mechanism comprises a lower surface and side surface detection unit and an upper surface detection unit. The lower surface and the side surface detection unit are provided with hollow first cavities, and the product does not need to be turned over when the lower surface and the side surface detection is carried out by arranging the first cavities with special structures.
Description
Technical Field
The invention relates to the field of consumer electronics industry and SMT industry, in particular to an appearance detection system for the upper surface, the lower surface and the side surface of a product.
Background
The SMT sheet refers to a short name of a series of process flows processed on the basis of a PCB (printed Circuit board), which is a printed Circuit board. SMT is Surface mounting Technology (Surface Mounted Technology's abbreviation), is the most popular technique and Technology in the electronic packaging industry, and at first need carry out the outward appearance to the product before assembling the product and detect, the product includes the product body and bears the transparent label of product body, the product body is cylindricly, has up end, lower terminal Surface and side, transparent label includes overlap area and non-overlap area, the up end is for detecting the upper Surface, it deviates from to detect the upper Surface transparent label, the lower terminal Surface is for detecting the lower Surface, it faces to detect the lower Surface transparent label and with the overlap area laminating of transparent label is in the same place, the side is kept away from one side of non-overlap area is for detecting the side Surface. In the prior art, the detection of a plurality of surfaces to be detected is generally carried out by turning over a product, and the product is easy to damage. How to reduce the turnover of the product is a problem to be solved urgently in the field.
Disclosure of Invention
The invention aims to provide an appearance detection system for the upper surface, the lower surface and the side surface of a product, which reduces the turnover of the product.
In order to achieve the purpose, the invention adopts the technical scheme that: an appearance inspection system for upper, lower and side surfaces of a product,
the product comprises a product body and a transparent label bearing the product body, the product body is cylindrical and is provided with an upper end face, a lower end face and a side face, the transparent label comprises an overlapping area and a non-overlapping area, the upper end face is an upper surface to be detected, the upper surface to be detected faces the overlapping area of the transparent label, the upper surface to be detected and the lower surface to be detected are attached together, the lower end face is a lower surface to be detected, the lower surface to be detected deviates from the overlapping area of the transparent label, one side of the side face far away from the non-overlapping area is a side surface to be detected,
the appearance detection system includes:
the feeding mechanism is used for bearing the material tray and positioning the material tray;
the positioning mechanism is used for bearing the products and positioning the products transferred from the feeding mechanism;
the appearance detection mechanism is used for bearing the product and carrying out photographing detection on the surface to be detected of the product transferred from the positioning mechanism;
the buffer memory mechanism is used for bearing products and temporarily storing the qualified products and the repairable products transferred from the appearance detection mechanism;
the recovery mechanism is used for bearing the material tray, placing the unqualified products transferred from the appearance detection mechanism and storing the unqualified products;
the qualified product blanking mechanism is used for bearing the material disc, receiving the qualified products transferred from the cache mechanism and storing the qualified products;
the repairable product discharging mechanism is used for bearing the material disc, receiving the repairable product transferred from the caching mechanism and storing the repairable product;
the appearance detection mechanism includes:
the lower surface and side surface detection unit comprises a first detection rotary disc which can rotate around the vertical Z-axis direction, and at least two first image acquisition devices, wherein the first detection rotary disc is provided with a plurality of first bearing parts which are uniformly distributed around the axis of the first detection rotary disc and drive each first bearing part to sequentially pass through a first feeding station, at least two first detection stations and at least one first discharging station, the first image acquisition devices and the first detection stations are arranged in a one-to-one correspondence manner, each first bearing part is provided with a first cavity for accommodating a product, the first cavity is provided with a first bottom wall and a first side wall, a lower hollow area is arranged at the position of the first bottom wall, which is opposite to the lower surface to be detected, a side hollow area is arranged at the position of the first side wall, which is opposite to the side surface to be detected, and a non-overlapping area of the transparent label is adsorbed on the first bottom wall, the first image acquisition devices are side surface image acquisition devices, the lens of each side surface image acquisition device faces a side hollow area of the first cavity at the corresponding first detection station, and the lens of each first image acquisition device faces a lower hollow area of the first cavity at the corresponding first detection station;
an upper surface detection unit including a second detection turntable rotatable about a vertical Z-axis direction and at least one second image pickup device, the second detection rotary disc is provided with a plurality of second bearing parts which are uniformly distributed around the axis of the second detection rotary disc and drives each second bearing part to sequentially pass through a second feeding station, at least one second detection station and a second blanking station, the second image acquisition devices are arranged in one-to-one correspondence with the second detection stations, each second bearing part is provided with a second cavity for accommodating a product, the second cavity is provided with a second bottom wall for bearing the product and a second side wall for positioning the product, the transparent label is adsorbed on the second bottom wall, the second image acquisition device is an upper surface image acquisition device, and a lens of the upper surface image acquisition device faces an upper port of a second cavity at a second detection station corresponding to the upper surface image acquisition device.
