CN114088739B

CN114088739B - Appearance detection equipment and appearance detection method

Info

Publication number: CN114088739B
Application number: CN202111406129.9A
Authority: CN
Inventors: 周启胜; 李睿宇; 徐思江
Original assignee: Chow Tai Fook Jewellery Co ltd; Shenzhen Smartmore Technology Co Ltd
Current assignee: Chow Tai Fook Jewellery Co ltd; Shenzhen Smartmore Technology Co Ltd
Priority date: 2021-11-24
Filing date: 2021-11-24
Publication date: 2025-02-18
Anticipated expiration: 2041-11-24
Also published as: CN114088739A

Abstract

The present invention relates to a shape detection device and a shape detection method, which are used to detect the shape of an annular workpiece, wherein the shape detection device comprises: a first detection component, wherein the first detection component comprises a plurality of cameras, wherein the plurality of cameras are used to obtain the shape image of the annular workpiece when the annular workpiece is in a first detection station, wherein the plurality of cameras are arranged around the first detection station at intervals, and the optical axis of at least one of the plurality of cameras faces the inner wall of the annular workpiece. In the above-mentioned shape detection device, the plurality of cameras are arranged around the first detection station at intervals, and the plurality of cameras are used to obtain the shape image of the annular workpiece when the annular workpiece is in the first detection station. In this way, the accuracy of the character detection on the inner wall of the annular workpiece can be greatly improved through the cooperation of the plurality of cameras. The shape detection method can automatically detect the characters on the inner wall of the annular workpiece.

Description

Appearance detection device and appearance detection method

Technical Field

The present invention relates to the field of appearance detection technology, and in particular, to an appearance detection apparatus and an appearance detection method.

Background

With the popularization and development of rings, the number of rings produced is gradually increased, and the types of rings are also continuously increased. Meanwhile, with the development of the ring, various appearance designs of the ring are gradually developed, so that the ring is more attractive and practical or has a specific meaning. For example, characters are typically machined into the outer or inner ring walls of a ring to make the ring bear a particular meaning.

In the prior art, whether the defects exist in the characters on the inner ring wall of the ring or not is generally judged through manual visual detection, on one hand, the manual detection efficiency is low, the production efficiency is seriously limited, on the other hand, the human eye detection and recognition capability is poor, and along with the increase of the working time length and the working strength, the accuracy of human eye recognition is greatly reduced, so that the accuracy of character recognition is not high.

Disclosure of Invention

Based on this, it is necessary to provide an outline detection apparatus for the efficiency and accuracy problems of the ring-shaped workpiece structure detection.

A profile detection apparatus for detecting a profile of an annular workpiece, the profile detection apparatus comprising:

The first detection assembly comprises a plurality of cameras, the cameras are used for acquiring appearance images of the annular workpiece when the annular workpiece is in a first detection station, the cameras are arranged at intervals around the first detection station, and at least one optical axis of the cameras faces to the inner wall of the annular workpiece.

In one embodiment, the shape detection device further includes a processor electrically connected to the plurality of cameras for processing images acquired by the plurality of cameras.

In one embodiment, the shape detection device further comprises a moving mechanism, wherein the annular workpiece is mounted on the moving mechanism, and the moving mechanism is used for driving the annular workpiece to move to the first detection station.

In one embodiment, the first detection assembly further comprises a bearing piece, the moving mechanism comprises a turntable, a through hole is formed in the rotation center of the turntable, the bearing piece penetrates through the through hole, a space exists between the bearing piece and the hole wall of the through hole, and at least one camera is arranged on the bearing piece.

In one embodiment, the plurality of cameras comprise a first camera, an inner wall of the annular workpiece is surrounded to form an inner ring channel, an extending direction of an optical axis of the first camera is parallel to the extending direction of the inner ring channel, and the optical axis of the first camera is collinear with a rotation center line of the inner ring channel.

In one embodiment, the plurality of cameras comprises a second camera, a third camera, a fourth camera and a fifth camera which are uniformly distributed at intervals, and the second camera, the third camera, the fourth camera and the fifth camera are all focused on the first detection station.

In one embodiment, the first inspection assembly further includes a first light source, the first light source facing the first inspection station.

In one embodiment, the first detecting assembly further includes a plurality of first adjusting structures, the number of the first adjusting structures corresponds to the number of the cameras, and the plurality of cameras are arranged on the plurality of first adjusting structures in a one-to-one correspondence.

In one embodiment, the first adjusting structure comprises a first adjusting device, the first adjusting device comprises a first sliding rail and a first sliding table in sliding fit with the first sliding rail, the camera is arranged on the first sliding table, and the distance between the camera and the first detection station can be adjusted when the first sliding table moves relative to the first sliding rail.

In one embodiment, the first adjusting structure further includes a first control device, the first control device includes a mounting plate, the camera is disposed on the mounting plate, the mounting plate is rotationally connected with the first sliding table, and when the mounting plate rotates relative to the first sliding table, an optical axis of the camera can face the annular workpiece.

In one embodiment, the first control device further comprises a marker, one side of the marker is connected with the first sliding table, the other side of the marker is rotatably connected with the mounting plate, a first mark is arranged on the marker, a second mark corresponding to the first mark is arranged on the mounting plate, and the second mark is matched with the first mark to determine the position of the mounting plate relative to the marker.

In one embodiment, the profile inspection apparatus further comprises a second inspection assembly for inspecting an inner diameter of the annular workpiece when the annular workpiece is in a second inspection station.

In one embodiment, the second detecting assembly comprises a second adjusting device and a scanning piece, wherein the second adjusting device is connected with the scanning piece and used for driving the scanning piece to move, and the scanning piece is used for scanning the inner diameter of the annular workpiece.

In one embodiment, the second adjusting device comprises a line scanning driving piece, a second sliding rail and a second sliding table in sliding fit with the second sliding rail, the scanning piece is connected with the second sliding table, the scanning piece comprises a first line scanning station and a second line scanning station, and the line scanning driving piece can drive the scanning piece to move between the first line scanning station and the second line scanning station along with the second sliding table relative to the second sliding rail.

In one embodiment, the scanning piece at the first linear scanning station is provided with a first projection on a plane of the moving mechanism, the scanning piece at the second linear scanning station is provided with a second projection on a plane of the moving mechanism, and the first projection and the second projection are respectively positioned at two sides of the second detection station.

In one embodiment, the shape inspection apparatus further comprises a third inspection assembly for acquiring an image of the shape of the annular workpiece while the annular workpiece is in a third inspection station.

In one embodiment, the third detection assembly includes an endoscope, an inner wall of the annular workpiece encloses and forms an inner ring channel, an extending direction of an optical axis of the endoscope is the same as an extending direction of the inner ring channel, and the optical axis of the endoscope passes through a rotation center of the inner ring channel.

