CN114994057A

CN114994057A - Product appearance defect detection device

Info

Publication number: CN114994057A
Application number: CN202210641022.0A
Authority: CN
Inventors: 黄智成; 李睿宇; 吕江波; 沈小勇
Original assignee: Beijing Simou Intelligent Technology Co ltd; Shenzhen Smartmore Technology Co Ltd
Current assignee: Beijing Simou Intelligent Technology Co ltd; Shenzhen Smartmore Technology Co Ltd
Priority date: 2022-01-07
Filing date: 2022-06-07
Publication date: 2022-09-02
Also published as: CN114034712A; WO2023130703A1

Abstract

The present application relates to a product appearance defect detection device, comprising: a pick-up mechanism, a handover mechanism and a detection mechanism, the first pick-up part of the pick-up mechanism and the second pick-up part of the transfer mechanism can be handed over to the product to be tested, and the detection mechanism is used for the product to be tested. appearance is checked. The first pick-up member and the second pick-up member are configured to rotate about an axis parallel to the second direction, so that the detection mechanism detects at least two faces of the product to be detected in the circumferential direction perpendicular to the second direction. The first pickup and/or the second pickup are configured to rotate about an axis parallel to the third direction, so that the detection mechanism detects at least one face of the product to be inspected in the circumferential direction perpendicular to the third direction. The camera assembly of the detection mechanism is movable in the first direction. At least one of the camera assembly, the first pickup, and the second pickup is configured to move in the second direction or the third direction. The solution can improve the detection efficiency and detection accuracy of product appearance defects.

Description

Product appearance defect detection device

The present application claims priority of chinese patent application having application number 202210012048.9 and entitled "apparatus for detecting defects in product appearance" filed on 7/1/2022 by the chinese patent office, the entire contents of which are incorporated herein by reference.

Technical Field

The application relates to the technical field of automatic production, in particular to a product appearance defect detection device.

Background

With the development of science and technology, the requirements of people on living quality are continuously improved, the daily used products such as mobile phones, earphones, watches, toys, clamps, electronic accessories and the like are more and more in demand, in order to ensure the product quality in the production process, strict quality inspection operation is required to be carried out before the products are delivered, and comprehensive detection is carried out on the aspects of performance, appearance and the like. The appearance detection is an important content, and the quality of the product appearance affects the product quality to a certain extent and also affects the purchasing desire of consumers. Common appearance defects include scratches, crush damage, bruising, dimensional deviation, stains and the like, so that the detection requirements of manufacturers on products are more strict.

In the conventional technology, appearance detection is performed manually. However, the manual visual detection mode needs to occupy a large amount of labor force, so that time and labor are wasted, the detection efficiency is influenced, the operation fatigue is easily caused, the false detection and the missing detection are caused, and the detection precision is influenced. Therefore, the way of manually detecting the appearance defects has been difficult to meet the quality requirements.

Disclosure of Invention

Therefore, the defects in the prior art need to be overcome, and the device for detecting the appearance defects of the product can effectively improve the appearance detection efficiency of the product in the production process and the stability of the appearance defect detection process.

In a first aspect, an apparatus for detecting appearance defects of a product is provided, including:

the picking mechanism comprises a first picking piece, the first picking piece is used for picking a product to be detected to a detection area, and a first surface of the product to be detected is in contact with the first picking piece;

a transfer mechanism comprising a second picking member for picking up the product to be detected from the first picking member in the detection area, wherein a second surface of the product to be detected is in contact with the second picking member;

the detection mechanism is arranged at an interval with the delivery mechanism in the first direction and is used for detecting the appearance of the product to be detected; wherein,

the first picking member is configured to rotate about a first axis parallel to a second direction and the second picking member is configured to rotate about a third axis parallel to the second direction, so that the detection mechanism detects at least two faces of the product to be detected, which are located in a circumferential direction perpendicular to the second direction, the at least two faces including the first surface and the second surface, the second direction being perpendicular to the first direction;

the first picking member is configured to rotate about a second axis parallel to a third direction, and/or the second picking member is configured to rotate about a fourth axis parallel to the third direction, so that the detection mechanism detects at least one face of the product to be detected in a circumferential direction perpendicular to the third direction, the third direction being perpendicular to the first direction and perpendicular to the second direction;

the detection mechanism comprises a camera assembly configured to move along the first direction to approach or depart from the product to be detected;

at least one of the camera assembly, the first picking member and the second picking member is configured to move in the second direction to cause the inspection mechanism to inspect a localized area of a face of the product to be inspected facing the inspection mechanism;

at least one of the camera assembly, the first picking member and the second picking member is configured to move in the third direction such that the product to be detected is located within the detection area.

In the embodiment of the application, the product appearance defect detection device is a five-axis detection system, and can realize that the relative motion between the product to be detected and the camera assembly is to be detected, so that the camera assembly can detect and complete each surface of the product to be detected, and the appearance detection efficiency and the stability of the appearance defect detection process of the product in the production process can be effectively improved.

With reference to the first aspect, in one possible implementation manner, the camera assembly includes a fixed focus lens.

During imaging, the position of the product to be detected and the position of the camera assembly are relatively fixed, and clear imaging can be obtained only by moving the product to be detected and the camera assembly to respective preset positions.

With reference to the first aspect, in a possible implementation manner, the first direction is a width direction of the pickup mechanism, the second direction is a length direction of the pickup mechanism, and the third direction is a height direction of the pickup mechanism.

With reference to the first aspect, in a possible implementation manner, the detection mechanism is configured to detect the appearance of the product to be detected picked up by the second picking member after detecting the appearance of the product to be detected picked up by the first picking member.

In the embodiment of the application, can hand-over wait to detect the product between first piece of picking and the second piece of picking, detection mechanism carries out outward appearance to the surface when first piece of picking is detected the product and is detected, then carries out outward appearance to the surface when second piece of picking is detected the product and is detected to detect to make the angle that waits to detect the relative camera subassembly of product change, and then realize that detection mechanism detects the appearance defect of other angles of product and side, effectively improves detection efficiency and precision.

With reference to the first aspect, in a possible implementation manner, when the product to be detected is located in the detection area, the handover mechanism and the pickup mechanism are disposed opposite to each other in the third direction.

Handing-over mechanism and picking up the relative setting of mechanism in the third direction, can not carry out outward appearance to picking up the surface after the product that awaits measuring is picked up respectively to picking up mechanism and handing-over mechanism when changing the object side of camera subassembly. The overall scheme is regular in layout, and the detection efficiency is improved.

With reference to the first aspect, in a possible implementation manner, the first picking member is further configured to pause for a preset time at one or more first detection angles during the rotation around the first axis, so that the detection mechanism performs appearance detection on the product to be detected when the product to be detected is at the one or more first detection angles; and/or the second picking member is further configured to pause for a preset time at one or more second detection angles during the rotation around the third axis, so that the detection mechanism performs appearance detection on the products to be detected when the products to be detected are at the one or more second detection angles.

The first picking member is suspended at one or more first detection angles in the process of rotating around the first axis, and the second picking member is suspended at one or more second detection angles in the process of rotating around the third axis, so that the camera assembly can obtain clear images.

With reference to the first aspect, in one possible implementation manner, the one or more first detection angles include an angle when the second surface faces the detection mechanism; and/or the one or more second detection angles comprise an angle when the first surface is facing the detection mechanism.

When the first picking member picks up the first surface of the product to be detected, the second surface of the product to be detected can be detected, and when the second picking member picks up the second surface of the product to be detected, the first surface of the product to be detected can be detected, so that the condition that a certain surface of the product to be detected cannot be detected by the detection mechanism is avoided.

With reference to the first aspect, in a possible implementation manner, the first picking member is further configured to pause for a preset time at one or more third detection angles during the rotation around the second axis, so that the detection mechanism performs appearance detection on the to-be-detected product at the one or more third detection angles; and/or the second picking member is further configured to pause for a preset time at one or more fourth detection angles during the rotation around the fourth axis, so that the detection mechanism performs appearance detection on the products to be detected when the products to be detected are at the one or more fourth detection angles.

The first picking piece is suspended at one or more third detection angles in the process of rotating around the second axis, and the second picking piece is suspended at one or more fourth detection angles in the process of rotating around the fourth axis, so that the camera assembly can obtain clear images.

With reference to the first aspect, in a possible implementation manner, the picking mechanism further includes a picking seat, where the picking seat is connected to the first picking member, and the first axis passes through a center of the picking seat, or the first axis passes through a connection area between the first picking member and the picking seat; and/or

Handing-over mechanism still includes the handing-over seat, the handing-over seat with the second picks up the piece and is connected, the third axis passes through the center of handing-over seat, perhaps the third axis passes through the second picks up the piece with the connection region between the handing-over seat.

With reference to the first aspect, in a possible implementation manner, the first picking member is detachably connected to the picking seat; and/or the second picking member is detachably connected with the interface seat.

When first picking member or second picking member damage or trouble, can easily change first picking member or second picking member, avoid delaying production time, be favorable to improving work efficiency. Meanwhile, the appearance defect detection work of products with different specifications can be compatible by replacing the types of the first picking piece or the second picking piece, and the compatibility and the use quality of the product appearance defect detection device are favorably improved.

With reference to the first aspect, in a possible implementation manner, the detection mechanism further includes a detection seat, the detection seat is movably connected to the camera assembly, and the detection seat is configured to drive the camera assembly to move along the first direction.

With reference to the first aspect, in a possible implementation manner, when the camera assembly is configured to move along the second direction, the detection seat includes a first servo module and a second servo module, the camera assembly is in driving connection with the first servo module through the second servo module, and the first servo module and the second servo module respectively drive the camera assembly to move along the second direction and the first direction.

With reference to the first aspect, in one possible implementation manner, when the first picking member is configured to move in the second direction and configured to move in the third direction, the apparatus further includes:

the lifting mechanism is in driving connection with the picking mechanism and is used for driving the picking mechanism to move along the third direction;

the transverse moving mechanism is in driving connection with the lifting mechanism and is used for driving the lifting mechanism to move along the second direction so as to drive the picking mechanism to move along the second direction.

With reference to the first aspect, in a possible implementation manner, the apparatus further includes: the tray mechanism is used for placing the product to be detected; the lifting mechanism and the transverse moving mechanism are also used for driving the picking mechanism to pick the product to be detected from the tray mechanism and move the product to be detected to the detection area.

Elevating system and sideslip mechanism both can be used for driving first picking member and will wait to detect the product and remove to the detection area from tray mechanism at the product pick-up in-process, still are used for detecting the in-process at the product, change and wait to detect the detection angle of detecting the product.

With reference to the first aspect, in a possible implementation manner, the tray mechanism includes a tray and a displacement assembly, the tray is movably connected to the displacement assembly, and the displacement assembly is configured to drive the tray to move along the first direction.

In combination with the first aspect, in a possible implementation manner, the lifting mechanisms, the picking mechanisms and the tray mechanisms are at least two, the at least two lifting mechanisms are all in driving connection with the traversing mechanism, the at least two picking mechanisms are respectively in driving connection with the at least two lifting mechanisms one by one, the at least two tray mechanisms are respectively in one-to-one correspondence with the at least two picking mechanisms, and the at least two picking mechanisms sequentially pick up the product to be detected from the corresponding tray mechanisms through the corresponding lifting mechanisms.