Further, the feeding mechanism, the qualified product discharging mechanism and the repairable product discharging mechanism are the same device, and each device includes:
the first lifting unit comprises a first lifting platform capable of moving along the vertical Z-axis direction, and the first lifting platform bears a plurality of stacked charging trays and drives the charging tray at the uppermost layer to be positioned at a first charging tray station;
the second lifting unit comprises a second lifting platform which can move along the vertical Z-axis direction, and the second lifting platform bears a plurality of stacked material trays and drives the uppermost material tray to be positioned at a second material tray station;
the material taking unit comprises a jig and a primary positioning device, wherein the jig can move along the horizontal Y-axis direction, the jig bears a single material disc and reciprocates between a first jig station and a second jig station, and the primary positioning device is arranged on the periphery of the material disc and positions the single material disc at a third material disc station;
a material tray shifting unit which comprises a material tray grabbing device which can move along the horizontal Y-axis direction and reciprocate between a first material tray grabbing station and a second material tray grabbing station,
when the jig is positioned at the first jig station and above the first material tray station, the material tray grabbing device is positioned at the second material tray grabbing station and above the second material tray station, and when the jig is positioned at the second jig station and above the second material tray station, the material tray grabbing device is positioned at the first material tray grabbing station and above the first material tray station;
the material tray grabbing device is provided with a moving system positioned above the material tray grabbing device, the moving system comprises an air cylinder and a connecting rod assembly, the connecting rod assembly comprises a connecting rod A and a connecting rod B, the upper end of the connecting rod A is rotatably connected with the rack in a direction perpendicular to the moving direction of the material tray grabbing device, the middle section of the connecting rod A is rotatably connected with a telescopic rod of the air cylinder in a direction perpendicular to the moving direction of the material tray grabbing device, the lower end of the connecting rod A is rotatably connected with one end of the connecting rod B in a direction perpendicular to the moving direction of the material tray grabbing device, the other end of the connecting rod B is rotatably connected with the material tray grabbing device in a direction perpendicular to the moving direction of the material tray grabbing device, and one end of the telescopic rod of the air cylinder faces away from the third material tray station;
and a plurality of third cavities for accommodating products are arranged in the material tray, and the third cavities have the same structure as the second cavities.
Further, the cylinder is located first charging tray station top.
Further, connecting rod A includes upper boom section and lower beam section, the upper boom section with the lower beam section forms towards the obtuse angle contained angle of cylinder, the cylinder slope sets up, the telescopic link one end of cylinder hang down and with connecting rod A's corner is connected.
Furthermore, positioning mechanism is including the location platform that bears the weight of the product and locating the product periphery and with the secondary positioner of product location at the product station, be equipped with one or more fourth die cavities that are used for the holding product on the location platform, the fourth die cavity with second die cavity structure is the same.
Furthermore, the buffer memory mechanism with the buffer memory mechanism is the same equipment, and it is including the buffer memory platform that is used for bearing and temporarily store the product, be equipped with a plurality of fifth die cavities that are used for the holding product on the buffer memory platform, fifth die cavity with second die cavity structure is the same.