In one embodiment, the third detection assembly further comprises a third adjusting device, the third adjusting device comprises a third sliding rail and a third sliding table in sliding fit with the third sliding rail, the endoscope is arranged on the third sliding table, and the distance between the endoscope and the third detection station can be adjusted when the third sliding table moves relative to the third sliding rail.

In one embodiment, when the annular workpiece is in the third inspection station, a distance between an end of the endoscope adjacent to the third inspection station and the annular workpiece is no more than 100mm.

In one embodiment, the third inspection assembly further includes a second light source, the second light source facing the third inspection station.

In one embodiment, the moving mechanism is provided with a plurality of fixing jigs which are uniformly distributed at intervals, the fixing jigs are provided with accommodating grooves matched with the shape of the annular workpiece, and the annular workpiece is arranged in the accommodating grooves.

A contour detection method for detecting a contour of an annular workpiece, the contour detection method comprising a camera detection step comprising:

S11, moving the annular workpiece to a first detection station;

S12, controlling a plurality of cameras to shoot images of different positions of the annular workpiece;

s13, transmitting the images shot by the cameras to a processor;

And S14, integrating the images shot by the cameras by the processor, and analyzing whether the structure of the annular workpiece in the integrated images is qualified or not.

In one embodiment, the method further comprises a step S20, after the step S14, of moving the annular workpiece to a third detection station for endoscopic detection when the image shot by the first detection assembly is not clear.

In one embodiment, the step of endoscopy comprises:

S21, moving the annular workpiece to a third detection station;

s22, shooting the whole structure of the annular workpiece by using an endoscope;

s23, transmitting the shooting result of the endoscope to the processor;

And S24, the processor analyzes whether the structure of the annular workpiece in the endoscope shooting image is qualified or not.

In one embodiment, the contour detection method further includes a line sweep detection step:

s31, moving the annular workpiece to a second detection station;

s32, the scanning piece scans the inner diameter of the annular workpiece;

S33, transmitting a scanning result of the scanning piece to a processor;

And S34, the processor analyzes the scanning result and judges whether the inner diameter of the annular workpiece is qualified.

In one embodiment, the annular workpiece stops moving for 1-5 seconds at the step S32, and the scanning member linearly scans the annular workpiece at a constant speed.

According to the appearance detection equipment, the cameras are arranged around the first detection station at intervals, and the cameras are used for acquiring appearance images of the annular workpiece when the annular workpiece is in the first detection station. Thus, the appearance of the annular workpiece can be comprehensively detected through the cooperation of a plurality of cameras. Compared with manual detection, the efficiency can be improved, and the detection accuracy can be improved. And the optical axis of at least one camera of the plurality of cameras faces the inner wall of the annular workpiece, so that the camera can identify characters on the inner wall of the annular workpiece, and whether the characters on the inner wall of the annular workpiece have defects or not can be detected. Therefore, the accuracy of character detection on the inner wall of the annular workpiece is greatly improved.

Drawings

FIG. 1 is an isometric view of a form factor detection device according to one embodiment;

FIG. 2 is an axial schematic view of a part of the configuration of the outline detection apparatus shown in FIG. 1;

FIG. 3 is an isometric view of a first detection assembly and movement mechanism of the form factor detection device of FIG. 2;

FIG. 4 is an isometric view of an annular workpiece according to an embodiment;

FIG. 5 is a top view of the form factor apparatus shown in FIG. 2;

FIG. 6 is an enlarged view of a portion of FIG. 3 at A;

FIG. 7 is an isometric view of a second sensing assembly of the form factor sensing device of FIG. 3;

Fig. 8 is an isometric view of a third sensing assembly of the form factor sensing device of fig. 3.

Reference numeral 10, an outline detection device; 20, an annular workpiece; 21, inner wall; 22, character, 23, inner ring channel, 30, optical axis, 100, first detection component, 110, first camera, 120, second camera, 130, third camera, 140, fourth camera, 150, fifth camera, 160, first adjustment structure, 161, first adjustment device, 1611, first slide rail, 1612, first slide table, 1612a, first adjustment handle, 162, first control device, 1621, mounting plate, 1621b, second mark, 1622, marking element, 1622a, first mark, 170, first light source, 180, first detection position, 200, second detection component, 210, second detection position, 220, second adjustment device, 221, line sweep drive, 222, second slide rail, 223, second slide table, 230, scanning element, 240, fixing frame, 250, line sweep first position, 260, line sweep second position, 300, third detection component, 310, third detection position, 320, endoscope, 330, third adjustment device, third slide rail, 332, 340, second slide table, 332, 500, and 500, respectively.

Detailed Description

In order that the above objects, features and advantages of the invention will be readily understood, a more particular description of the invention will be rendered by reference to the appended drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The present invention may be embodied in many other forms than described herein and similarly modified by those skilled in the art without departing from the spirit of the invention, whereby the invention is not limited to the specific embodiments disclosed below.

In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present invention.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present invention, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.

In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed, mechanically connected, electrically connected, directly connected, indirectly connected through an intervening medium, or in communication between two elements or in an interaction relationship between two elements, unless otherwise explicitly specified. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.

In the present invention, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.

It will be understood that when an element is referred to as being "fixed" or "disposed" on another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like are used herein for illustrative purposes only and are not meant to be the only embodiment.

Referring to fig. 1, fig. 1 is an axial schematic view of a profile inspection apparatus according to an embodiment of the present invention, fig. 2 is an axial schematic view of a portion of the profile inspection apparatus shown in fig. 1, and fig. 3 is an axial schematic view of a first inspection component and a moving mechanism of the profile inspection apparatus shown in fig. 2.

Referring to fig. 1, an embodiment of the present invention provides a profile inspection apparatus 10 for inspecting the profile of an annular workpiece 20. The shape detecting apparatus 10 includes an upper case 500, a lower case 400, and a first detecting assembly 100. The upper case 500 is connected to the lower case 400, and the upper case 500 and the lower case 400 together enclose a detection space 510. The first detecting assembly 100 is disposed on the side of the lower housing 400 near the upper housing 500, i.e., the first detecting assembly 100 is disposed in the detecting space 510. In this way, the detection process of the first detection assembly 100 can be located in a relatively closed detection space 510, so as to avoid the influence of the change of the external environment on the detection result as much as possible.