So, can constitute at least two sets of independent production systems, through setting up crisscross production beat, detection mechanism can be in the detection state always, can guarantee that detection mechanism does not stop to the action time of balanced each station effectively improves production efficiency. Meanwhile, the space size can be saved, and the improvement of the structural compactness of the product appearance defect detection device is facilitated.

With reference to the first aspect, in a possible implementation manner, the number of the first picking members is at least two, and the at least two first picking members are arranged at intervals along the second direction; the second picking pieces are at least two, and at least two of the second picking pieces are arranged at intervals along the second direction.

More than two first picking pieces or more than two second picking pieces work simultaneously, and can carry out batch appearance defect detection on more than two products simultaneously, and then be favorable to improving production efficiency greatly.

With reference to the first aspect, in a possible implementation manner, the first surface intersects with the second surface, or the first surface and the second surface are disposed opposite to each other.

In a second aspect, an apparatus for detecting appearance defects of a product is provided, comprising: the tray mechanism is used for placing products; a pick mechanism spaced from the tray mechanism for picking and releasing products; the lifting mechanism is in driving connection with the picking mechanism and drives the picking mechanism to move along the height direction of the picking mechanism; the transverse moving mechanism is in driving connection with the lifting mechanism and drives the lifting mechanism to move along the length direction of the picking mechanism; and the detection mechanism is used for detecting the appearance of the product.

In the working process of the product appearance defect detection device, firstly, a product to be detected is put into the tray mechanism; then, the transverse moving mechanism and the lifting mechanism drive the picking mechanism to move, so that the picking mechanism picks up the product from the tray mechanism; after the product is picked up, the transverse moving mechanism and the lifting mechanism drive the picking mechanism to move to the detection mechanism, and the detection mechanism detects the appearance of the product; after the detection information is obtained, the transverse moving mechanism and the lifting mechanism drive the picking mechanism to move to the tray mechanism, and the detected product is discharged onto the tray mechanism. So product appearance defect detection device can realize artifical material loading or automatic feeding, then carries out automated inspection to the outward appearance of product, is favorable to improving product appearance defect's detection efficiency, reduces the false retrieval and the condition emergence of examining with lou, and then improves the stability of production.

In one embodiment, the tray mechanism comprises a tray and a displacement assembly, the tray is movably connected with the displacement assembly, and the displacement assembly drives the tray to move along the width direction of the picking mechanism.

In one embodiment, the number of the lifting mechanisms, the picking mechanism and the tray mechanism is at least two, the two lifting mechanisms are all in driving connection with the traversing mechanism, the two picking mechanisms are in driving connection with the two lifting mechanisms, the two tray mechanisms are respectively arranged in one-to-one correspondence with the two picking mechanisms, and the two tray mechanisms are respectively arranged at two opposite ends of the detection mechanism along the length direction of the picking mechanisms.

In one embodiment, the picking mechanism includes a picking shoe and a first picking member coupled to the picking shoe, the first picking member for picking and releasing products.

In one embodiment, the detection mechanism comprises a detection seat and a camera assembly, and the camera assembly is movably connected with the detection seat.

In one embodiment, the inspection socket includes a first servo module and a second servo module, the camera assembly is drivingly connected to the first servo module through the second servo module, and the first servo module and the second servo module respectively drive the camera assembly to move along the length direction and the width direction of the pick-up mechanism.

In one embodiment, the product appearance defect detection device further comprises a delivery mechanism, the delivery mechanism and the detection mechanism are arranged at intervals along the width direction of the picking mechanism, and the delivery mechanism is used for driving the product to rotate so as to change the detection angle of the detection mechanism to the product.

In one embodiment, the transfer mechanism includes a second picking member, a transfer seat and a rotary seat, the second picking member is disposed on the transfer seat, the second picking member is used for picking and releasing products, the transfer seat is rotatably connected with the rotary seat, and the transfer seat can be arranged on the rotary seat around a self axis Z ₁ And (4) rotating.

In one embodiment, the transfer mechanism further includes a servo lifting module, the servo lifting module is drivingly connected to the rotary base, and the servo lifting module drives the rotary base to move along the height direction of the pick-up mechanism.

In one embodiment, the number of the second picking members is two or more, and the two or more second picking members are arranged at intervals on the cross connecting seat.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application.

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

FIG. 1 is a schematic structural diagram of an apparatus for detecting defects in the appearance of a product according to an embodiment;

FIG. 2 is a schematic diagram of a tray mechanism according to an embodiment;

FIG. 3 is a schematic diagram of an exemplary embodiment of a combination of a traverse mechanism, a lift mechanism, and a pick-up mechanism;

FIG. 4 is a schematic diagram of an exemplary embodiment of a detection mechanism;

FIG. 5 is a schematic diagram of an exemplary embodiment of an interface mechanism;

FIG. 6 is a diagram illustrating the mounting and use of the second picking member, the cross seat, and the rotating seat in one embodiment;

fig. 7 is a schematic view of an overall appearance structure of the product appearance defect detection in an embodiment.

Description of the reference numerals:

100. a product appearance defect detection device; 110. a tray mechanism; 111. a tray; 112. a displacement assembly; 120. a pickup mechanism; 121. a pickup base; 122. a first picking member; 130. a lifting mechanism; 140. a traversing mechanism; 150. a detection mechanism; 151. a detection seat; 1511. a first servo module; 1512. a second servo module; 152. a camera assembly; 153. a light source; 160. a handover mechanism; 161. a second picking member; 162. a cross-connecting seat; 163. a rotating base; 164. a servo lifting module; 170. a protective cover; 171. a protective door; 180. a frame; 200. and (5) producing the product.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present application more comprehensible, embodiments accompanying the present application are described in detail below with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. This application is capable of embodiments in many different forms than those described herein and that modifications may be made by one skilled in the art without departing from the spirit and scope of the application and it is therefore not intended to be limited to the specific embodiments disclosed below.

In the description of the present application, it is to 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," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present application and for simplicity in description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the present application.

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

In this application, unless expressly stated or limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can include, for example, fixed connections, removable connections, or integral parts; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.

In this application, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through intervening media. Also, a first feature "on," "above," and "over" a second feature may be directly on or obliquely above the second feature, or simply mean that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

It will be understood that when an element is referred to as being "secured to" 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. As used herein, the terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like are for purposes of illustration only and do not denote a single embodiment.

Referring to fig. 1 to 7, fig. 1 is a schematic structural diagram illustrating a product appearance defect detecting apparatus 100 according to an embodiment of the present application; FIG. 2 illustrates a schematic structural diagram of the tray mechanism 110 according to an embodiment of the present application; fig. 3 is a schematic diagram illustrating a combination of the traverse mechanism 140, the lifting mechanism 130 and the pick-up mechanism 120 according to an embodiment of the present application; FIG. 4 is a schematic diagram illustrating the structure of the detecting mechanism 150 according to an embodiment of the present application; FIG. 5 illustrates a schematic diagram of the interface mechanism 160 according to an embodiment of the present application; fig. 6 shows a view of the second picking member 161, the interface 162 and the rotary base 163 according to an embodiment of the present application; fig. 7 is a schematic diagram illustrating an overall appearance structure of the product 200 according to an embodiment of the present application.

An embodiment of the present application provides a device 100 for detecting product appearance defects, including: a tray mechanism 110, a pick-up mechanism 120, a lifting mechanism 130, a traversing mechanism 140 and a detecting mechanism 150. The tray mechanism 110 is used for placing the product 200; the picking mechanism 120 is spaced apart from the tray mechanism 110, and the picking mechanism 120 is used for picking and releasing the products 200, and specifically, the picking mechanism 120 is used for picking the products 200 to be detected from the tray mechanism 110 for appearance detection and placing the detected products 200 on the tray mechanism 110. The lifting mechanism 130 is drivingly connected to the picking mechanism 120, and the lifting mechanism 130 can drive the picking mechanism 120 to move along the height direction (which may be referred to as the third direction in the embodiment of the present application) of the picking mechanism 120, for example, along the straight line S shown in fig. 1 ₁ Is moved in the direction of (1). The traverse mechanism 140 is drivingly connected to the lifting mechanism 130, and the traverse mechanism 140 can drive the lifting mechanism 130 to move along the length direction (which may be referred to as the second direction in the embodiment of the present application) of the pick-up mechanism 120, for example, along the straight line S shown in fig. 1 ₂ Is moved in the direction of (1). The inspection mechanism 150 is used to inspect the appearance of the product 200.

In the working process of the product appearance defect detection device 100, firstly, a product 200 to be detected is put into the tray mechanism 110; then, the traverse mechanism 140 and the lifting mechanism 130 drive the picking mechanism 120 to move, so that the picking mechanism 120 picks up the product 200 from the tray mechanism 110; after picking, the traversing mechanism 140 and the lifting mechanism 130 drive the picking mechanism 120 to move to the detection mechanism 150, and the detection mechanism 150 detects the appearance of the product 200; after the detection information is obtained, the traverse mechanism 140 and the lifting mechanism 130 drive the pickup mechanism 120 to move to the tray mechanism 110, and the detected product 200 is discharged onto the tray mechanism 110. Product appearance defect detection device 100 like this can realize artifical material loading or automatic feeding, then carries out automated inspection to product 200's outward appearance, is favorable to improving product 200 appearance defect's detection efficiency, reduces the false retrieval and the emergence of the condition of examining that misses, improves and detects the precision, and then improves the stability of production.

To further understand and explain the height direction and the length direction of the picking mechanism 120, taking fig. 1 as an example, the height direction of the picking mechanism 120 is the straight line S in fig. 1 ₁ The direction of any arrow above, the longitudinal direction of the pick-up mechanism 120 is the straight line S in FIG. 1 ₂ In the direction indicated by any of the above arrows. The lifting mechanism 130 drives the pick-up mechanism 120 to follow the straight line S ₁ When moving in the direction of the up arrow, the picking mechanism 120 may be moved closer to or away from the tray mechanism 110 to pick up or release the product 200. The traversing mechanism 140 drives the picking mechanism 120 to move along the straight line S ₂ When moving in the direction indicated by the up arrow, the picking mechanism 120 can be moved closer to or away from the detection mechanism 150, so as to move the product to be detected to the detection mechanism 150 for detection, and move the detected product away from the detection area of the detection mechanism 150. In the embodiment of the present application, the traverse mechanism 140 drives the pick-up mechanism 120 to move along the straight line S ₂ While moving in the direction indicated by the upward arrow, the lifting mechanism 130 can drive the picking mechanism 120 to move along the straight line S ₁ In the direction indicated by the upper arrow.