Furthermore, the mechanical arm for transferring the product between the feeding mechanism and the positioning mechanism and the mechanical arm for transferring the product between the positioning mechanism and the appearance detection mechanism are the same feeding mechanical arm.
Furthermore, a mechanical arm for transferring products between the appearance detection mechanism and the recovery mechanism, a mechanical arm for transferring products between the cache mechanism and the qualified product blanking mechanism, and a mechanical arm for transferring products between the cache mechanism and the repairable product blanking mechanism are the same blanking mechanical arm.
Further, the robot for transferring the product between the lower surface and side surface detecting unit and the upper surface detecting unit is a transfer robot a separately provided.
Furthermore, a manipulator for transferring the product between the cache mechanism and the appearance detection mechanism is a transfer manipulator B which is arranged independently.
Due to the application of the technical scheme, compared with the prior art, the invention has the following advantages:
1) according to the appearance detection system for the upper surface, the lower surface and the side surface of the product, disclosed by the invention, the first cavity with a special structure is arranged, so that the product does not need to be turned over when the lower surface and the side surface are detected;
2) according to the appearance detection system for the upper surface, the lower surface and the side surfaces of the product, disclosed by the invention, the cylinder of the material tray grabbing device is arranged above the first lifting unit or the second lifting unit, so that the sizes of the feeding mechanism, the qualified product blanking mechanism and the repairable product blanking mechanism along the movement direction of the material tray grabbing device are greatly reduced.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that some of the drawings in the following description are embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a top view of a co-product of the present invention;
FIG. 2 is a side view of a product of the present disclosure;
FIG. 3 is an overall top view of the appearance inspection system of the present disclosure;
FIG. 4 is a schematic view of a feeding mechanism, a qualified product discharging mechanism, and a repairable product discharging mechanism disclosed in the present invention;
FIG. 5 is a schematic view of a positioning mechanism disclosed herein;
FIG. 6 is a schematic view of an appearance inspection mechanism according to the present disclosure;
FIG. 7 is an enlarged view of a portion of FIG. 6 at A;
FIG. 8 is an enlarged view of a portion of FIG. 6 at B;
FIG. 9 is a schematic diagram of a caching mechanism.
Wherein, 100, products; 110. a product body; 120. a transparent label; 200. a feeding mechanism; 201. a first elevating platform; 202. a second lifting table; 203. a jig; 204. a primary positioning device; 205. a tray gripping device; 206. a cylinder; 207. a connecting rod A; 208. a connecting rod B; 209. a third cavity; 300. a positioning mechanism; 310. a positioning table; 320. a secondary positioning device; 330. a fourth cavity; 400. an appearance detection mechanism; 410. a lower surface and side surface detection unit; 411. a first detection turntable; 412. a first image acquisition device; 413. a first bearing part; 414. a first bottom wall; 415. a first side wall; 420. an upper surface detection unit; 421. a second detection turntable; 422. a second image acquisition device; 423. a second bearing part; 424. a second bottom wall; 415. a second side wall; 500. a caching mechanism; 510. a cache station; 520. a fifth cavity; 600. a recovery mechanism; 700. qualified product blanking mechanism; 800. can restore product unloading mechanism.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example one
Referring to fig. 1 to 9, as shown in the drawings, an appearance inspection system for upper and lower surfaces and side surfaces of a product,