Referring to fig. 1-3 in conjunction with fig. 4, in one embodiment, the first detection assembly 100 includes a plurality of cameras. The plurality of cameras are used for acquiring the outline image of the annular workpiece 20 when the annular workpiece 20 is at the first detection station 180, the plurality of cameras are arranged around the first detection station 180 at intervals, and the optical axis 30 of at least one camera of the plurality of cameras faces the inner wall 21 of the annular workpiece 20. Referring to fig. 3, the first inspection station 180 is shown in fig. 3. It is understood that the optical axis 30 of the camera refers to a line along which some degree of rotational symmetry is present in an optical system such as a camera lens or a microscope. The optical axis 30 is not a true line, and the optical axis 30 is a dashed line that defines the path of light traveling through the system. That is, the optical axis 30 described in the embodiments and shown in the drawings is schematic, and there is virtually no axis. The optical axis 30 is a well-known concept in the art, and will not be described in detail. It should be understood that the description about the optical axis 30 in the embodiments is only for illustrating the correspondence between the shooting directions of the plurality of cameras or the corresponding detecting components and the annular workpiece 20 or the corresponding detecting stations, and does not limit the shooting range of the cameras to only the direction of the optical axis 30. In other words, in the direction opposite to the camera, the camera can shoot the outline image of the annular workpiece 20 in a certain area, and the shooting area of the camera can be adjusted by different annular workpieces 20 to meet the requirement of shooting the image by the camera, so that the description is omitted.

The above-described outline inspection apparatus 10, a plurality of cameras are disposed around the first inspection station 180 at intervals, and the plurality of cameras are used to acquire an outline image of the annular workpiece 20 while the annular workpiece 20 is in the first inspection station 180. In this way, the outer shape of the annular workpiece 20 can be detected comprehensively by the cooperation of the plurality of cameras. Compared with manual detection, the efficiency can be improved, and the detection accuracy can be improved. And, the optical axis 30 of at least one camera among the plurality of cameras is opposite to the inner wall 21 of the annular workpiece 20, so that the camera can recognize the character 22 on the inner wall 21 of the annular workpiece 20, and can detect whether the character 22 on the inner wall 21 of the annular workpiece 20 has a defect. Thus, the accuracy of detecting the characters 22 on the inner wall 21 of the annular workpiece 20 is greatly improved.

In one embodiment, the shape detection device 10 further includes a processor (not shown, infra). The processor is electrically connected with the cameras and is used for processing images acquired by the cameras. In other words, the plurality of cameras acquire the outline image of the annular workpiece 20 at the first inspection station 180, and then the image is sent to the processor for processing. The processor analyzes and identifies the structure of the annular workpiece 20 and the structure of the characters 22 on the annular workpiece 20. And judging whether the annular workpiece 20 has defects or not according to the analysis result of the processor, namely whether the annular workpiece 20 is a qualified product or not.

Referring to fig. 2 and 3, in one embodiment, the shape detecting apparatus 10 further includes a moving mechanism 600, and the annular workpiece 20 is mounted on the moving mechanism 600. The moving mechanism 600 is used for driving the annular workpiece 20 to move to the first detection station 180. Specifically, the moving mechanism 600 is provided on the lower housing 400, and the annular workpiece 20 can be automatically moved to the first inspection station 180 to be inspected by the first inspection assembly 100 by the driving action of the moving mechanism 600, so that the inspection efficiency of the appearance inspection apparatus 10 can be improved.

With continued reference to fig. 2 and 3, in one embodiment, the first detection assembly 100 further includes a carrier 700. The moving mechanism 600 includes a turntable 610, and a through hole (not shown) is formed at the rotation center of the turntable 610. The carrier 700 is disposed through the through hole, and a space exists between the carrier 700 and the wall of the through hole. At least one camera is provided on the carrier 700. In this embodiment, the turntable 610 is rotatably coupled to the lower housing 400. The carrier 700 is connected with the lower case 400 to carry the camera. The space between the bearing member 700 and the wall of the through hole can avoid the bearing member 700 from obstructing the movement of the turntable 610, so that the turntable 610 can conveniently move the annular workpiece 20 to the first detection station 180. It will be appreciated that the annular workpiece 20 needs to be moved by the turntable 610 to the first inspection station 180, and that locating the camera at the location of the turntable 610 will obviously result in interference with the transport function of the turntable 610. Without providing a camera on the side of the first inspection station 180 near the turntable 610, it is difficult to fully inspect the annular workpiece 20 at the first inspection station 180, which may result in an inspection dead zone.

In the above embodiment, the through hole is formed in the turntable 610, and the carrier 700 for carrying the camera is inserted into the through hole. Thus, the camera mounting position can be prevented from obstructing the rotational movement of the dial 610. That is, the mounting positions of the cameras can be flexibly set so that the plurality of cameras can comprehensively acquire the outline image of the annular workpiece 20 from various angles, and the occurrence of detection dead zones is avoided. So set up, can guarantee the comprehensiveness that detects, improve the accuracy of testing result.

Referring to fig. 3 and 4, in one embodiment, the plurality of cameras includes a first camera 110. An inner wall 21 of the annular workpiece 20 is surrounded to form an inner ring channel 23. The extending direction of the optical axis 30 of the first camera 110 is parallel to the extending direction of the inner ring channel 23, and the optical axis 30 of the first camera 110 is collinear with the center line of revolution of the inner ring channel 23. The optical axis 30 of the first camera 110 is shown in fig. 3, the inner ring channel 23 is shown in fig. 4, and the extending direction of the inner ring channel 23 and the rotation center line of the inner ring channel 23 are referred to by reference number K in fig. 4.

It will be appreciated that in other embodiments, the plurality of cameras may include a plurality of cameras that function the same as the first camera 110 if the configuration of the inner wall 21 of the annular workpiece 20 is relatively complex or the shape of the character 22 is relatively complex. In the following, two first cameras 110 are taken as an example, that is, in this embodiment, two first cameras 110 may be provided. The angle between the extending direction of the optical axes 30 of the two first cameras 110 and the extending direction of the inner ring channel 23 is 0 ° -90 °, and the optical axes 30 of the two cameras face the inner wall 21 of the annular workpiece 20. In this way, by the two first cameras 110 being matched together, the accuracy of detecting the character 22 in the inner ring of the annular workpiece 20 can be improved.

In the above embodiment, referring to fig. 3 and 4, the extending direction of the optical axis 30 of the first camera 110 is the same as the extending direction of the inner ring channel 23, and the optical axis 30 of the first camera 110 is collinear with the rotation center line of the inner wall 21 channel of the annular workpiece 20. In this way, the inner wall 21 of the annular workpiece 20 can be covered by the first camera 110 alone, that is, the character 22 on the inner wall 21 of the annular workpiece 20 can be recognized by the first camera 110, so that whether or not the character 22 on the inner wall 21 of the annular workpiece 20 is defective can be efficiently detected.

Referring to fig. 3, 4 and 5, in one embodiment, the plurality of cameras includes a second camera 120, a third camera 130, a fourth camera 140 and a fifth camera 150 that are uniformly spaced apart. The second camera 120, the third camera 130, the fourth camera 140, and the fifth camera 150 are focused at the first inspection station 180. The focusing of the second camera 120, the third camera 130, the fourth camera 140, and the fifth camera 150 on the first detection station 180 means that before the shape detection device 10 detects the annular workpiece 20, parameters such as a position, a focal length, a shooting angle of each camera may be adjusted according to the shapes of different annular workpieces 20, so that when the annular workpiece 20 is located at the first detection station 180, a plurality of cameras can acquire clear images.