The product 200 may be a complete machine or a part for detecting appearance quality in the industry of furniture, toys, electronic products, automobiles, hardware and the like. Illustratively, the product 200 may be an accessory of an electronic product, such as a mobile phone case, a mobile phone middle frame, a watch case, a battery, a bluetooth headset case, a power adapter, a screen glass, and the like. It is understood that the specifications of the tray mechanism 110 for placing the products 200, the picking mechanism 120 for picking up the products 200, the lifting mechanism 130 and the traversing mechanism 140 for moving the products, the detecting mechanism 150 for detecting the appearance of the products 200, and the like may be designed accordingly to match the specifications of the products 200, depending on the specifications of the products 200. For example, when the specification of the product 200 is small, the size of each mechanism may be designed to be small, so that the entire product appearance defect detecting apparatus 100 occupies a small area and is suitable for various working occasions. Alternatively, when the product 200 has a large specification, the sizes of the above mechanisms may be actually larger, so that the apparatus 100 for detecting appearance defects of a product may be applied to appearance detection of various large components, and has a high degree of automation.

In one embodiment, referring to fig. 1 and 2, the tray mechanism 110 may include a tray 111 and a displacement assembly 112. The tray 111 is movably connected to the displacement assembly 112, and the displacement assembly 112 can drive the tray 111 to move along the width direction (which may be referred to as the first direction in the embodiment of the present application) of the picking mechanism 120, for example, along the straight line S shown in fig. 1 ₃ Is moved in the direction of (1). Thus, the displacement assembly 112, the lifting mechanism 130 and the transverse moving mechanism 140 are matched, so that three-axis displacement motion of the picking mechanism 120 relative to the product 200 in the tray mechanism 110 can be realized, the picking convenience of the picking mechanism 120 for the product 200 is favorably improved, and the accommodating capacity and the working efficiency of the tray mechanism 110 are favorably improved. Taking fig. 1 as an example, for the product 200, the product 200 can be driven to be in the straight line S by the cooperation of the displacement assembly 112, the lifting mechanism 130 and the traversing mechanism 140 ₃ In the direction of a straight line S ₁ And in the direction of the straight line S ₂ Is moved in the direction of (1).

In order to further understand and explain the width direction of the picking mechanism 120, taking fig. 1 as an example, the width direction of the picking mechanism 120 is a straight line S in fig. 1 ₃ In the direction indicated by any of the above arrows.

Alternatively, the displacement assembly 112 may be a pneumatic cylinder, a motor drive module, a hydraulic drive module, or other displacement device.

By way of example and not limitation, referring to fig. 1 and 2, the displacement assembly 112 may be a servo module, for example, a servo motor is used to change the position output of the tray 111 according to any change of the input amount (or the given value). Therefore, the electric drive mode has the advantages of convenient use, strong working reliability, high speed, high running precision, convenient replacement and contribution to liftingThe convenience of maintenance of the high-displacement assembly 112 while ensuring the advantage of tact. It should be noted that this embodiment only provides a specific implementation manner of the displacement assembly 112, but the application is not limited thereto, and other displacement assemblies 112 capable of making the tray 111 along the straight line S may also be adopted ₃ The drive means for the directional movement of (a) will not be described in detail here.

In one embodiment, referring to fig. 1 and 3, at least two of the lifting mechanism 130, the picking mechanism 120 and the tray mechanism 110 are provided. For example, referring to fig. 1, the lifting mechanism 130, the picking mechanism 120 and the tray mechanism 110 are two. The two lifting mechanisms 130 are both in driving connection with the traversing mechanism 140, the two picking mechanisms 120 are respectively in driving connection with the two lifting mechanisms 130, the two tray mechanisms 110 are respectively arranged in one-to-one correspondence with the two picking mechanisms 120, and the two tray mechanisms 110 are arranged along the length direction of the picking mechanisms 120 (as shown by a straight line S in the figure) ₂ In the direction of (d) are disposed at opposite ends of the detection mechanism 150, respectively.

For convenience of description, the following embodiment refers to the pickup mechanism 120 on the left side of the detection mechanism 150 shown in fig. 1 as a first pickup mechanism, and the pickup mechanism 120 on the right side of the detection mechanism 150 as a second pickup mechanism. The lift mechanism 130 drivingly connected to the first pickup mechanism 120 is referred to as a first lift mechanism, and the lift mechanism 130 connected to the second pickup mechanism is referred to as a second lift mechanism. Accordingly, the tray mechanism provided corresponding to the first pickup mechanism 120 is referred to as a first tray mechanism, and the tray mechanism provided corresponding to the second pickup mechanism is referred to as a second tray mechanism.

In this way, two groups of independent production systems can be formed, wherein one group of production systems comprises a first lifting mechanism, a first picking mechanism and a first tray mechanism, and for convenience of description, the first production system is hereinafter referred to as the first production system; another set of production systems includes a second lifting mechanism, a second picking mechanism, and a second tray mechanism, hereinafter referred to as a second production system for convenience of description. By setting a staggered production cycle, when the first picking mechanism 120 (i.e. the picking mechanism 120 on the left of the detection mechanism 150) picks and places the product 200, the detection mechanism 150 can detect the product 200 that has been picked by the second picking mechanism (i.e. the picking mechanism 120 on the right of the detection mechanism 150). After the detection is finished, the second picking mechanism moves the detected product 200 out of the detection area of the detection mechanism 150, and the first picking mechanism can be switched to pick the finished product 200 to enter the detection. Referring to fig. 1, for example, when the first picking mechanism is located in the detection area of the detection mechanism 150, the second picking mechanism may be located in the picking area of the second tray mechanism, and after the detection mechanism 150 detects the product 200 picked by the first picking mechanism, the traversing mechanism 140 may drive the first picking mechanism and the second picking mechanism to move simultaneously in the direction of the first tray mechanism, so that the first picking mechanism is located in the picking area of the first tray mechanism, and the second picking mechanism is located in the detection area of the detection mechanism 150. That is, the traverse mechanism 140 may drive the first pickup mechanism and the second pickup mechanism to move in the same direction, thereby reciprocating the first pickup mechanism between the detection area of the detection mechanism 150 and the pickup area of the first tray mechanism, and reciprocating the second pickup mechanism between the detection area of the detection mechanism 150 and the pickup area of the second tray mechanism.

The left and right groups of systems are in reciprocating and alternate circulation, the detection mechanism 150 is always in a detection state, and the detection mechanism 150 can be guaranteed not to stop, so that the action time of each station is balanced, and the production efficiency is effectively improved. Meanwhile, the space size can be saved, and the structural compactness of the product appearance defect detection device 100 can be improved.

In one embodiment, referring to fig. 1 and 3, the picking mechanism 120 may include a picking seat 121 and a first picking member 122. A first picking member 122 is coupled to the picking seat 121, the first picking member 122 being used to pick up and release the product 200.

In some embodiments, the first picking member 122 is removably coupled to the picking shoe 121. So, when first pick up 122 damage or trouble, can easily change first pick up 122, avoid delaying production time, be favorable to improving work efficiency, simultaneously, through the kind of changing first pick up 122, can be compatible different specification products 200's appearance defect detection work, be favorable to improving product appearance defect detection device 100's compatibility and use quality.

Further, referring to fig. 1 and 3, the picking base 121 is rotatably connected to the lifting mechanism 130, that is, the picking base 121 is rotatable relative to the lifting mechanism 130. Thus, when the detecting mechanism 150 detects the product 200 on the first picking member 122, the rotation of the picking seat 121 can drive the first picking member 122 to rotate, so that the range of the detection angle can be increased, and the work efficiency and the detection effect of the detecting mechanism 150 can be further improved.

In the embodiment of the present application, the pick-up seat 121 can be wound around a line parallel to the straight line S ₂ For convenience of description, the following embodiments refer to this axis as the first axis, denoted by D ₁ And (4) showing. In some embodiments, as shown in FIG. 3, the first axis D ₁ Through the center of the pick-up seat 121, that is, the pick-up seat 121 can pass through the center thereof and be parallel to S ₂ The axis of direction is rotated. When the pick-up seat 121 is around the first axis D ₁ Where the angle of rotation is small, e.g., less than 90 °, one or more angles at which the detection mechanism 150 detects that the product 200 is facing the surface of the detection mechanism 150 (e.g., the third surface of the product 200) may be used. When the pick-up seat 121 is around the first axis D ₁ When the rotation angle is large, for example, the rotation angle exceeds 90 °, the detection mechanisms 150 can respectively detect that the rotation angle is around the first axis D ₁ At least one face of the plurality of faces that intersect and are continuous with each other in the circumferential direction from the third face.

In some embodiments, the pick up nest 121 is about the first axis D ₁ The angular range of rotation can be determined by the detection mechanism 150 around the first axis D at the pick-up seat 121 ₁ And determining the detection range during rotation. By way of example and not limitation, if the product 200 is a rectangular parallelepiped or a cube, and the pick holder 121 is in the initial position, the third surface of the product 200 faces the detection mechanism 150, and the pick holder 121 can be rotated around the first axis D in this state ₁ The angle of rotation is set to 0. Around the first axis D at the pick-up seat 121 ₁ During the rotation process, the detecting mechanism 150 needs to detect the third surface of the product and the position around the first axis D ₁ In the circumferential direction of rotation and thirdA second surface connected with the first surface, the pick-up seat 121 is around the first axis D ₁ The angle of rotation may range from 0 to 90 deg., when the pick up nest 121 is about the first axis D ₁ When the rotation angle is 90 °, the second surface of the product 200 faces the detecting mechanism 150.

In some embodiments, the pick up seat 121 is positioned around the first axis D ₁ During the rotation, the rotation may be paused for a preset time at one or more first detection angles, so that the detection mechanism 150 can perform appearance detection on the product 200 at the one or more first detection angles. For example, and again taking product 200 as a cuboid or cube, pickup seat 121 is positioned around first axis D ₁ The rotation process may be kept stationary for a predetermined time when the rotation angle is 90 ° so that the detection mechanism 150 can detect the second surface of the product 200.

It should be noted that the above is only a specific example provided for the present application, and when the specifications, shapes, and the like of the products 200 are different, the detection mechanism 150 is arranged around the first axis D when the picking seat 121 is arranged around the first axis D ₁ The detection range during rotation is different, and accordingly, the pickup base 121 is rotated about the first axis D ₁ The angular range of rotation is different. In practical application, the pick-up seat 121 is around the first axis D ₁ The angle range of rotation can be determined according to actual requirements, and this is not specifically limited in the embodiment of the present application.

It can be understood that, in the embodiment of the present application, since the first picking member 122 is connected with the picking seat 121, the picking seat 121 is around the first axis D ₁ While rotating, the first picking member 122 is also rotating about the first axis D ₁ And (4) rotating. Therefore, the pickup seat 121 is around the first axis D ₁ The description of rotation may also be replaced with the first picking member 122 about the first axis D ₁ And (4) rotating.

Alternatively, as shown in fig. 1 and 3, the first picking member 122 may also be rotatably connected to the picking seat 121. In this way, when the detecting mechanism 150 detects the product 200 on the first picking member 122, the rotation of the first picking member 122 can increase the detecting angle and the detecting position, thereby further improving the detecting effect of the product 200.