the product 100 comprises a product body 110 and a transparent label 120 bearing the product body 110, the product body 110 is cylindrical and has an upper end face, a lower end face and a side face, the transparent label 120 comprises an overlapping area and a non-overlapping area, the upper end face is an upper surface to be detected, the upper surface to be detected faces the overlapping area of the transparent label 120, the upper surface to be detected and the lower surface to be detected are attached together, the lower end face is a lower surface to be detected, the lower surface to be detected deviates from the overlapping area of the transparent label 120, one side face far away from the non-overlapping area is a side surface to be detected,
the appearance detection system includes:
the feeding mechanism 200 is used for bearing and positioning the material tray;
a positioning mechanism 300 for carrying the product and positioning the product transferred from the feeding mechanism 200;
the appearance detection mechanism 400 is used for carrying the product and carrying out photographing detection on the surface to be detected of the product transferred from the positioning mechanism 300;
a buffer mechanism 500 for carrying the product and temporarily storing the qualified product and the repairable product transferred from the appearance inspection mechanism 400;
a recovery mechanism 600 for carrying a tray, placing and storing the defective products transferred from the appearance inspection mechanism;
a qualified product discharging mechanism 700 for carrying a tray, receiving and storing qualified products transferred from the buffer mechanism 500;
a repairable product discharging mechanism 800 for carrying a tray and receiving and storing the repairable product transferred from the buffer mechanism 500;
outward appearance detection mechanism includes:
the lower surface and side surface detection unit 410 comprises a first detection turntable 411 and at least two first image acquisition devices 412, wherein the first detection turntable 411 is rotatable around the vertical Z-axis direction, the first detection turntable is provided with a plurality of first bearing parts 413 which are uniformly distributed around the axis of the first detection turntable and drives each first bearing part 413 to sequentially pass through a first feeding station, at least two first detection stations and at least one first discharging station, the first image acquisition devices 412 are arranged corresponding to the first detection stations one to one, each first bearing part 413 is provided with a first cavity for accommodating a product, the first cavity is provided with a first bottom wall 414 and a first side wall 415, the first bottom wall 414 is provided with a downward hollow area at the position opposite to the lower surface to be detected, the first side wall 415 is provided with a side hollow area at the position opposite to the side surface to be detected, the non-overlapping area of the transparent label 120 is adsorbed on the first bottom wall 414, at least one first image acquisition device 412 is a side surface image acquisition device, the lens of the side surface image acquisition device 412 faces the side hollow-out area of the first cavity at the corresponding first detection station, at least one first image acquisition device 412 is a lower surface image acquisition device, and the lens of the lower surface image acquisition device 412 faces the lower hollow-out area of the first cavity at the corresponding first detection station;
the upper surface detection unit 420 comprises a second detection rotary disc 421 which can rotate around the vertical Z-axis direction and at least one second image acquisition device 422, the second detection rotary disc 421 is provided with a plurality of second bearing parts 423 which are uniformly distributed around the axis of the second detection rotary disc and drives each second bearing part to pass through a second feeding station in sequence, at least one second detection station and second unloading station, second image acquisition device 422 and the setting of second detection station one-to-one, every second bears portion 423 and is equipped with the second die cavity that is used for the holding product, the second die cavity has the second diapire 424 that bears the product and the second lateral wall 425 of location product, transparent label 120 adsorbs on second diapire 424, second image acquisition device 422 is upper surface image acquisition device, the camera lens orientation of upper surface image acquisition device 422 is located the last port of its corresponding second detection station department second die cavity.