Specifically, in the above embodiment, the distances between the second camera 120, the third camera 130, the fourth camera 140 and the fifth camera 150 are all 90 °, and by providing a plurality of second cameras 120, third cameras 130, fourth cameras 140 and fifth cameras 150 distributed at 90 ° intervals, the shape of the annular workpiece 20 can be detected comprehensively from four directions uniformly distributed. And because the intervals among the second camera 120, the third camera 130, the fourth camera 140 and the fifth camera 150 are 90 degrees, the shooting ranges of the four cameras can fully cover the shape of the annular workpiece 20 so as to avoid the occurrence of detection dead zones.

It will be appreciated that the plurality of cameras may further include three cameras or five cameras or the like with uniformly spaced intervals, and the specific number of cameras in the plurality of cameras may be appropriately adjusted according to the size of the annular workpiece 20, the size of the turntable 610, and the size of the carrier 700, and the intervals between the plurality of cameras may be adaptively adjusted. Specifically, for example, the interval between the cameras may be set to 120 ° for three cameras, 72 ° for five cameras, and so on. Meanwhile, it is understood that the interval between the plurality of cameras may be set to be non-uniform according to the structure of the turntable 610, the structure of the carrier 700. It is necessary at this time to enable the photographing ranges of the plurality of cameras to cover the respective areas on the annular workpiece 20 entirely so as to avoid occurrence of detection dead zones.

Referring to fig. 3, in one embodiment, the first inspection assembly 100 further includes a first light source 170, the first light source 170 facing the first inspection station 180. The first light source 170 is capable of illuminating the first detection station 180. Therefore, the influence of the change of the light and the brightness degree of the external environment on the shooting effect can be reduced. At the same time, the first light source 170 can also be used to illuminate some detail structures on the annular workpiece 20, specifically, for example, the character 22 on the annular workpiece 20 can be illuminated to determine whether the character 22 is structurally clear and complete. Or a gap defect, a scratch, or the like, may be present on the annular workpiece 20. The first light source 170 may be disposed on the first slide rail 1611 corresponding to the upper housing 500, the lower housing 400, or the first camera 110.

With continued reference to fig. 6 in conjunction with fig. 3, in one embodiment, the first detecting assembly 100 further includes a plurality of first adjusting structures 160, where the number of first adjusting structures 160 corresponds to the number of cameras, and the plurality of cameras are disposed on the plurality of first adjusting structures 160 in a one-to-one correspondence. The position of the camera can be adjusted through the first adjusting structure 160, on the one hand, the position aligned by the optical axis 30 of the camera can be corrected, and on the other hand, the plurality of cameras can be matched to detect the annular workpieces 20 with different sizes through adjusting the first adjusting structure 160 corresponding to each camera, so that the applicability of the appearance detecting device 10 is improved.

Referring again to fig. 6 in conjunction with fig. 3, in one embodiment, the first adjustment structure 160 includes a first adjustment device 161. The first adjusting device 161 includes a first slide rail 1611 and a first slide table 1612 slidably engaged with the first slide rail 1611. The camera is disposed on the first sliding table 1612. The distance between the camera and the first detection station 180 can be adjusted when the first sliding table 1612 moves relative to the first sliding rail 1611. By arranging the first adjusting device 161, the distance between the camera and the first detecting station 180 can be adjusted, so that the first detecting assembly 100 can adapt to the annular workpieces 20 with different sizes, and meanwhile, other structures on the appearance detecting device 10, such as the turntable 610 or the first adjusting structure 160 corresponding to other cameras, can be avoided, and the optical axis 30 is blocked, so that the appearance image of the annular workpiece 20 cannot be obtained clearly or completely. The distance between the camera and the first detecting station 180 refers to the distance in the Z-axis direction in fig. 3 and 6.

Specifically, one end of the first sliding rail 1611 is connected to the lower housing 400, so that the first adjusting device 161 is kept relatively stable. The first adjusting device 161 further comprises a first adjusting handle 1612a and a first clamping member, wherein the first adjusting handle 1612a is connected with the first sliding table 1612. The first clamping piece is disposed on the first sliding table 1612, and the first clamping piece is used for fixing the first sliding table 1612 relative to the first sliding rail 1611. The first sliding table 1612 can be controlled to slide relative to the first sliding rail 1611 through the first adjusting handle 1612a so as to adjust the position of the camera arranged on the first sliding table 1612, and the first clamping piece can prevent the first sliding table 1612 from moving relative to the first sliding rail 1611 so as to prevent the camera from shaking and influencing the shooting result.

Referring to fig. 6, in one embodiment, the first adjusting structure 160 further includes a first control device 162. The first control device 162 includes a mounting plate 1621. The camera is mounted on the mounting plate 1621. The mounting plate 1621 is rotatably connected to the first slide 1612, such that the optical axis 30 of the camera is oriented toward the annular workpiece 20 when the mounting plate 1621 rotates relative to the first slide 1612. Specifically, in combination with the above embodiment, the distance between the camera and the first detecting station 180 is adjusted by the first adjusting device 161, and the optical axis 30 of the camera is adjusted by the first control device 162, so that the camera can take the shape of the annular workpiece 20 at a suitable position, that is, avoid that the optical axis 30 is blocked or partially blocked and cannot take the image of the annular workpiece 20. In other words, by the cooperation of the first adjusting device 161 and the first control device 162, the camera can be made to take an image of the annular workpiece 20 at an appropriate angle.

It can be understood that each camera is correspondingly provided with a first adjusting structure 160, and each first adjusting structure 160 corresponding to each camera includes a first adjusting device 161 and a first control device 162. In this way, the plurality of cameras can cover the annular workpiece 20 through the adaptive adjustment among the plurality of first adjustment structures 160, so as to comprehensively acquire the outline structure of the annular workpiece 20, and to comprehensively detect the outline structure of the annular workpiece 20.

That is, specifically, the distance between the camera adjusted by the first adjusting device 161 corresponding to each camera and the first detecting station 180 may be the same or different. In other words, the Z-axis coordinate values corresponding to each camera may be the same or different, and the optical axes 30 of the cameras having different Z-axis coordinate values may have different angles with respect to the extending direction of the inner ring channel 23. That is, the positions of the cameras can be adjusted by the first adjusting structure 160 so that each camera can simultaneously photograph the inner wall 21 and the outer wall of the annular workpiece 20. In other words, the plurality of cameras can each capture the character 22 on the inner wall 21 by the adjusting action of the first adjusting structure 160 corresponding to the plurality of cameras. In this way, the accuracy of detecting the character 22 on the inner wall 21 of the annular workpiece 20 is further improved.