In the embodiment of the present application, the firstThe picking member 122 may be wound parallel to the line S ₁ Will be referred to as the second axis for convenience of description in the following embodiments, and will be referred to as D ₂ And (4) showing. In some embodiments, the second axis D ₂ Passing through the center of the first picking member 122, i.e., the first picking member 122 can pass around its center and be parallel to S ₁ The axis of direction is rotated. Then, if the first picking member 122 contacts the first surface of the product 200, the first picking member 122 rotates around the second axis D ₂ When the rotation angle is small, for example, the rotation angle is less than 90 °, one or more angles at which the detection mechanism 150 detects that the product 200 faces the surface (i.e., the third surface) of the detection mechanism 150 may be detected. When the first picking member 122 rotates around the second axis D ₂ When the rotation angle is large, for example, the rotation angle exceeds 90 °, the detection mechanisms 150 can respectively detect the rotation around the second axis D ₂ At least one of a plurality of surfaces that intersect and are continuous with each other in the circumferential direction from the third surface, in other words, the detecting mechanism 150 can detect at least one of a plurality of surfaces that surround the first surface.

In some embodiments, the first picking member 122 is about the second axis D ₂ The angular range of rotation can be based on the sensing mechanism 150 rotating the first picking member 122 about the second axis D ₂ And determining the detection range during rotation. By way of example and not limitation, if the product 200 is a cuboid or a cube, the third surface of the product 200 faces the detection mechanism 150 when the first picking member 122 is at the initial position, and the first picking member 122 can be rotated around the second axis D in this state ₂ The angle of rotation is set to 0 °. About a second axis D in the first picking member 122 ₂ During the rotation, the detecting mechanism 150 needs to detect the third surface of the product and around the second axis D ₂ At least one surface that is circumferentially connected to the third surface, the first picking member 122 rotates about the second axis D ₂ The angle of rotation may range from 0 to 360 °. Wherein when the first picking member 122 rotates around the second axis D ₂ When the rotation angle is 90 °, the fourth surface of the product 200 connected to the third surface faces the detection mechanism 150; when the first picking member 122 rotates around the second axis D ₂ RotatingAt an angle of 180 °, the fifth surface of the product 200, which is connected to the fourth surface, faces the detection mechanism 150; the first picking member 122 rotates about the second axis D ₂ When the rotation angle is 270 °, the sixth surface of the product 200 connected to the fifth surface faces the detection mechanism 150; the first picking member 122 rotates about the second axis D ₂ When the rotation angle is 360 °, the third surface of the product 200 faces the detection mechanism 150 again.

That is, in the embodiment of the present application, for convenience of description, for the product 200 in a rectangular parallelepiped or square shape, a face of the first picking member 122 facing the detection mechanism in the initial state may be defined as a third surface. Will be around the second axis D ₂ In the circumferential direction of rotation, the surfaces directly or indirectly connected to the third surface are defined as a fourth surface, a fifth surface and a sixth surface in this order, wherein the third surface is disposed opposite to the fifth surface, and the fourth surface is disposed opposite to the sixth surface. The face that contacts the first picking member 122 is defined as a first surface and the face opposite the first surface is defined as a second surface.

In some embodiments, the first picking member 122 may be about the second axis D ₂ Rotating in the same direction, e.g., the first picking member 122 may rotate about the second axis D ₂ Clockwise, or counterclockwise about the second axis. Accordingly, the first picking member 122 is rotated about the second axis D ₂ In the rotation process, the third surface, the fourth surface, the fifth surface and the sixth surface sequentially face the detection mechanism 150, or the third surface, the sixth surface, the fifth surface and the fourth surface sequentially face the detection mechanism 150. If the angle of the first picking member 122 is set to 0 ° when the third surface of the product 200 is opposite to the detecting mechanism 150, the first picking member 122 rotates around the second axis D ₂ The range of the rotation angle can be [0, a ]]Where a is greater than 0 ° and less than or equal to 360 °, for example a can be 30 °, 60 °, 90 °, 120 °, 150 °, 180 °, 210 °, 240 °, 270 °, 300 °, 330 °, 360 °, and the like.

In some embodiments, the first picking member 122 may be about the second axis D ₂ Rotating in two opposite directions, e.g., the first picking member 122 may rotate about the second axis D ₂ Rotate clockwise, and also rotate around the secondAxis D ₂ Rotating counterclockwise. For example, when the first picking member 122 is around the second axis D ₂ When rotating clockwise, the sixth surface faces the detecting mechanism 150 after the third surface, and when the first picking member 122 rotates around the second axis D ₂ The fourth surface faces the detection mechanism 150 after the third surface when rotating counterclockwise. If the angle of the first picking member 122 is set to 0 ° when the third surface of the product 200 is opposite to the detecting mechanism 150, the first picking member 122 rotates around the second axis D ₂ The angle of rotation may range from [ -b, c [ ]]Wherein b is 0 ° or more and 180 ° or less, c is 0 ° or more and 180 ° or less, and b and c are not 0 ° at the same time. For example, b or c may be 30 °, 60 °, 90 °, 120 °, 150 °, 180 °, etc.

It should be noted that the reference to "clockwise" and "counterclockwise" in the above embodiments is defined according to the direction from the side of the product 200 away from the first picking member 122 to the side of the product 200 picked by the first picking member 122. The product 200 is a cuboid or a cube, and the direction is from the second surface to the direction pointing to the first surface.

In some embodiments, the first picking member 122 is about the second axis D ₂ During the rotation, the rotation may be paused for a preset time at one or more third detection angles, so that the detection mechanism 150 can perform appearance detection on the product 200 at the one or more third detection angles. For example, still with the product 200 as a cuboid or cube and the first picking member 122 around the second axis D ₂ For example, rotating in the same direction, the first picking member 122 rotates around the second axis D ₂ The rotation process may be kept still for a preset time when the rotation angles are 0 °, 90 °, 180 °, and 270 °, respectively, so that the detection mechanism 150 may detect the third surface, the fourth surface, the fifth surface, and the sixth surface of the product 200, respectively.

It should be noted that the above is only a specific example provided for the present application, and when the specifications, shapes, etc. of the products 200 are different, the detection mechanism 150 is configured to detect when the first picking member 122 rotates around the second axis D ₂ The detection range during rotation is different, and accordingly, the first picking member 122 rotates around the second axis D ₂ The angular range of rotation is different. In practice shouldIn use, the first picking member 122 is rotated about the second axis D ₂ The angle range of rotation can be determined according to actual requirements, and this is not specifically limited in the embodiment of the present application.

In the embodiment described above, the first axis D is defined by the pick-up seat 121 ₁ And the first picking member 122 rotates about the second axis D ₂ Can drive the product 200 around the first axis D ₁ Rotated and wound about a second axis D ₂ Rotation facilitates visual inspection of one or more sides of the product 200 by the inspection mechanism 150.

In other embodiments, the pick-up seat 121 may be fixed relative to the lifting mechanism 130, and the first pick-up member 122 may be around the parallel line S relative to the pick-up seat 121 ₂ First axis D of ₁ Rotate and can rotate around a direction parallel to S ₁ Second axis D ₂ And (4) rotating. For example, the first picking member 122 is connected to the picking base 121 by a universal joint (e.g., a ball-and-socket type universal joint), which can also drive the product 200 about the first axis D ₁ Rotated and wound about a second axis D ₂ Rotation facilitates visual inspection of one or more sides of the product 200 by the inspection mechanism 150.

In some embodiments, as shown in fig. 1-3, the first picking member 122 can be wound parallel to the line S ₂ For convenience of description, the following embodiments refer to this axis as the fifth axis, as shown in fig. 3, at D ₃ And (4) showing. In some embodiments, the fifth axis D ₃ Passing through the connection area between the first picking member 122 and the picking seat 121, that is, the first picking member 122 can also pass around the connection area between the first picking member 122 and the picking seat 121 and be parallel to S ₂ Is rotated. Then, if the first picking member 122 contacts the first surface of the product 200, the first picking member 122 rotates about the fifth axis D ₃ When the rotation angle is small, for example, the rotation angle is less than 90 °, one or more angles at which the detection mechanism 150 detects that the product 200 faces the surface (i.e., the third surface) of the detection mechanism 150 may be detected. When the first picking member 122 is around the fifth axis D ₃ At large angles of rotation, e.g. angles of rotation in excess of 90 °The detecting mechanism 150 can detect that the rotation is around the fifth axis D ₃ At least one face of the plurality of faces that intersect and are continuous with each other in the circumferential direction from the third face.

In the embodiment of the present application, the first picking member 122 rotates around the fifth axis D ₃ The rotation process and the pick-up seat 121 rotate around the first axis D ₁ The process of rotation is similar and therefore about the fifth axis D with respect to the first picking member 122 ₃ Angular range of rotation, first picking member 122 about fifth axis D ₃ Stationary at one or more fixed angles for a predetermined time while rotating, etc., as described above with reference to pickup base 121 about first axis D ₁ The description of the rotation is not repeated herein for brevity.

Optionally, in some embodiments, the pick up nest 121 may be about the first axis D ₁ Rotated, and/or the first picking member 122 may be rotated about a fifth axis D ₃ And (4) rotating.

It will be appreciated that the pick up seat 121 is about the first axis D ₁ Rotation, which may be replaced by the first picking member 122 about the first axis D ₁ And (4) rotating. First axis D ₁ And a fifth axis D ₃ Are parallel to each other and are all parallel to the straight line S ₂ . Therefore, in the embodiment of the present application, the fifth axis D ₃ Can be considered as a first axis D ₁ An example of (1). That is, the first axis D ₁ The picking member may pass through the center of the picking seat 121, or may pass through a connection region between the first picking member 122 and the picking seat 121, which is not limited in the embodiment of the present application.

Alternatively, the first picking member 122 may pick up the product 200 by suction, clamping, holding, magnetic attraction, or other picking methods.

In some embodiments, referring to fig. 1 and 3, the first picking member 122 may be a vacuum chuck. The gas pumping and discharging through the vacuum sucker can achieve the effects of picking up and releasing the product 200, the mode is favorable for avoiding secondary damage to the product 200, the yield is improved, and meanwhile, the vacuum sucker is simple to operate, low in cost and favorable for improving economic benefits. The present embodiment provides only one specific implementation of the first picking member 122, but is not limited thereto.

Further, in some embodiments, referring to fig. 1 and 3, the number of the first picking members 122 is more than two. Two or more first picking members 122 are spaced apart from each other on the picking base 121. Illustratively, the two or more first picking members 122 are positioned along a straight line S on the picking seat 121 ₂ The directions pointed by the fingers are arranged at intervals. Thus, the two or more first picking members 122 can simultaneously work to perform batch appearance defect detection on the two or more products 200, thereby being beneficial to greatly improving the production efficiency.

The two or more first picking members 122 may pick and release the products 200 in batches at the same time, or may work independently, wherein one or more of the first picking members take and place the products 200. For example, taking the example of fig. 3 showing that four first picking members 122 are arranged on the picking seat 121 at intervals, the four first picking members 122 can work simultaneously, and each first picking member 122 picks or releases one product 200. Alternatively, after the products 200 picked up by some of the four first picking members 122 are inspected, another part of the four first picking members 122 picks up the products 200 for appearance inspection. It is to be understood that the workflow of the two or more first picking members 122 in the above example is merely an exemplary illustration, and the present application is not limited thereto.

Alternatively, the appearance defect of the product 200 may be detected by the detecting mechanism 150 through visual inspection, ultrasonic non-destructive inspection, eddy current inspection, radiation inspection or other inspection methods.