In a preferred embodiment of the present embodiment, the feeding mechanism 200, the qualified product discharging mechanism 700, and the repairable product discharging mechanism 800 are the same apparatus, each of which includes:
the first lifting unit comprises a first lifting platform 201 capable of moving along the vertical Z-axis direction, and the first lifting platform 201 bears a plurality of stacked material trays and drives the uppermost material tray to be positioned at a first material tray station;
the second lifting unit comprises a second lifting platform 202 capable of moving along the vertical Z-axis direction, and the second lifting platform 202 bears a plurality of stacked material trays and drives the uppermost material tray to be positioned at a second material tray station;
the material taking unit comprises a jig 203 and a primary positioning device 204, wherein the jig 203 can move along the horizontal Y-axis direction, the jig 203 bears a single material disc and reciprocates between a first jig station and a second jig station, and the primary positioning device 204 is arranged on the periphery of the material disc and positions the single material disc at a third material disc station;
a tray transfer unit which comprises a tray grabbing device 205 which can move along the horizontal Y-axis direction and reciprocate between a first tray grabbing station and a second tray grabbing station,
when the jig 203 is positioned at the first jig station and above the first material tray station, the material tray grabbing device 205 is positioned at the second material tray grabbing station and above the second material tray station, and when the jig 203 is positioned at the second jig station and above the second material tray station, the material tray grabbing device 205 is positioned at the first material tray grabbing station and above the first material tray station;
the material tray grabbing device 205 is provided with a moving system positioned above the material tray grabbing device, the moving system comprises an air cylinder 206 and a connecting rod assembly, the connecting rod assembly comprises a connecting rod A207 and a connecting rod B208, the upper end of the connecting rod A207 is rotatably connected with the rack in a direction perpendicular to the moving direction of the material tray grabbing device, the middle section of the connecting rod A207 is rotatably connected with the telescopic rod of the air cylinder 206 in a direction perpendicular to the moving direction of the material tray grabbing device, the lower end of the connecting rod A207 is rotatably connected with one end of the connecting rod B208 in a direction perpendicular to the moving direction of the material tray grabbing device, the other end of the connecting rod B208 is rotatably connected with the material tray grabbing device 205 in a direction perpendicular to the moving direction of the material tray grabbing device, and one end of the telescopic rod of the air cylinder 206 faces away from a third material tray station;
the tray is provided with a plurality of third cavities 209 for accommodating products, and the third cavities 209 have the same structure as the second cavities.
In the preferred embodiment of the present invention, the third tray station is located above the second tray station, and the air cylinder 206 is located above the first tray station.
In the preferred embodiment of the present invention, the connecting rod a207 includes an upper rod section and a lower rod section, the upper rod section and the lower rod section form an obtuse included angle facing the cylinder 206, the cylinder 206 is disposed in an inclined manner, and one end of the telescopic rod of the cylinder 206 hangs down and is connected to a corner of the connecting rod a 207.
In a preferred embodiment of this embodiment, the positioning mechanism 300 includes a positioning table 310 for carrying a product and a secondary positioning device 320 disposed on the periphery of the product and positioning the product at a product station, the positioning table 310 is provided with one or more fourth cavities 330 for accommodating the product, the fourth cavities 330 have the same structure as the second cavities, and the secondary positioning device 320 is a push plate device for pushing the product back into the fourth cavities.
In a preferred embodiment of this embodiment, the buffer mechanism 500 includes a buffer platform 510 for carrying and temporarily storing the product, the buffer platform 510 is provided with a qualified product area and a repairable product area, each of the qualified product area and the repairable product area is provided with a plurality of fifth cavities 520 for accommodating the product, and the fifth cavities 520 have the same structure as the second cavities.
In a preferred embodiment of the present embodiment, the same loading robot 101 is used as the robot for transferring the product between the loading mechanism 200 and the positioning mechanism 300 and as the robot for transferring the product between the positioning mechanism 300 and the appearance inspection mechanism 400.
In a preferred embodiment of the present embodiment, the same unloading robot 102 is used for the robot for transferring products between the appearance inspection mechanism 400 and the recovery mechanism 700, the robot for transferring products between the buffer mechanism 500 and the qualified product unloading mechanism 700, and the robot for transferring products between the buffer mechanism 600 and the repairable product unloading mechanism 800.
In a preferred embodiment of this embodiment, the robot for transferring the product between the lower surface and side surface sensing unit 410 and the upper surface sensing unit 420 is a separately provided transfer robot a 430.
The transfer manipulator A430 is a product transfer unit, the product transfer unit comprises a transfer rotary table 431 which is rotatable around the vertical Z-axis direction, the transfer rotary table 431 is provided with two product grabbing devices 432 which are uniformly distributed around the axis of the transfer rotary table and drive each product grabbing device 432 to sequentially pass through a first product grabbing station and a second product grabbing station, when one product grabbing device 432 is located at the first product grabbing station and located above the blanking station of the lower surface and side surface detection unit 410, the other product grabbing device 432 is located at the second product grabbing station and located above the feeding station of the upper surface detection unit 420.