Further, in connection with the above embodiments, the first camera 110 may be devoid of the first control device 162. It will be appreciated that for annular workpieces 20, the direction of extension and the center line of revolution of the inner race channel 23 of annular workpieces 20 of different sizes are the same or nearly the same. Since the first camera 110 has a proper shooting angle, the extending direction of the optical axis 30 of the first camera 110 is parallel to the extending direction of the inner ring channel 23, and the optical axis 30 of the first camera 110 is collinear with the rotation center line of the inner ring channel 23. Therefore, the first camera 110 can be ensured to have a proper photographing angle only by positioning the annular workpiece 20 at the first inspection station 180. It should be understood that when the first camera 110 is two or more, the first adjusting structure 160 corresponding to the first camera 110 still needs the first control device 162 to adjust the shooting angle.

With continued reference to fig. 6, in one embodiment, the first control device 162 further includes a marker 1622. One side of the marker 1622 is coupled to the first slide 1612. The other side of the marker 1622 is rotatably coupled to the mounting plate 1621, and a first marker 1622a is provided on the marker 1622. The mounting plate 1621 is provided with a second marking 1621b corresponding to the first marking 1622a, the second marking 1621b cooperating with the first marking 1622a for determining the position of the mounting plate 1621 relative to the marking element 1622.

In the above embodiment, the angle by which the mounting plate 1621 rotates relative to the marker 1622 can be known by the engagement between the first marker 1622a provided on the marker 1622 and the second marker 1621b provided on the mounting plate 1621. In this way, the first adjustment device 161 and the first control device 162 do not need to be adjusted repeatedly for the ring-shaped workpiece 20 of the same shape or the ring-shaped workpiece 20 having an approximate appearance, and the above parameters can be directly used by recording the position parameters obtained at the time of the first adjustment. That is, by providing the first mark 1622a and the second mark 1621b that is matched with the first mark 1622a, the position of the camera can be easily adjusted. This can improve the efficiency of detection.

It will be appreciated that the first marker 1622a may also be disposed directly on the first slide 1612. One of the first mark 1622a and the second mark 1621b is a pointer and the other is a scale. For example, the first mark 1622a may be a pointer, and the second mark 1621b may be a scale. During rotation of the camera, i.e., any position of the mounting plate 1621 relative to the marker 1622, the pointer of the first marker 1622a is able to indicate a scale of the second marker 1621b corresponding to the position of the mounting plate 1621. Thus, the repeated adjustment is convenient. Similarly, a first marker 1622a and a second marker 1621b may be provided for the first adjustment device 161 to facilitate determination of the relative position of the first slide 1612 and the first slide 1611.

Referring to fig. 7 in combination with fig. 4, in one embodiment, the form detection apparatus 10 further includes a second detection assembly 200. The second inspection assembly 200 is used to inspect the inner diameter of the annular workpiece 20 while the annular workpiece 20 is in the second inspection station 210. It will be appreciated that the annular workpiece 20 is capable of moving with the turntable 610 between the first inspection station 180 and the second inspection station 210. In this manner, the inner diameter of the annular workpiece 20 can be conveniently detected by the second detection station 210. And inaccurate side quantity of parameters caused by detecting specific parameters through a camera is avoided.

With continued reference to fig. 7, in one embodiment, the second detecting assembly 200 includes a second adjusting device 220 and a scanning member 230, where the second adjusting device 220 is connected to the scanning member 230 for driving the scanning member 230 to move, and the scanning member 230 is used for scanning the inner diameter of the annular workpiece 20. Specifically, the second detecting assembly 200 may acquire the inner diameter of the annular workpiece 20 by means of linear scanning. When the inner diameter of the annular workpiece 20 is obtained by means of linear scanning, it is necessary to provide a relative movement between the second detecting assembly 200 and the annular workpiece 20. Compared with the mode that the scanning piece 230 is kept fixed but the annular workpiece 20 moves, the second adjusting device 220 drives the scanning piece 230 to move, so that the moving speed of the scanning piece 230 can be better controlled, the scanning result is more accurate, and the detection accuracy is improved. Of course, the scanner 230 may be fixed according to the requirement, so that the annular workpiece 20 moves relative to the scanner 230 during the linear scanning process, which is not limited herein.

Referring to fig. 7 again in combination with fig. 5, in one embodiment, the second adjusting device 220 includes a wire sweep driving member 221, a second sliding rail 222, and a second sliding table 223 slidably engaged with the second sliding rail 222. The scanning member 230 is connected to the second sliding table 223, and the scanning member 230 includes a first line scanning station 250 and a second line scanning station 260. The line scanning driving member 221 can drive the scanning member 230 to move along with the second sliding table 223 relative to the second sliding rail 222 between the line scanning first station 250 and the line scanning second station 260. Specifically, the extending direction of the second sliding rail 222 may be a tangential direction of the turntable 610. When the second slide table 223 moves, the shortest distance between the second slide table 223 and the moving mechanism 600 is not changed. That is, the movement locus of the second slide table 223 moving between the wire sweep first station 250 and the wire sweep second station 260 is parallel to the turntable 610. In this way, errors in the scanning result due to the change of the scanning distance during the moving scanning of the scanning unit 230 can be avoided. Thus, the accuracy of the detection result can be further ensured. It can be appreciated that the second sliding table 223 and the scan piece 230 shown in fig. 5 are located at the first linear scanning station 250. It should be understood that the first inspection station 180, the second inspection station 210, and the like in the embodiments described above are all positions of the ring-shaped workpiece 20 relative to the respective inspection components by the moving mechanism 600. The first line scanning station 250 and the second line scanning station 260 are two stations of the scanning member 230 or the scanning member 230 and the second sliding table 223 opposite to the second sliding rail 222.

In one embodiment, the second adjustment device 220 includes a mount 240. The second sliding rail 222 is disposed on the fixing frame 240, and the second sliding rail 222 is connected with the fixing frame 240. The fixing frame 240 is used for supporting the second sliding rail 222 and the second sliding table 223 and the scanning piece 230 disposed on the second sliding rail 222. One end of the fixing frame 240 is connected with the lower case 400.

Referring to fig. 7 in combination with fig. 5, the scanning member 230 at the first linear scanning position 250 has a first projection on the plane of the moving mechanism 600, and the scanning member 230 at the second linear scanning position 260 has a second projection on the plane of the moving mechanism 600. The first projection and the second projection are respectively located at two sides of the second detection station 210. In connection with the above embodiment, since the first projector and the second projector are respectively located at two sides of the first detection station 180, the scanning member 230 can move in parallel with the moving mechanism 600. In this manner, the scan member 230 can be moved from one side of the second inspection station 210 to the other side of the second inspection station 210 by the parallel moving mechanism 600. Accordingly, the scanning member 230 can be ensured to be capable of comprehensively scanning the entire outer shape structure of the annular workpiece 20, and the accuracy of detecting the inner diameter can be ensured. In this way, the reliability of detecting the inner diameter by the second detecting unit 200 can be improved.