In one embodiment, referring to fig. 1 and 4, the inspection mechanism 150 may include an inspection base 151 and a camera assembly 152, the inspection base 151 is used for supporting the camera assembly 152, the camera assembly 152 is used for taking a picture of the product 200 to be inspected, and an image obtained by the camera assembly 152 may be used for inspecting the appearance of the product 200. So, through the mode of camera formation of image, be favorable to realizing that machine vision contains the automated inspection of crackle, collapse limit, deformation, scratch, stain, burr, pock to product 200 outward appearance, and can also be favorable to improving the discernment and the detection efficiency of defect through artifical intelligent visual detection mode.

In the embodiment of the application, the standard image training model is used, so that the detection mechanism 150 can meet the detection of the quick appearance defects of different products 200, the image is cancelled, the automatic training can be realized, the accurate training function is achieved, the debugging time of an engineer is shortened, and the use quality of the detection mechanism 150 is improved.

In one embodiment, as shown with reference to FIG. 4, the camera assembly 152 is movably coupled to the test stand 151.

In some embodiments, camera assembly 152 may be movable relative to inspection station 151 in a width direction of picking mechanism 120, such as along line S shown in FIG. 4 ₃ Is moved in the direction of (1). That is, the camera assembly 150 may be located away from or near the product 200 being inspected. In this way, the distance between the camera assembly 152 and the inspected product 200 can be adjusted, so that the camera assembly 152 obtains a clear image, which is beneficial to subsequent appearance defect analysis.

Optionally, the camera assembly 152 may also move along the length of the picking mechanism 120 relative to the detection base 151, for example, along the line S shown in FIG. 4 ₂ Is moved in the direction of (1). I.e., the camera assembly 152 may move left and right relative to the product 200. Taking the third surface of the product 200 facing the detection mechanism 150 as an example, the camera assembly 152 may be along a straight line S in a plane parallel to the third surface ₂ Is moved in the direction of (1). Thus, if the camera assembly 152 only shoots a local area of a surface of the product 200 to be inspected, which is opposite to the inspection mechanism 150, at a time, the camera assembly 152 is controlled to follow the straight line S ₂ May cause the camera assembly 152 to sequentially capture a plurality of local regions of the surface to obtain a plurality of appearance images corresponding to the surface, wherein each appearance image of the plurality of appearance images corresponds to a local region of the surface.

In some embodiments, referring to fig. 1 and 4, at least two camera elements 152 are provided. The at least two camera assemblies 152 are spaced apart on the test bed 151. Illustratively, the at least two camera assemblies 152 are positioned along a line S on the inspection station 151 ₂ The directions pointed by the fingers are arranged at intervals. As such, the at least two camera assemblies 152 may operate simultaneously, thereby enabling batch appearance defects for more than two products 200 simultaneouslyAnd the sink detection is further favorable for greatly improving the production efficiency.

In some embodiments, the number of camera assemblies 152 matches the number of first picking members 122, e.g., the number of camera assemblies 152 equals the number of first picking members 122 included in one production system. In this way, each camera assembly 152 can shoot and image the corresponding product 200, and the plurality of camera assemblies 152 simultaneously perform appearance detection on the products 200 (i.e., the plurality of products 200) picked up by the plurality of first picking-up members 122, so that the detection efficiency is greatly improved.

In some embodiments, the focal length of the camera assembly 152 is a fixed value. For example, the camera assembly 152 includes a fixed focus lens. Therefore, when imaging, the position of the product 200 to be detected and the position of the camera assembly 152 are relatively fixed, and clear imaging can be obtained only by moving the product 200 to be detected and the camera assembly 152 to respective preset positions.

In some embodiments, the focal length of the camera assembly 152 may vary. For example, the camera assembly 152 includes a zoom lens. In this way, when imaging, clear imaging can be obtained by adjusting the distance between the product 200 to be detected and the camera assembly 152.

In one embodiment, referring to fig. 1 and 4, the testing stand 151 may include a first servo module 1511 and a second servo module 1512. The camera assembly 152 is drivingly connected to the first servo module 1511 through the second servo module 1512, and the first servo module 1511 and the second servo module 1512 respectively drive the camera assembly 152 to move along the length direction and the width direction of the pickup mechanism 120, that is, drive the camera assembly 152 to move along the straight line S shown in fig. 4 ₂ And along the line S shown in fig. 4 ₃ Is moved in the direction of (1). So, under the drive of first servo module 1511 and second servo module 1512, camera subassembly 152 can remove and the back-and-forth movement about the product 200 that is detected relatively, and then can realize adjusting the detection angle of product 200, is favorable to improving visual detection effect and precision.

In other embodiments, the first servo module 1511 and the second servo module 1512 in the test seat 151 can be replaced by other hydraulic driving devices and pneumatic devices to achieve the in-plane displacement of the camera assembly 152.

Briefly, in the above embodiment, the camera assembly 152 is controlled to follow the straight line S shown in fig. 4 ₂ To effect side-to-side movement of the camera assembly 152 relative to the inspected product 200.

Alternatively, in some other embodiments, the picking mechanism 120 may be controlled to follow the straight line S shown in fig. 4 ₂ The detected product 200 moves left and right relative to the camera assembly 152, and the detection angle of the product 200 can be adjusted.

Specifically, after the picking mechanism 120 moves the product 200 to be detected to the opposite side of the detecting mechanism 150 by the driving of the lifting mechanism 130 and the traversing mechanism 140, that is, after the picking process of the product 200 is completed, in the process of detecting the appearance of the product 200, the picking mechanism 120 can drive the product 200 to be detected to move along the length direction of the picking mechanism 120, for example, along the straight line S shown in fig. 4 ₂ Is moved in the direction of (1). That is, the product 200 may move left and right relative to the camera assembly 152 during the inspection process. Thus, if the camera assembly 152 only shoots a local area of a surface of the product 200 to be inspected, which is opposite to the inspection mechanism 150, at a time, the picking mechanism 120 (i.e. the product 200) is controlled to follow the straight line S ₂ The camera assembly 152 may be caused to sequentially capture a plurality of local regions of the surface to obtain a plurality of appearance images corresponding to the surface, wherein each appearance image of the plurality of appearance images corresponds to a local region of the surface.

In some embodiments, referring to fig. 1 and 4, the detecting mechanism 150 further includes a light source 153, and the light source 153 and the camera assembly 152 are disposed at an interval. Thus, the light supplement through the light source 153 is beneficial to improving the imaging quality of the camera, and further improves the detection quality and the overall detection efficiency of different products 200.

Optionally, the light source 153 may be a linear light source, an annular light source, a four-sided light source, an original top light source, a surface light source, a point light source, or other light supplement devices, which is not limited in this embodiment.

By way of example and not limitation, referring to fig. 1 and 4, the light source 153 may include a coaxial light source and a strip light source. Thus, according to the detection requirements of different products 200, the detection capability can be satisfied by finely adjusting the parameters such as the angle, the light intensity and the color temperature of the light source 153, and meanwhile, the compatibility of the detection mechanism 150 and the detection effect on the appearance defects of the products 200 are favorably improved.

In some embodiments, the number of light sources 153 matches the number of camera assemblies 152, e.g., the number of light sources 153 equals the number of camera assemblies 152. In this manner, each camera assembly 152 corresponds to a separate light source 153, which facilitates the individual operation of each camera assembly 152, thereby accommodating the combined allocation of multiple camera assemblies 152 during the inspection process.

In one embodiment, referring to fig. 1, 5 and 6, the product appearance defect detecting apparatus 100 may further include a handover mechanism 160. The delivering mechanism 160 and the detecting mechanism 150 are disposed at intervals along the width direction of the picking mechanism 120, and the delivering mechanism 160 is used for driving the product 200 to rotate so as to change the detecting angle of the detecting mechanism 150 to the product 200. So, detection mechanism 150 detects the back of accomplishing to the product 200 on the pick-up mechanism 120, and handing-over mechanism 160 picks up down product 200 from pick-up mechanism 120, then drives product 200 and rotates for the angle of product 200 relative to camera subassembly 152 changes, and then realizes that detection mechanism 150 detects the appearance defect of other angles of product 200 and side, effectively improves detection efficiency and precision.

Specifically, in some embodiments, referring to fig. 1, 5 and 6, the interface mechanism 160 may include a second picking member 161, an interface seat 162 and a rotating seat 163. The second picking member 161 is disposed on the interface seat 162, and the second picking member 161 is used to pick and release the product 200, and more particularly, the second picking member 161 is used to transfer the product 200 between the second picking member 161 and the first picking member 122. The connecting seat 162 is rotatably connected to the rotary seat 163, and as shown in fig. 6, the connecting seat 162 can rotate on the rotary seat 163 around a line S parallel to the straight line S ₂ Will be referred to as a third axis, in the following embodiments, for convenience of description, in Z ₁ And (4) showing. As such, second picking member 161 is removed from first picking member 122After the product 200 is received, the transfer seat 162 rotates relative to the rotary seat 163, so that the product 200 rotates, and the detection mechanism 150 detects other angles of the product 200.

As previously described, if the first picking member 122 of the picking mechanism 120 is in contact with the first surface of the product 200, when the interface mechanism 160 picks up the lower product 200 from the picking mechanism 120, the second picking member 161 may be in contact with a seventh surface of the product 200, wherein the seventh surface is a different surface from the first surface, for example, the seventh surface may be a surface intersecting the first surface, or the seventh surface may be a surface opposite the first surface.

In some embodiments, as shown in FIG. 6, the third axis Z ₁ Through the center of the cross-connecting seat 162, that is, the cross-connecting seat 162 can pass through the center thereof and be parallel to S ₂ The axis of direction is rotated. When the cross-connecting seat 162 is around the third axis Z ₁ When the angle of rotation is small, other angles at which the camera assembly 152 detects that the product 200 is facing the surface of the camera assembly 152 (e.g., a third surface of the product 200) may be made. When the cross-connecting seat 162 is around the third axis Z ₁ When the rotation angle is large, the camera assembly 152 can detect that the rotation angle is around the third axis Z ₁ At least one face of the plurality of faces that intersect and are continuous with each other in the circumferential direction from the third face. In this way, when the detection mechanism 150 detects the product 200 on the second picking member 161, the range of the detection angle can be increased by the rotation of the cross seat 162, and the work efficiency and the detection effect of the detection mechanism 150 are further improved.

In some embodiments, the interface receptacle 162 is about the third axis Z ₁ The angular range of rotation may be about the third axis Z at the interface 162 depending on the detection mechanism 150 ₁ And determining the detection range during rotation. By way of example and not limitation, if the product 200 is a rectangular parallelepiped or cube, after the product 200 is picked up by the first picking member 122, the third surface of the product 200 faces the detection mechanism 150, and the first surface of the product 200 contacts the first picking member 122. After the inspection mechanism 150 has inspected the products on the first picking member 122, the delivery mechanism 160 picks up the next product 200 from the picking mechanism 120, and the second product 200 is the next product 200The surface is in contact with a second picking member 161, which is the opposite surface to the first surface, and one of the third, fourth, fifth or sixth surfaces of the product 200 is facing the detection mechanism 150. When the delivery mechanism 160 is in a state of picking up the product 200 from the pick-up mechanism 120, the delivery seat 162 is positioned around the third axis Z ₁ The angle of rotation is set to 0. About a third axis Z at the interface 162 ₁ During the rotation, the detection mechanism 150 needs to detect at least the first surface of the product 200 (i.e. the surface of the product 200 not detected when being picked up by the first picking member 122), and the interface seat 162 is rotated around the third axis Z ₁ The angle of rotation may range from 0 to 90 degrees when the interface block 162 is rotated about the third axis Z ₁ When the rotation angle is 90 °, the first surface of the product 200 faces the detecting mechanism 150.