In a preferred embodiment of this embodiment, the robot for transferring the product between the buffer mechanism 500 and the appearance inspection mechanism 400 is a separately provided transfer robot B530.
The working process of the invention is described below:
the feeding process comprises the following steps:
1.1 a material tray grabbing device is positioned at a first material tray grabbing station, after the material tray grabbing device grabs the uppermost material tray from a first lifting platform, the first lifting platform rises to enable the topmost material tray to be positioned at the first material tray position, the material tray grabbing device moves to a second material tray grabbing station, a jig is positioned on a second jig station and positioned below the material tray grabbing device, the material tray grabbing device places the material tray into the jig, and a primary positioning device positions the material tray in the jig to a third material tray station in a mode of pushing the material tray to a set position;
1.2, the feeding manipulator grabs a group of products from a tray of the jig and then places the products on a positioning table;
1.3, after the products in the charging tray of the jig are completely grabbed by the charging manipulator, the charging tray grabbing device grabs the empty charging tray from the jig;
1.4, moving the jig to a first jig station and locating above the first lifting table;
1.5, placing the empty material trays on a second lifting platform by the material tray grabbing device, and descending the second lifting platform to enable the uppermost layer of empty material trays to be positioned at a second material tray station;
1.6 the tray gripping device moves to the first tray gripping station and is located above the first lifting table, the jig moves to the second jig station and is located above the second lifting table, and the step 1.1 is returned.
The positioning process comprises the following steps:
2.1, the secondary positioning device starts to move from the initial position, and pushes a group of products placed on the positioning table into a fourth cavity, namely, the products are positioned on product stations;
2.2, the feeding manipulator grabs a group of products from the fourth cavity and respectively places the products into the first cavities of the first bearing parts which sequentially reach the first feeding station;
2.3, returning the secondary positioning device to the initial position, and returning to the step 2.1.
The detection process comprises the following steps
3.1, respectively carrying out side surface image acquisition and lower surface image acquisition on a product reaching a corresponding first detection station by a lower surface image acquisition device and a side surface image acquisition device;
3.2, respectively transferring the products sequentially arriving at the first unloading station into a second cavity of a second bearing part sequentially arriving at a second loading station by the transfer manipulator A;
3.3, the upper surface image acquisition device acquires the upper surface image of the product which reaches the corresponding second detection station;
the caching process comprises the following steps:
4.1, respectively transferring qualified products and repairable products in a second cavity of a second bearing part which sequentially reaches a second blanking station to a cache mechanism by a transfer manipulator B, and transferring unqualified products which reach the second blanking station to a recovery mechanism by the blanking manipulator B;
the blanking process comprises the following steps:
5.1, the jig is positioned at the first jig station, and the second lifting table lifts the tray on the uppermost layer to the second tray station;
5.2, the material tray grabbing device is located at a second material tray grabbing station and grabs the uppermost material tray from the second lifting table, the jig moves to a second jig station, the material tray grabbing device transfers the material tray to the jig, and the primary positioning device positions the material tray in the jig to a third material tray station in a mode that the material tray is pushed to a set position;
5.3, the blanking manipulator grabs a group of products from the material tray of the cache mechanism and then puts the products into the material tray of the qualified product blanking mechanism or the material tray of the repairable product blanking mechanism;
5.4, when the product in the tray of the jig is full, the tray grabbing device grabs the tray full of the product from the jig;
5.5, moving the material tray gripping device to a first material tray gripping station and locating above the first lifting platform;
5.6, the material tray is placed on the first lifting platform by the material tray grabbing device, and the first lifting platform descends to enable the material tray on the uppermost layer to be located at the first material tray station;
and 5.7, returning the jig to the first jig station and above the first lifting table, returning the material tray grabbing device to the second material tray grabbing station and above the second lifting table, and returning to the step 5.1.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (8)
1. The utility model provides an outward appearance detecting system of product upper surface, lower surface and side surface which characterized in that:
the product comprises a product body and a transparent label bearing the product body, the product body is cylindrical and is provided with an upper end face, a lower end face and a side face, the transparent label comprises an overlapping area and a non-overlapping area, the upper end face is an upper surface to be detected, the upper surface to be detected faces the overlapping area of the transparent label and is attached together, the lower end face is a lower surface to be detected, the lower surface to be detected deviates from the overlapping area of the transparent label, one side of the side face far away from the non-overlapping area is a side surface to be detected,
the appearance detection system includes:
the feeding mechanism is used for bearing the material tray and positioning the material tray;
the positioning mechanism is used for bearing the products and positioning the products transferred from the feeding mechanism;
the appearance detection mechanism is used for bearing the product and carrying out photographing detection on the surface to be detected of the product transferred from the positioning mechanism;
the buffer memory mechanism is used for bearing products and temporarily storing the qualified products and the repairable products transferred from the appearance detection mechanism;
the recovery mechanism is used for bearing the material tray, placing the unqualified products transferred from the appearance detection mechanism and storing the unqualified products;
the qualified product blanking mechanism is used for bearing the material disc, receiving the qualified products transferred from the cache mechanism and storing the qualified products;
the repairable product discharging mechanism is used for bearing the material disc, receiving the repairable product transferred from the caching mechanism and storing the repairable product;
the appearance detection mechanism includes:
the lower surface and side surface detection unit comprises a first detection rotary disc which can rotate around the vertical Z-axis direction, and at least two first image acquisition devices, wherein the first detection rotary disc is provided with a plurality of first bearing parts which are uniformly distributed around the axis of the first detection rotary disc and drive each first bearing part to sequentially pass through a first feeding station, at least two first detection stations and at least one first discharging station, the first image acquisition devices and the first detection stations are arranged in a one-to-one correspondence manner, each first bearing part is provided with a first cavity for accommodating a product, the first cavity is provided with a first bottom wall and a first side wall, a lower hollow area is arranged at the position of the first bottom wall, which is opposite to the lower surface to be detected, a side hollow area is arranged at the position of the first side wall, which is opposite to the side surface to be detected, and a non-overlapping area of the transparent label is adsorbed on the first bottom wall, the first image acquisition devices are side surface image acquisition devices, the lens of each side surface image acquisition device faces a side hollow area of the first cavity at the corresponding first detection station, and the lens of each first image acquisition device faces a lower hollow area of the first cavity at the corresponding first detection station;
an upper surface detection unit including a second detection turntable rotatable about a vertical Z-axis direction and at least one second image pickup device, the second detection rotary disc is provided with a plurality of second bearing parts which are uniformly distributed around the axis of the second detection rotary disc and drives each second bearing part to sequentially pass through a second feeding station, at least one second detection station and a second blanking station, the second image acquisition devices are arranged in one-to-one correspondence with the second detection stations, each second bearing part is provided with a second cavity for accommodating a product, the second cavity is provided with a second bottom wall and a second side wall, the transparent label is adsorbed on the second bottom wall, the second image acquisition device is an upper surface image acquisition device, and a lens of the upper surface image acquisition device faces to an upper port of a second cavity at a corresponding second detection station;
the feed mechanism, qualified product unloading mechanism and repairable product unloading mechanism are the same equipment, and each includes:
the first lifting unit comprises a first lifting platform capable of moving along the vertical Z-axis direction, and the first lifting platform bears a plurality of stacked charging trays and drives the charging tray at the uppermost layer to be positioned at a first charging tray station;
the second lifting unit comprises a second lifting platform which can move along the vertical Z-axis direction, and the second lifting platform bears a plurality of stacked material trays and drives the uppermost material tray to be positioned at a second material tray station;
the material taking unit comprises a jig and a primary positioning device, wherein the jig can move along the horizontal Y-axis direction, the jig bears a single material disc and reciprocates between a first jig station and a second jig station, and the primary positioning device is arranged on the periphery of the material disc and positions the single material disc at a third material disc station;