Referring to fig. 8 in combination with fig. 4, in one embodiment, the form detection apparatus 10 further includes a third detection assembly 300. The third inspection assembly 300 is configured to acquire an image of the shape of the annular workpiece 20 while the annular workpiece 20 is in the third inspection station 310. In the present embodiment, it is understood that the third detecting assembly 300 has the same detecting function as the first detecting assembly 100, and the third detecting assembly 300 is used for detecting the outline image of the annular workpiece 20, that is, the third detecting assembly 300 is used for detecting the shape of the inner wall 21 and the outer wall of the annular workpiece 20 and whether there is a structural defect. While the third detecting assembly 300 is also capable of detecting whether the character 22 on the inner wall 21 of the annular workpiece 20 is defective.

In the above embodiment, the moving mechanism 600 can move the annular workpiece 20 to the third detecting station 310 when the result detected by the first detecting assembly 100 is unclear or the image has other flaws. The third inspection assembly 300 is capable of further inspecting the structure of the annular workpiece 20. It will be appreciated that the third sensing assembly 300 is an auxiliary sensing assembly for the first sensing assembly 100, or that the third sensing assembly 300 is a further accurate sensing for the first sensing assembly 100. Of course, as mentioned above, the third detecting assembly 300 can completely detect each portion on the annular workpiece 20, and the above auxiliary detection is only for easy understanding, and the detecting limitation of the third detecting assembly 300 is not limited.

Referring to fig. 8 in combination with fig. 4 and 5, in one embodiment, the third detection assembly 300 includes an endoscope 320. An inner wall 21 of the annular workpiece 20 is surrounded to form an inner ring channel 23. The extending direction of the optical axis 30 of the endoscope 320 is the same as the extending direction of the inner ring channel 23, and the optical axis 30 of the endoscope 320 passes through the center of rotation of the inner ring channel 23. The outer wall of the annular workpiece 20 is relatively difficult to detect by the second camera 120, the third camera 130, the fourth camera 140 and the fifth camera 150, while the inner wall 21 of the annular workpiece 20 is relatively easy to detect by the first camera 110. And the inner wall 21 of the annular workpiece 20 is provided with the character 22, the detection of the character 22 requires higher detection accuracy than the detection of the outer wall of the annular workpiece 20. Therefore, by providing the endoscope 320 such that the direction of extension of the optical axis 30 is the same as the direction of extension of the inner race channel 23, the optical axis 30 of the endoscope 320 passes through the center of rotation of the inner race channel 23. In this way, it can be further ensured that the detection of the inner wall 21 of the annular workpiece 20 and the characters 22 on the inner wall 21 is more accurate. The detection effect of the appearance detecting device 10 is ensured.

Referring to fig. 8, in one embodiment, the third detecting assembly 300 further includes a third adjusting device 330. The third adjusting device 330 includes a third sliding rail 331 and a third sliding table 332 slidably engaged with the third sliding rail 331. The endoscope 320 is disposed on a third sliding table 332, and the distance between the endoscope 320 and the third detection station 310 can be adjusted when the third sliding table 332 moves relative to the third sliding rail 331. In this manner, the third detection assembly 300 can be adapted to different annular workpieces 20 by moving the third slide 332 to adjust the position of the endoscope 320 for the different annular workpieces 20. The third slide rail 331 is coupled to the lower housing 400 to relatively stabilize the position of the endoscope 320.

Specifically, the third adjusting device 330 includes a second adjusting handle 332a and a second clamping member 332b, where the second adjusting handle 332a is connected to the third sliding table 332. The second clamping member 332b is disposed on the third sliding table 332, and the second clamping member 332b is used to fix the third sliding table 332 relative to the third sliding rail 331. The second adjusting handle 332a can control the third sliding table 332 to slide relative to the third sliding rail 331 so as to adjust the position of the endoscope 320 arranged on the third sliding table 332, and the second clamping piece 332b can prevent the third sliding table 332 from moving relative to the third sliding rail 331 so as to prevent the endoscope 320 from shaking and influencing the shooting result.

In one embodiment, when the annular workpiece 20 is in the third inspection station 310, the distance between the end of the endoscope 320 proximate to the third inspection station 310 and the annular workpiece 20 is no more than 100mm. In this way, it can be ensured that the endoscope 320 can capture a clear image, and the problem of unclear captured external images can be avoided.

Referring to fig. 8, in one embodiment, the third inspection assembly 300 further includes a second light source 340, the second light source 340 facing the third inspection station 310. Specifically, the second light source 340 may be directly provided on the upper case 500, the lower case 400, and even the third sliding table 332. The second light source 340 is used to provide a light source to the third inspection station 310 to illuminate the annular workpiece 20 located on the third inspection station 310. Thereby avoiding the influence of external light and other factors on the shooting effect of the endoscope 320, and simultaneously illuminating the slits, the detailed structures of the characters 22 and the like on the annular workpiece 20 so as to improve the detection effect.

In various embodiments, it is understood that the second detecting element 200 and the third detecting element 300 are electrically connected to the processor as well. The second and third detection assemblies 200 and 300 can transmit the scanned or photographed result to the processor. The processor can analyze and identify the detection results of the second detection assembly 200 and the third detection assembly 300, and determine whether the annular workpiece 20 is a qualified product.

Referring to fig. 3, in one embodiment, the shape detection device 10 further includes an indicator light 900. The indicator lamp 900 is electrically connected to the processor, and the indicator lamp 900 includes two display signals. Specifically, when the detection result of the processor ring-shaped workpiece 20 is qualified, the indicator lamp 900 displays a qualified signal, and otherwise, displays a disqualified signal. It is understood that the annular workpiece 20 indicated by the indicator 900 is an annular workpiece 20 at the blanking position. Of course, whether the annular workpiece 20 indicated by the indicator lamp 900 is qualified for the annular workpiece 20 detected by any detection station may be set according to actual requirements, which is not limited herein.

Referring to fig. 2 to 4, in one embodiment, the moving mechanism 600 is provided with a plurality of fixing jigs 620 uniformly distributed at intervals. The fixing jig 620 is provided with a receiving groove 621 matching the outer shape of the ring-shaped workpiece 20. The annular workpiece 20 is disposed in the accommodation groove 621. Specifically, the fixing jig 620 may be disposed on the turntable 610.

In one embodiment, the movement mechanism 600 further includes a turntable drive (not shown, infra). The turntable drive is capable of driving the turntable 610 to move a workpiece between the first inspection station 180 and the second inspection station 210. When the image captured by the first inspection assembly 100 is not clear, the turntable drive can drive the turntable 610 to move the workpiece to the third inspection station 310.