In some embodiments, the interface socket 162 is about the third axis Z ₁ During the rotation, the rotation may be paused for a preset time at one or more second detection angles, so that the detection mechanism 150 can perform appearance detection on the product 200 at the one or more second detection angles. For example, and again taking the product 200 as a cuboid or cube, the interface 162 is disposed about the third axis Z ₁ The rotation process may be kept stationary for a predetermined time when the rotation angle is 90 ° so that the detection mechanism 150 can detect the first surface of the product 200.

It should be noted that the above is only a specific example provided for the present application, and when the specifications, shapes, and the like of the products 200 are different, the detection mechanism 150 is disposed around the third axis Z in the cross seat 162 ₁ The detection range during rotation is different, and accordingly, the cross-connecting seat 162 rotates around the third axis Z ₁ The angular range of rotation is different. In practical application, the interface seat 162 is around the third axis Z ₁ The angle range of rotation can be determined according to actual requirements, and this is not specifically limited in the embodiment of the present application.

It can be understood that, in the embodiment of the present application, since the second picking member 161 is connected to the cross seat 162, the cross seat 162 is around the third axis Z ₁ While rotating, the second picking member 161 is also rotating about the third axis Z ₁ And (4) rotating. Thus, the aforesaid cross seat 162 is around the third axis Z ₁ The description of rotation may also be replaced by the second picking member 161 being rotated about the third axis Z ₁ And (4) rotating.

In the embodiment of the present application, the pick-up seat 121 surrounds the first axis D ₁ Angular range of rotation and the interface 162 about the third axis Z ₁ The angular range of rotation enables at least the surface of the product 200 in contact with the first picking member 122 and the surface in contact with the second picking member 161 to be detected by the detection mechanism 150. In some embodiments, the pick holder 121 is about the first axis D ₁ Angular range of rotation and the interface 162 about the third axis Z ₁ The angular range of rotation enables the product 200 to be oriented perpendicular to the line S ₂ Each surface in the circumferential direction of the pointed direction is detected by the detection mechanism 150. By way of example and not limitation, taking product 200 as a cuboid or cube as previously described, pickup seat 121 is positioned about first axis D ₁ The angular range of rotation is such that at least the first surface in contact with the first picking member 122 is detected, and the docking station 162 is rotated about the third axis Z ₁ The angular range of rotation allows at least the second surface in contact with the second picking member 161 to be detected.

Alternatively, in some embodiments, as shown in fig. 6, the second picking member 161 may also be rotatably coupled to the interface 162. In this way, when the detection mechanism 150 detects the product 200 on the second picking member 161, the detection angle and the detection position can be increased, and the detection effect of the product 200 can be further improved.

In the embodiment of the present application, the second picking member 161 can be wound around a line parallel to the straight line S ₁ Will be referred to as a fourth axis, in the following embodiments, for convenience of description, in Z ₂ And (4) showing. In some embodiments, the fourth axis Z ₂ Passing through the center of the second picking member 161, i.e., the second picking member 161 can pass around its center and be parallel to S ₁ The axis of direction is rotated. Then, if the second picking member 161 is in contact with the second surface of the product 200, the second picking member 161 is rotated about the fourth axis Z ₂ When the rotation angle is small, for example, the rotation angle is less than 90 °, the detection mechanism 150 can detect the surface (for example, the third surface, the fourth surface) of the product 200 facing the detection mechanism 150Five surfaces or a sixth surface). When the second picking member 161 rotates around the fourth axis Z ₂ When the angle of rotation is large, for example, the angle of rotation exceeds 90 °, the detection mechanisms 150 can respectively detect the rotation around the fourth axis Z ₂ In other words, the detection mechanism 150 can detect at least one surface of a plurality of surfaces surrounding the second surface.

In some embodiments, the second picking member 161 is about a fourth axis Z ₂ The angular range of rotation may be about the fourth axis Z at the second picking member 161 according to the detection mechanism 150 ₂ And determining the detection range during rotation. By way of example and not limitation, if product 200 is a cuboid or a cube, and when second picking member 161 picks product 200 from first picking member 122, the third surface of product 200 faces detection mechanism 150, and second picking member 161 in this state can be rotated about fourth axis Z ₂ The angle of rotation is set to 0 °. About a fourth axis Z at second picking member 161 ₂ During the rotation, the detecting mechanism 150 can detect the third surface of the product and the position around the fourth axis Z ₂ At least one surface of revolution circumferentially associated with the third surface, the second pick-up member 161 is then rotated about the fourth axis Z ₂ The angle of rotation may range from 0 to 360. Wherein when the second picking member 161 rotates around the fourth axis Z ₂ When the rotation angle is 90 °, the fourth surface of the product 200 connected to the third surface faces the detection mechanism 150; when the second picking member 161 is around the fourth axis Z ₂ When the rotation angle is 180 °, the fifth surface of the product 200 connected to the fourth surface faces the detection mechanism 150; second picking member 161 rotates about fourth axis Z ₂ When the rotation angle is 270 °, the sixth surface of the product 200 connected to the fifth surface faces the detection mechanism 150; second picking member 161 rotates about fourth axis Z ₂ When the rotation angle is 360 °, the third surface of the product 200 faces the detecting mechanism 150.

In some embodiments, second picking member 161 may be about fourth axis Z ₂ Rotating in the same direction, e.g. second picking member 161 may be about fourth axis Z ₂ Clockwise, or about a fourth axis Z ₂ Rotating counterclockwise. Correspond toGround, on the second pick-up member 161, around the fourth axis Z ₂ In the rotation process, the third surface, the fourth surface, the fifth surface and the sixth surface sequentially face the detection mechanism 150, or the third surface, the sixth surface, the fifth surface and the fourth surface sequentially face the detection mechanism 150. If the angle of the second picking member 161 is set to 0 ° when the third surface of the product 200 is opposite to the detecting mechanism 150, the second picking member 161 rotates around the fourth axis Z ₂ The range of the rotation angle can be [0, a ]]Where a is greater than 0 ° and less than or equal to 360 °, for example a can be 30 °, 60 °, 90 °, 120 °, 150 °, 180 °, 210 °, 240 °, 270 °, 300 °, 330 °, 360 °, and the like.

In some embodiments, second picking member 161 may be about fourth axis Z ₂ Rotating in two opposite directions, e.g. second picking member 161 may be about fourth axis Z ₂ Rotate clockwise, also about a fourth axis Z ₂ Rotating counterclockwise. For example, when second picking member 161 is around fourth axis Z ₂ When rotating clockwise, the sixth surface faces the detecting mechanism 150 after the third surface, and when the second picking member 161 rotates around the fourth axis Z ₂ The fourth surface faces the detection mechanism 150 after the third surface when rotating counterclockwise. If the angle of the second picking member 161 is set to 0 ° when the third surface of the product 200 is facing the detecting mechanism 150, the second picking member 161 rotates around the fourth axis Z ₂ The angle of rotation may range from [ -b, c [ ]]Wherein b is 0 ° or more and 180 ° or less, c is 0 ° or more and 180 ° or less, and b and c are not 0 ° at the same time. For example, b or c may be 30 °, 60 °, 90 °, 120 °, 150 °, 180 °, etc.

It should be noted that "clockwise" and "counterclockwise" referred to in the above embodiments are defined according to the direction from the side of the product 200 away from the second picking member 161 to the side of the product 200 picked by the second picking member 161. The direction is from the first surface to the direction pointing to the second surface, taking the product 200 as a cuboid or cube.

In some embodiments, second picking member 161 is about fourth axis Z ₂ During the rotation, the rotation can be paused for a preset time at one or more fourth detection angles so as to facilitate the detectionThe mechanism 150 performs an appearance check of the product 200 at the one or more fourth inspection angles. For example, still with product 200 being a cuboid or cube and second pick-up member 161 about fourth axis Z ₂ For example, rotating in the same direction, the second picking member 161 rotates around the fourth axis Z ₂ The rotation process may be kept still for a preset time when the rotation angles are 0 °, 90 °, 180 °, and 270 °, respectively, so that the detection mechanism 150 may detect the third surface, the fourth surface, the fifth surface, and the sixth surface of the product 200, respectively.

It should be noted that the above is only a specific example provided for the present application, and when the specifications, shapes, and the like of the products 200 are different, the detection mechanism 150 is configured such that the second picking member 161 rotates around the fourth axis Z ₂ The detection ranges during rotation are different, and accordingly, the second pickup member 161 rotates about the fourth axis Z ₂ The angular range of rotation is different. In practice, second picking member 161 is about fourth axis Z ₂ The angle range of rotation can be determined according to actual requirements, and this is not specifically limited in the embodiment of the present application.

In some embodiments, the first picking member 122 is about the second axis D ₂ Angular range of rotation and second picking member 161 about fourth axis Z ₂ The angular range of rotation is at least such that the product 200 is in a circular line S ₁ Each surface in the circumferential direction of the pointed direction is detected by the detection mechanism 150. For convenience of description, the product 200 is described below as being perpendicular to the line S ₁ The set of all surfaces included in the circumferential direction of the indicated direction is simply referred to as the third surface set. By way of example and not limitation, taking product 200 as the aforementioned introduced cuboid or cube, the third set of surfaces includes a third surface, a fourth surface, a fifth surface, and a sixth surface that intersect in series. Then there may be several cases:

1) the first picking member 122 rotates about the second axis D ₂ The angular range of rotation enables one surface of the third surface set (e.g., any one of the third, fourth, fifth, and sixth surfaces) to be sensed, and the second picking member 161 rotates about the fourth axis Z ₂ The angular range of rotation enables the third surface to be concentrated into three surfaces (except as described above in the third section)The other three surfaces out of the surfaces that have been detected when picked up by a picking member 122).

2) The first picking member 122 rotates about the second axis D ₂ The angular range of rotation enables two surfaces of the third set of surfaces (for example two surfaces which intersect, or two surfaces which are opposite) to be detected, the second pick-up member 161 being about the fourth axis Z ₂ The angular range of rotation enables two other surfaces of the third surface set (other than the previously described surfaces that have been detected when the first picking member 122 picks up) to be detected.

3) The first picking member 122 rotates about the second axis D ₂ The angular range of rotation enables three surfaces in the third surface set (e.g., any three of the third, fourth, fifth, and sixth surfaces) to be detected, and the second picking member 161 rotates around the fourth axis Z ₂ The angular range of rotation enables one surface of the third surface set (the remaining one surface other than the previously detected surface at the time of picking by the first picking member 122) to be detected.