a material tray shifting unit which comprises a material tray grabbing device which can move along the horizontal Y-axis direction and reciprocate between a first material tray grabbing station and a second material tray grabbing station,
when the jig is positioned at the first jig station and above the first material tray station, the material tray grabbing device is positioned at the second material tray grabbing station and above the second material tray station, and when the jig is positioned at the second jig station and above the second material tray station, the material tray grabbing device is positioned at the first material tray grabbing station and above the first material tray station;
the material tray grabbing device is provided with a moving system positioned above the material tray grabbing device, the moving system comprises an air cylinder and a connecting rod assembly, the connecting rod assembly comprises a connecting rod A and a connecting rod B, the upper end of the connecting rod A is rotatably connected with the rack in a direction perpendicular to the moving direction of the material tray grabbing device, the middle section part of the connecting rod A is rotatably connected with a telescopic rod of the air cylinder in a direction perpendicular to the moving direction of the material tray grabbing device, the lower end of the connecting rod A is rotatably connected with one end of the connecting rod B in a direction perpendicular to the moving direction of the material tray grabbing device, the other end of the connecting rod B is rotatably connected with the material tray grabbing device in a direction perpendicular to the moving direction of the material tray grabbing device, and one end of the telescopic rod of the air cylinder faces away from the third material tray station;
a plurality of third cavities for accommodating products are arranged in the material tray, and the third cavities have the same structure as the second cavities;
connecting rod A includes upper boom section and lower beam section, the upper boom section with the lower beam section forms towards the obtuse angle contained angle of cylinder, the cylinder slope sets up, the telescopic link one end of cylinder hang down and with connecting rod A's corner is connected.
2. The system for inspecting the appearance of the upper, lower and side surfaces of a product according to claim 1, wherein said air cylinder is located above said first tray station.
3. The system for inspecting the appearance of the upper surface, the lower surface and the side surfaces of the product according to claim 1, wherein the positioning mechanism comprises a positioning table for bearing the product and a secondary positioning device arranged on the periphery of the product and used for positioning the product at a product station, one or more fourth cavities for accommodating the product are arranged on the positioning table, and the fourth cavities have the same structure as the second cavities.
4. The system of claim 1, wherein the buffer mechanism comprises a buffer platform for supporting and temporarily storing the product, the buffer platform is provided with a qualified product area and a repairable product area, each of the buffer platform is provided with a plurality of fifth cavities for accommodating the product, and the fifth cavities have the same structure as the second cavities.
5. The appearance inspection system for the upper, lower, and side surfaces of a product according to claim 1, wherein the robot for transferring the product between the loading mechanism and the positioning mechanism and the robot for transferring the product between the positioning mechanism and the appearance inspection mechanism are the same loading robot.
6. The system for inspecting the appearance of the upper, lower, and side surfaces of a product according to claim 1, wherein the robot for transferring the product between the appearance inspection mechanism and the recycling mechanism, the robot for transferring the product between the buffer mechanism and the acceptable product unloading mechanism, and the robot for transferring the product between the buffer mechanism and the repairable product unloading mechanism are the same unloading robot.
7. The appearance inspection system of the upper, lower and side surfaces of a product according to claim 1, wherein the robot for transferring the product between the lower and side surface inspection units and the upper surface inspection unit is a separately provided relay robot a.
8. The appearance inspection system for upper, lower, and side surfaces of a product according to claim 1, wherein the robot for transferring the product between the buffer mechanism and the appearance inspection mechanism is a separately provided transfer robot B.
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| CN202010809807.5A CN111940325B (en) | 2020-08-13 | 2020-08-13 | Appearance detection system for upper surface, lower surface and side surface of product |
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| CN111940325B true CN111940325B (en) | 2022-04-15 |
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|---|---|
| CN111940325A (en) | 2020-11-17 |
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