Referring to fig. 3, in one embodiment, the shape detecting apparatus 10 further includes a calibration device 800, where the calibration device 800 is electrically connected to the turntable driving unit. The calibration device 800 is disposed on the lower housing 400, and a reference member (not shown) that cooperates with the calibration device 800 is disposed on the turntable 610. The matching of the calibration device 800 and the reference piece can determine whether the turntable 610 drives the annular workpiece 20 to accurately reach the first detection station 180, the second detection station 210 or the third detection station 310. If the annular workpiece 20 does not accurately reach the first inspection station 180, the second inspection station 210, or the third inspection station 310, the calibration apparatus 800 can control the turntable driving member to drive the turntable 610 to accurately reach the corresponding position. Or if the workpiece does not accurately arrive at the first inspection station 180, the second inspection station 210, or the third inspection station 310, the calibration device 800 can issue a reminder and then be calibrated manually.

In one embodiment, a method of contour detection includes a camera detection step. The camera detection step includes:

S11, moving the annular workpiece 20 to a first detection station 180;

s12, controlling a plurality of cameras to shoot images of different positions of the annular workpiece 20;

s13, transmitting images shot by a plurality of cameras to a processor;

and S14, the processor integrates the images shot by the cameras and analyzes whether the structure of the annular workpiece 20 in the integrated images is qualified or not.

In this way, in the above-mentioned camera detection step, images of different positions of the annular workpiece 20 are captured by a plurality of cameras, and the images captured by the plurality of cameras are integrated by a processor. In this way, images of the various locations on the annular workpiece 20 can be obtained, and the processor can analyze and identify whether defects exist in the various locations of the annular workpiece 20 being inspected.

In one embodiment, step S14 is followed by step S20 of moving the annular workpiece 20 to the third inspection station 310 for inspection of the endoscope 320 when the image captured by the first inspection assembly 100 is not clear. Further inspection of the workpiece by the endoscope 320 can avoid the processor failing to determine whether the annular workpiece 20 is acceptable due to the unclear image captured by the first inspection assembly 100.

In one embodiment, the step of detecting by the endoscope 320 specifically includes:

S21, moving the annular workpiece 20 to a third detection station 310;

s22, the endoscope 320 shoots the whole structure of the annular workpiece 20;

S23, transmitting the shooting result of the endoscope 320 to a processor;

the processor analyzes whether the structure of the ring-shaped work piece 20 in the image photographed by the endoscope 320 is acceptable or not S24.

s31, moving the annular workpiece 20 to a second detection station 210;

S32, the scanning piece 230 scans the inner diameter of the annular workpiece 20;

S33, transmitting the scanning result of the scanning piece 230 to a processor;

S34, the processor analyzes the scanning result and judges whether the inner diameter of the annular workpiece 20 is qualified.

In the above embodiment, step S31 refers to the turntable 610 removing the annular workpiece 20 currently located at the second inspection station 210 and for which inspection is completed by the second inspection assembly 200. And moves the next annular workpiece 20 adjacent to the annular workpiece 20 in the moving direction of the turntable 610 to the second inspection station 210. It will be appreciated that the line sweep detection step is not sequential to the camera detection step, i.e., the line sweep detection step may precede or follow the camera detection step.

The step S32 is that the scanning member 230 moves along the second sliding rail 222 from the first linear scanning position 250 to the second linear scanning position 260 under the driving of the linear scanning driving member 221 to linearly scan the inner diameter of the annular workpiece 20. It will be appreciated that the scanning member 230 is also capable of detecting the inner diameter of the annular workpiece 20 when moving along the second slide rail 222 from the second linear scanning position 260 to the first linear scanning position 250 under the driving action of the linear scanning driving member 221.

In one embodiment, the annular workpiece 20 stops moving for 1-5 seconds at step S32, and the scanner 230 linearly scans the annular workpiece 20 at a uniform speed. When the inner diameter of the annular workpiece 20 is obtained by means of linear scanning, it is necessary to provide a relative movement between the second detecting assembly 200 and the annular workpiece 20. Because the movement of the annular workpiece 20 is driven by the turntable 610, the movement speed of the scanning member 230 can be better controlled by driving the scanning member 230 to move through the second adjusting device 220 relative to the movement of the annular workpiece 20 which keeps the scanning member 230 fixed, so that the scanning result is more accurate, and the detection accuracy is improved.

In various embodiments, a plurality of annular workpieces 20 are uniformly spaced on the turntable 610. The first inspection assembly 100, the second inspection assembly 200, and the third inspection assembly 300 are capable of inspecting different annular workpieces 20 located on the turntable 610 simultaneously. Specifically, the time for stopping the movement of the annular workpiece 20 may be specifically 2 seconds, and the first detecting assembly 100, the second detecting assembly 200, and the third detecting assembly 300 may be capable of simultaneously detecting the annular workpiece 20 within 2 seconds of stopping the annular workpiece 20.

It is understood that, in the steps S11, S21 and S31, the rotating disc 610 rotates at an angle with respect to the lower housing 400. And the time required for the above step S31 may be 1 second. The time for stopping the movement of the ring-shaped work pieces 20 in combination with the above may be specifically 2 seconds, that is, an average of 3 seconds is required for the detection of each ring-shaped work piece 20.

Specifically, the method further comprises a step S01 before the step S11, a step S02 before the step S21, and the steps S01 and S02 are preprocessing steps. Step S01 is to adjust the position and the shooting angle of each camera so that each camera can cover the outer shape of the annular workpiece 20. Step S02 does not adjust the distance of the endoscope 320 relative to the third inspection station 310 to accommodate different annular workpieces 20. It will be appreciated that the configuration of the annular workpiece 20 also includes the inner wall 21 of the annular workpiece 20 and the characters 22 on the inner wall 21.

The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.

The foregoing examples illustrate only a few embodiments of the invention, which are described in detail and are not to be construed as limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.

Claims

1. A profile detection apparatus for detecting a profile of an annular workpiece, the profile detection apparatus comprising:

The first detection assembly comprises a plurality of cameras, the cameras are used for acquiring an outline image of the annular workpiece when the annular workpiece is in a first detection station, the cameras are arranged around the first detection station at intervals, and the optical axis of at least one of the cameras faces to the inner wall of the annular workpiece;

The second detection assembly is used for detecting the inner diameter of the annular workpiece when the annular workpiece is at a second detection station, and comprises a second adjusting device and a scanning piece, wherein the second adjusting device is connected with the scanning piece and used for driving the scanning piece to move, and the scanning piece is used for scanning the inner diameter of the annular workpiece;

The third detection assembly is used for acquiring an appearance image of the annular workpiece when the annular workpiece is in a third detection station, and comprises an endoscope, an inner ring channel is formed by surrounding the inner wall of the annular workpiece, the extending direction of the optical axis of the endoscope is the same as the extending direction of the inner ring channel, and the optical axis of the endoscope passes through the rotation center of the inner ring channel, and

The annular workpiece can move between the first detection station and the second detection station along with the turntable, and the annular workpiece can also be moved to the third detection station.