4) The first picking member 122 rotates about the second axis D ₂ The angular range of rotation enables all the surfaces in the third surface set to be detected, without the second picking member 161 rotating about the fourth axis Z ₂ Rotating or second pick-up member 161 about fourth axis Z ₂ The angular range of rotation enables at least one surface in the third surface set to be repeatedly detected;

5) the second pick-up member 161 rotates about the fourth axis Z ₂ The angular range of rotation enables all surfaces in the third surface set to be inspected without the first picking member 122 rotating about the second axis D ₂ Rotating or first picking member 122 about second axis D ₂ The angular range of rotation enables at least one surface of the third surface set to be repeatedly detected.

Thus, about the second axis D by the first picking member 122 ₂ Rotation and/or second pick-up member 161 about fourth axis Z ₂ The rotation may cause all surfaces in the third surface set to be detected by the detection mechanism 150.

In some embodiments, as shown in fig. 6, the second picking member 161 can also be wound parallel to the straight line S ₂ Will be referred to as the sixth axis, in the following embodiments, for convenience of description, in Z ₃ And (4) showing. In some embodiments, the sixth axis Z ₃ Passing through the connection area between the second picking member 161 and the interface seat 162, that is, the second picking member 161 can also pass around the connection area between the second picking member 161 and the interface seat 162 and be parallel to S ₂ Is rotated. Then, if the second picking member 161 is in contact with the second surface of the product 200, the second picking member 161 is rotated about the sixth axis Z ₃ A smaller angle of rotation, e.g., less than 90 degrees, may cause the camera assembly 152 to detect one or more angles at which the product 200 is facing the surface of the camera assembly 152. When the second picking member 161 rotates around the sixth axis Z ₃ When the rotation angle is large, for example, the rotation angle exceeds 90 °, the camera assemblies 152 can respectively detect the rotation around the sixth axis Z ₃ At least one face of the plurality of surfaces in the circumferential direction.

In the embodiment of the present application, the second picking member 161 is wound around the sixth axis Z ₃ The process and interface 162 of rotation is about the third axis Z ₁ The process of rotation is similar and therefore about the sixth axis Z with respect to the second pick-up member 161 ₃ Angular range of rotation, second pick-up member 161 about sixth axis Z ₃ Stationary at one or more fixed angles for a predetermined time while rotating, etc., as described above with reference to the cross-over seat 162 about the third axis Z ₁ The description of the rotation is not repeated herein for brevity.

Optionally, in some embodiments, the interface seat 162 may be about the third axis Z ₁ Rotatable, and/or the second pick-up member 161 is rotatable about a sixth axis Z ₃ And (4) rotating.

It will be appreciated that the interface 162 is about the third axis Z ₁ Rotation, alternatively of second pick-up member 161 about third axis Z ₁ And (4) rotating. Third axis Z ₁ And a sixth axis Z ₃ Are parallel to each other and are all parallel to the straight line S ₁ . Therefore, in the embodiment of the present application, the sixth axis Z ₃ Can be considered as a third axis Z ₁ An example of (2). That is, the third axis Z ₁ May pass through the cross-over socket 162May also pass through a connection area between the second picking member 161 and the interface seat 162, which is not limited in this embodiment.

In some embodiments, the second picker 161 is removably coupled to the interface 162. So, when second picking member 161 damaged or trouble, can easily change second picking member 161, avoid hindering the production time, be favorable to improving work efficiency, simultaneously, through the kind of changing second picking member 161, can compatible different specification products 200's appearance defect detection work, be favorable to improving product appearance defect detection device 100's compatibility and use quality.

Alternatively, as shown in fig. 1, while the first picking member 122 is in contact with the first surface of the product 200, the detection of multiple surfaces may be achieved by rotation of the first picking member 122 and/or the picking seat 121, but not the first surface; while the second picking member 161 is in contact with the second surface of the product 200, the detection of multiple surfaces may be achieved by rotation of the second picking member 161 and/or the interface pedestal 162, but not the second surface. Therefore, in the embodiment of the present application, by passing and receiving the product 200 between the first picking member 122 and the second picking member 161, the detection mechanism 150 can detect the surface of the product 200 contacting the first picking member 122, such as the first surface, and can also detect the surface of the product contacting the second picking member 161, such as the second surface, so as to improve the work efficiency and the detection effect of the detection mechanism 150.

Alternatively, the second picking member 161 can pick the product 200 by suction, gripping, holding, magnetic attraction, or other picking methods.

In some embodiments, referring to fig. 1, 5 and 6, the second picking member 161 is a vacuum chuck. The gas pumping and discharging through the vacuum chuck can achieve the picking and releasing effects on the product 200, the mode is favorable for avoiding secondary damage to the product 200, the yield is improved, and meanwhile, the vacuum chuck is simple to operate, low in cost and favorable for improving economic benefits. The present embodiment provides only a specific implementation of the second picking member 161, but not limited thereto.

In one embodiment, please refer to fig. 1 and 5As shown in fig. 6, the number of the second picking member 161 is two or more, and the two or more second picking members 161 are spaced apart from each other on the delivery seat 162. Illustratively, the two or more second pickers 161 are positioned along a line S on the interface 162 ₂ The pointed directions are arranged at intervals. Thus, the two or more second picking members 161 work simultaneously, and can perform batch appearance defect detection on two or more products 200 simultaneously, thereby being beneficial to greatly improving the production efficiency.

The two or more second picking members 161 may pick and release the products 200 in batches at the same time, or may work independently, wherein one or more of the second picking members are used for picking and placing the products 200.

In some embodiments, the number of second picking members 161 matches the number of first picking members 122, e.g., the number of second picking members 161 equals the number of first picking members 122. When the first picking member 122 delivers the product 200 to the second picking member 161, the second picking member 161 and the first picking member 122 are along the straight line S ₁ Oppositely arranged in the direction indicated.

Optionally, the second picking member 161 is identical in structure to the first picking member 122.

Optionally, the interface seat 162 has the same structure as the pickup seat 121.

In one embodiment, referring to FIG. 5, the interface mechanism 160 further includes a servo lift module 164. The servo lifting module 164 is drivingly connected to the rotary base 163, and the servo lifting module 164 is used for driving the rotary base 163 to move along the height direction of the pick-up mechanism 120, for example, along the straight line S shown in fig. 5 ₁ Is moved in the direction of (1). So, through servo lift module 164's elevating action, can realize that roating seat 163 drives the lift of handing-over seat 162 and second picking up piece 161, on the one hand, servo lift module 164 can drive first handing-over seat 162 and leave detection area when need not to use handing-over mechanism 160, supplies detection mechanism 150 to detect the product 200 on picking up mechanism 120, is favorable to improving compact structure nature. On the other hand, when the handover mechanism 160 is needed, the product 200 can be driven to move within the detection range of the camera assembly 152 by the lifting action of the servo lifting module 164, so as to adjust the detection effect of the camera assembly 152, and further improve the detection mechanism 15Detection efficiency of 0.

The servo lifting module 164 can be replaced by other hydraulic driving devices or pneumatic devices to lift the rotary base 163.

A product appearance defect detection apparatus 100 provided in the embodiment of the present application is described in detail above with reference to fig. 1 to 6. The operation of the apparatus 100 can be roughly divided into two processes: a product pick-up process and a product inspection process.

In the product picking process, the picking mechanism 120, driven by the lifting mechanism 130 and the traversing mechanism 140, picks up the product 200 to be detected from the tray mechanism 110 and then moves the product from the tray mechanism 110 to the detection area of the detection mechanism 150. Wherein the lifting mechanism 130 drives the product 200 to be detected to be along the straight line S ₁ Moves in the direction of (1), the transverse moving mechanism 140 drives the product 200 to be detected to move along the straight line S ₂ Is moved in the direction of (1).

During the product inspection, referring to fig. 3 to 6, in the picking mechanism 120, the picking base 121 may be wound around a line S parallel to the straight line S ₂ First axis D of ₁ Rotating, in the delivery mechanism 160, the delivery seat 162 can rotate around a line parallel to the line S ₂ Third axis Z of ₁ And (4) rotating. Around the first axis D by the pick-up seat 121 ₁ About a third axis Z and a pivoting and interface seat 162 ₁ The rotation of the first picking member 122 and the connection of the second picking member 161 can realize that the product 200 is detected by the detection mechanism 150 in a direction perpendicular to the straight line S ₂ Including the appearance inspection of the face of the product 200 in contact with the first picking member 122 and the face of the product 200 in contact with the second picking member 161.

In the picking mechanism 120, the first picking member 122 may be wound parallel to the straight line S ₁ Of the fifth axis D ₃ Rotated, and/or, in the interface mechanism 160, the second picking member 161 may be rotated about a line parallel to the line S ₁ Of the fourth axis Z ₂ And (4) rotating. Thus, the detection mechanism 150 can detect the product 200 in the direction perpendicular to the straight line S ₁ The appearance of the third surface set in the circumferential direction of the substrate.

In the picking mechanism 120, the first picking member 122 may be driven at the elevating mechanism 130Down, along a straight line S ₁ And/or the second picking member 161 can be driven by the servo lift module 164 to move along the direction of the line S1. Therefore, the products 200 to be detected can be handed over between the first picking member 122 and the second picking member 161, and the products 200 to be detected can be driven to move within the detection range of the camera assembly 152, so that the detection mechanism 150 can shoot a plurality of local areas of the products 200 to be detected.

In the inspection mechanism 150, the camera assembly 152 may be along a straight line S with respect to the inspection stand 151 ₃ Such that the distance between the camera assembly 152 and the product 200 to be inspected can be adjusted for sharp imaging.

In the inspection mechanism 150, the camera module 152 may be arranged along a straight line S with respect to the inspection base 151 ₂ So that a plurality of partial areas of the product 200 to be inspected can be photographed, thereby obtaining an image corresponding to the complete surface.

As can be seen from the above analysis, in the product inspection process, the picking mechanism 120, the lifting mechanism 130, the inspection mechanism 150, etc. constitute a five-axis inspection system, in which the number of movement axes for controlling the product 200 to be inspected includes 3, and the number of movement axes for controlling the camera assembly 152 includes 2. The five-axis detection system can realize the relative motion between the product 200 to be detected and the camera assembly 152, so that the camera assembly 152 can finish the detection of each surface of the product 200 to be detected.

In other embodiments, the motion axis assignment of the five-axis detection system may also have other implementations.

In one embodiment, the number of axes of motion used to control the product 200 to be inspected includes 4 and the number of axes of motion used to control the camera assembly 152 includes 1. Illustratively, unlike the motion axis assignment described above with reference to fig. 1-6, in the detection mechanism 150, the camera assembly 152 is movable along a straight line S with respect to the detection base 151 ₃ Without following the straight line S ₂ Is moved in the direction of (1). Suitably, during the detection process, the product 200 to be detected can be driven by the traversing mechanism 140 to follow the straight line S ₂ Is moved in the direction of (1). The movements of the remaining components are the same as in the corresponding ones of the previous embodiments,for brevity, no further description is provided. In this way, the drive components that control the motion of the camera assembly 152 may be simplified, thereby making the device 100 more compact.

In another embodiment, the number of axes of motion for controlling the product 200 to be inspected comprises 2 and the number of axes of motion for controlling the camera assembly 152 comprises 3. Illustratively, the difference between the motion axis distribution described in fig. 1-6 is that the camera assembly 152 may be arranged along a straight line S with respect to the inspection socket 151 ₃ Can move along a straight line S ₂ Can also move along the straight line S ₁ Is moved in the direction of (1). Accordingly, during inspection, the product 200 to be inspected may not follow the straight line S ₁ Is moved in the direction of (1). This can be achieved by following a straight line S ₁ The camera assembly 152 is moved to achieve a plurality of local area shots. The movement of the other components is the same as the corresponding content of the previous embodiment, and is not described again for brevity. In this way, the workflow of controlling the movement of the product to be detected can be simplified.

That is, in the solution provided by the embodiment of the present application, the first picking member 122 may be configured to rotate around a straight line S parallel to the second direction (i.e. the length direction of the picking mechanism 120, such as the straight line S shown in fig. 1 to 6) ₂ Direction of the) first axis rotation D ₁ And second picking member 161 may be configured about a third axis Z parallel to the second direction ₁ Rotates so that the detection mechanism 150 detects at least two surfaces of the product 200 to be detected in a circumferential direction perpendicular to a second direction, the at least two surfaces including a first surface and a second surface, the second direction being perpendicular to the first direction (i.e., a width direction of the pickup mechanism 120, such as a straight line S shown in fig. 1 to 6) ₃ The direction indicated.

The first picking member 122 may also be configured to rotate about a third direction (i.e., the height direction of the picking mechanism 120, such as the line S shown in fig. 1-6) parallel to ₁ Direction of the indicated) of the first axis D ₂ Rotation, and/or second picking member 161 may also be configured about a fourth axis Z parallel to the third direction ₂ Rotate to make the detecting mechanism 150 locate the product 200 to be detected in the circumferential direction perpendicular to the third directionIs detected, the third direction being perpendicular to the first direction and perpendicular to the second direction.

At least one of the camera assembly 152, the first picking member 122 and the second picking member 161 may be configured to move in the second direction to cause the inspection mechanism 150 to inspect a localized area of the face of the product 200 to be inspected that faces the inspection mechanism 150.

At least one of the camera assembly 152, the first picking member 122, and the second picking member 161 may be configured to move in a third direction such that the product 200 to be detected is located within the detection area.

In summary, in the embodiment of the present application, the first picking member 122 is around the first axis D ₁ Angular range of rotation and second picking member 161 about third axis Z ₁ The angular range of rotation is such that at least the surface of the product 200 in contact with the first picking member 122 and the surface of the product 200 in contact with the second picking member 161 are detected by the detection mechanism 150. In some embodiments, the first picking member 122 is about the first axis D ₁ Angular range of rotation and rotation of the second picking member 161 about the third axis Z ₁ The angular range of rotation enables the product 200 to be oriented perpendicular to the line S ₂ Each surface in the circumferential direction of the pointed direction is detected by the detection mechanism 150.

In the embodiment of the present application, the first picking member 122 rotates around the second axis D ₂ Angular range of rotation and/or second picking member 161 about fourth axis Z ₂ The angular range of rotation enables at least one face of the product 200 lying in a circumferential direction perpendicular to the third direction to be detected. In some embodiments, the first picking member 122 is about the second axis D ₂ Angular range of rotation and second picking member 161 about fourth axis Z ₂ The angular range of rotation enables the product 200 to be oriented perpendicular to the line S ₁ Each surface in the circumferential direction of the pointed direction is detected by the detection mechanism 150.

By way of example and not limitation, taking the product 200 to be inspected as a cuboid or a cube, the first pick-up member 122 is around the second axis D ₂ Angular range of rotation and second picking member 161 about fourth axis Z ₂ At least one of the angular ranges of rotation, and a first picking member122 about a first axis D ₁ Angular range of rotation and second picking member 161 about third axis Z ₁ The angular range of rotation enables the detection of 6 surfaces of the product 200 to be detected.

The rectangular parallelepiped or cube according to the embodiment of the present invention is not limited to a regular rectangular parallelepiped or cube, and includes a structure in which the main body is a rectangular parallelepiped or cube. Illustratively, the body of a structure is a cuboid, and protrusions, grooves or other structural features may be provided on a surface of the body. When the detection mechanism performs appearance detection on the surface provided with the protrusions, the grooves or other structural features, the appearance detection on the protrusions, the grooves or other structural features provided on the surface is included. Taking the product 200 to be detected as a mobile phone charger as an example, the main body of the mobile phone charger is generally a cuboid, one surface of the cuboid is provided with a metal sheet protruding outwards, and when the surface provided with the metal sheet is subjected to appearance detection, the surface corresponding to the main body can be subjected to appearance detection, and the metal sheet arranged on the surface can be subjected to appearance detection.

In one embodiment, referring to fig. 7, the product appearance defect detecting apparatus 100 may further include a frame 180 and a protective cover 170, the protective cover 170 is covered on the frame 180 to form a working chamber, and the tray mechanism 110, the picking mechanism 120, the lifting mechanism 130, the traversing mechanism 140, and the delivering mechanism 160 are located in the working chamber. Thus, the safety of the detection work is improved, and the overall use quality of the product appearance defect detection device 100 is improved.

Further, in some embodiments, referring to fig. 7, the shield 170 is provided with a shield door 171, and the shield door 171 is openably disposed on the shield 170. The at least two protection doors 171 are provided, and the at least two protection doors 171 are provided corresponding to the at least two tray mechanisms 110. So, can carry out the material loading to two at least tray mechanism 110 through two at least protection doors 171, be favorable to improving the work convenience.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present application. It should be noted that various changes and modifications can be made by those skilled in the art without departing from the inventive concept of the present application, and these changes and modifications are all within the scope of the present application. Therefore, the protection scope of the present application should be subject to the appended claims.

Claims

1. A product appearance defect detection device, characterized by comprising:

a transfer mechanism comprising a second picking member for picking the product to be detected from the first picking member within the detection area, wherein a second surface of the product to be detected is in contact with the second picking member;

the detection mechanism is arranged at an interval with the handover mechanism in the first direction and is used for detecting the appearance of the product to be detected; wherein,

the first picking member is configured to rotate around a first axis parallel to a second direction and the second picking member is configured to rotate around a third axis parallel to the second direction, so that the detection mechanism detects at least two faces of the product to be detected, which are located in a circumferential direction perpendicular to the second direction, wherein the at least two faces include the first surface and the second surface, and the second direction is perpendicular to the first direction;

the first picking member is configured to rotate about a second axis parallel to a third direction and/or the second picking member is configured to rotate about a fourth axis parallel to the third direction, so that the detection mechanism detects at least one face of the product to be detected in a circumferential direction perpendicular to the third direction, which is perpendicular to the first direction and to the second direction;

the detection mechanism comprises a camera assembly configured to move along the first direction to approach or move away from the product to be detected;

at least one of the camera assembly, the first picking member and the second picking member is configured to move in the second direction to cause the detection mechanism to detect a localized area of a face of the product to be detected facing the detection mechanism;

2. The apparatus of claim 1, wherein the camera assembly comprises a fixed focus lens.

3. The apparatus of claim 1 or 2, wherein the first direction is a width direction of the picking mechanism, the second direction is a length direction of the picking mechanism, and the third direction is a height direction of the picking mechanism.

4. The apparatus according to any one of claims 1 to 3, characterized in that said detection means are configured to detect again the appearance of said second picking member when picking up said products to be detected, after having detected the appearance of said first picking member when picking up said products to be detected.

5. The apparatus according to any one of claims 1 to 4, wherein the interface mechanism is disposed opposite the pick-up mechanism in the third direction when the product to be detected is located in the detection zone.

6. The device according to any one of claims 1 to 5,

the first picking member is also configured to pause for a preset time at one or more first detection angles during the rotation around the first axis, so that the detection mechanism performs appearance detection on the product to be detected at the one or more first detection angles; and/or

The second picking member is further configured to pause for a preset time at one or more second detection angles during rotation about the third axis, so that the detection mechanism performs appearance detection on the product to be detected when the product to be detected is at the one or more second detection angles.

7. The apparatus of claim 6,

the one or more first detection angles comprise an angle when the second surface is facing the detection mechanism; and/or

The one or more second detection angles include an angle when the first surface is facing the detection mechanism.

8. The device according to any one of claims 1 to 7,

the first picking member is also configured to pause for a preset time at one or more third detection angles during the rotation around the second axis, so that the detection mechanism performs appearance detection on the products to be detected at the one or more third detection angles; and/or

The second picking member is also configured to pause for a preset time at one or more fourth detection angles during the rotation around the fourth axis, so that the detection mechanism performs appearance detection on the products to be detected when the products to be detected are at the one or more fourth detection angles.

9. The device according to any one of claims 1 to 8,

the picking mechanism further comprises a picking seat, the picking seat is connected with the first picking piece, the first axis passes through the center of the picking seat, or the first axis passes through a connecting area between the first picking piece and the picking seat; and/or

10. The apparatus of claim 9, wherein the first picking member is removably coupled to the nest; and/or the second picking member is detachably connected with the interface seat.

11. The apparatus of any one of claims 1 to 10, wherein the detection mechanism further comprises a detection mount, the detection mount being movably coupled to the camera assembly, the detection mount being configured to drive the camera assembly in the first direction.

12. The apparatus of claim 11, wherein when the camera assembly is configured to move in the second direction, the inspection station comprises a first servo module and a second servo module, the camera assembly is drivingly connected to the first servo module through the second servo module, and the first servo module and the second servo module respectively drive the camera assembly to move in the second direction and the first direction.

13. The apparatus of any of claims 1-12, wherein while the first picking member is configured to move in the second direction and configured to move in the third direction, the apparatus further comprises:

14. The apparatus of claim 13, further comprising:

the tray mechanism is used for placing the product to be detected;

the lifting mechanism and the transverse moving mechanism are also used for driving the picking mechanism to pick the product to be detected from the tray mechanism and move the product to be detected to the detection area.

15. The apparatus of claim 14, wherein the tray mechanism comprises a tray and a displacement assembly, the tray being movably coupled to the displacement assembly, the displacement assembly being configured to urge the tray in the first direction.

16. The device according to claim 14 or 15, wherein the lifting mechanism, the picking mechanism and the tray mechanism are at least two, at least two lifting mechanisms are all in driving connection with the traversing mechanism, at least two picking mechanisms are respectively in one-to-one driving connection with at least two lifting mechanisms, at least two tray mechanisms are respectively in one-to-one correspondence with at least two picking mechanisms, and at least two picking mechanisms sequentially pick up the products to be detected from the corresponding tray mechanisms through the corresponding lifting mechanisms.

17. The device according to any one of claims 1 to 16,

the number of the first picking pieces is at least two, and the at least two first picking pieces are arranged at intervals along the second direction;

the second picking pieces are at least two, and at least two of the second picking pieces are arranged at intervals along the second direction.

18. The device of any one of claims 1 to 17, wherein the first surface intersects the second surface or the first surface is disposed opposite the second surface.