2. The shape detection device of claim 1, further comprising a processor electrically coupled to the plurality of cameras for processing images acquired by the plurality of cameras.

3. The shape inspection apparatus of claim 2, further comprising an indicator light electrically connected to the processor, the indicator light displaying a pass signal when the annular workpiece inspection result is pass, and displaying a fail signal when the annular workpiece inspection result is fail.

4. The appearance inspection device of claim 1, wherein the first inspection assembly further comprises a carrier, a through hole is formed in the rotation center of the turntable, the carrier is arranged through the through hole, a space exists between the carrier and the wall of the through hole, and at least one camera is arranged on the carrier.

5. The outline detection apparatus according to claim 1, wherein the plurality of cameras includes a first camera whose optical axis extends in a direction parallel to the direction in which the inner race channel extends, and whose optical axis is collinear with a center line of revolution of the inner race channel.

6. The shape detection apparatus of claim 1, wherein the plurality of cameras comprises a second camera, a third camera, a fourth camera, and a fifth camera evenly spaced apart, each of the second camera, the third camera, the fourth camera, and the fifth camera being focused at the first detection station.

7. The form factor detection apparatus of claim 1, wherein the first detection assembly further comprises a first light source, the first light source facing the first detection station.

8. The appearance inspection device of claim 1, wherein the first inspection assembly further comprises a plurality of first adjustment structures, the number of first adjustment structures corresponding to the number of cameras, the plurality of cameras being disposed on the plurality of first adjustment structures in a one-to-one correspondence.

9. The form factor of claim 8, wherein the first adjustment structure comprises a first adjustment device, the first adjustment device comprises a first slide rail and a first slide table slidably engaged with the first slide rail, the camera is disposed on the first slide table, and the first slide table is capable of adjusting a distance between the camera and the first detection station when moving relative to the first slide rail.

10. The appearance inspection device of claim 9, wherein the first adjusting means further comprises a first adjusting handle and a first clamping piece, the first adjusting handle is connected with the first sliding table, the first sliding table can be controlled to slide relative to the first sliding rail through the first adjusting handle, the first clamping piece is arranged on the first sliding table, and the first clamping piece is used for fixing the first sliding table relative to the first sliding rail.

11. The profile inspection apparatus of claim 9, wherein the first adjustment structure further comprises a first control device, the first control device comprising a mounting plate, the camera being disposed on the mounting plate, the mounting plate being rotatably coupled to the first slide table, the mounting plate being rotatable relative to the first slide table to enable an optical axis of the camera to face the annular workpiece.

12. The appearance inspection device of claim 11, wherein the first control means further comprises a marker, one side of the marker is connected with the first sliding table, the other side of the marker is rotatably connected with the mounting plate, a first mark is provided on the marker, a second mark corresponding to the first mark is provided on the mounting plate, and the second mark cooperates with the first mark to determine the position of the mounting plate relative to the marker.

13. The appearance inspection device of claim 1, wherein the second adjusting means comprises a line sweep driving member, a second slide rail and a second slide table slidingly engaged with the second slide rail, the scanning member is connected with the second slide table, the scanning member comprises a line sweep first station and a line sweep second station, and the line sweep driving member is capable of driving the scanning member to move between the line sweep first station and the line sweep second station along with the second slide table relative to the second slide rail.

14. The profile detection apparatus of claim 13, wherein the direction of extension of the second slide rail is tangential to the turntable.

15. The contour detection apparatus as defined in claim 13, wherein said scan element at said first linear sweep station has a first projection on a plane in which said moving mechanism is located, and said scan element at said second linear sweep station has a second projection on a plane in which said moving mechanism is located, said first projection and said second projection being located on opposite sides of said second detection station, respectively.

16. The shape detection apparatus according to claim 1, wherein the third detection assembly further comprises a third adjustment device, the third adjustment device comprises a third slide rail and a third slide table slidingly engaged with the third slide rail, the endoscope is disposed on the third slide table, and a distance between the endoscope and the third detection station can be adjusted when the third slide table moves relative to the third slide rail.

17. The appearance inspection device of claim 16, wherein the third adjusting means comprises a second adjusting handle and a second clamping piece, the second adjusting handle is connected with the third sliding table, the third sliding table can be controlled to slide relative to the third sliding rail through the second adjusting handle, the second clamping piece is arranged on the third sliding table, and the second clamping piece is used for fixing the third sliding table relative to the third sliding rail.

18. The shape inspection apparatus of claim 1, wherein a distance between an end of the endoscope proximate the third inspection station and the annular workpiece when the annular workpiece is in the third inspection station is no more than 100mm.

19. The form factor detection apparatus of claim 1, wherein the third detection assembly further comprises a second light source, the second light source facing the third detection station.

20. The appearance detection device according to claim 1, wherein the moving mechanism is provided with a plurality of fixing jigs which are uniformly distributed at intervals, the fixing jigs are provided with accommodating grooves matched with the appearance of the annular workpiece, and the annular workpiece is arranged in the accommodating grooves.

21. The appearance detection device according to claim 1, further comprising a calibration device, wherein the moving mechanism further comprises a turntable driving piece, the turntable driving piece can drive the turntable, the calibration device is electrically connected with the turntable driving piece, and a reference piece matched with the calibration device is arranged on the turntable;

and if the annular workpiece does not reach the first detection station, the second detection station or the third detection station, the calibration device can send out a prompt.

22. A profile detection method for use in a profile detection apparatus according to any one of claims 1 to 21, to detect a profile of an annular workpiece, the profile detection method comprising a camera detection step comprising:

S11, moving the annular workpiece to a first detection station;

s13, transmitting the images shot by the cameras to a processor;

23. The method of claim 22, further comprising, after step S14, a step S20 of moving the annular workpiece to a third inspection station for endoscopic inspection when the image captured by the first inspection assembly is not clear.

24. The shape detection method of claim 23, wherein the step of endoscopically detecting comprises:

S21, moving the annular workpiece to a third detection station;

S23, transmitting the shooting result of the endoscope to a processor;

25. The contour detection method as defined in claim 22, further comprising a line sweep detection step:

s31, moving the annular workpiece to a second detection station;

s32, the scanning piece scans the inner diameter of the annular workpiece;

S33, transmitting a scanning result of the scanning piece to a processor;

26. The profile detection method as claimed in claim 25, wherein the movement of the endless work piece is stopped for 1-5 seconds at the time of the step S32, and the scanning member linearly scans the endless work piece at a constant speed.