CN115980071B

CN115980071B - Visual inspection mechanism and inspection apparatus

Info

Publication number: CN115980071B
Application number: CN202310259007.4A
Authority: CN
Inventors: 常卓越; 邱雨菲; 张武杰
Original assignee: Casi Vision Technology Luoyang Co Ltd; Casi Vision Technology Beijing Co Ltd
Current assignee: Casi Vision Technology Luoyang Co Ltd; Casi Vision Technology Beijing Co Ltd
Priority date: 2023-03-17
Filing date: 2023-03-17
Publication date: 2023-05-23
Anticipated expiration: 2043-03-17
Also published as: CN115980071A

Abstract

The application provides a visual detection mechanism and detection equipment, including gyration subassembly and camera subassembly, gyration subassembly includes gyration and gets material portion, first gyration portion and second gyration portion, and the gyration is got material portion and is used for setting up the thing of waiting to detect, and the gyration is got material portion and is set up on first gyration portion with first axis as rotation center, and first gyration portion is set up on second gyration portion with second axis as rotation center rotation, and first axis is the angle setting with the second axis; the camera component comprises a detection camera, a first moving part, a second moving part, a third moving part and a camera support, wherein the detection camera is rotatably arranged on the first moving part by taking a third axis as a rotation center, the first moving part is arranged on the second moving part and moves along a first direction along with the second moving part on the third moving part, and the third moving part can be movably arranged on the camera support along a second direction. The visual detection mechanism can expand the detection range of the object to be detected, improve the detection capability and improve the detection effect.

Description

Visual inspection mechanism and inspection apparatus

Technical Field

The application belongs to the technical field of visual inspection, and particularly relates to a visual inspection mechanism and detection equipment.

Background

With the development of technology, in the field of appearance defect detection, machine vision detection has gradually replaced manual detection, so that the detection efficiency is greatly improved. The appearance defect types are more, and in order to be able to realize detection of multiple defect types of the object to be detected, the object to be detected is required to have higher degree of freedom on the platform.

However, most of the existing visual detection devices are flow channel type or module type, when the object to be detected moves on the detection platform, the plane of the object to be detected is still parallel to the table top of the detection platform, multi-station multi-degree-of-freedom detection is difficult to realize, the freedom of movement of the object to be detected on the detection platform is limited, multi-azimuth shooting is difficult to realize, and the detection capability of the visual detection device is restricted.

Disclosure of Invention

Therefore, the technical problem that this application will solve lies in providing a visual detection mechanism and check out test set, can make the motion of waiting to detect the thing on testing platform have more degrees of freedom, and then realize waiting to detect the thing and carry out diversified detection, improve visual detection equipment detectability.

In order to solve the above problems, the present application provides a visual inspection mechanism, including a rotation assembly and a camera assembly, where the rotation assembly includes a rotation material taking part, a first rotation part and a second rotation part, where the rotation material taking part is used to set an object to be inspected, the rotation material taking part is rotationally set on the first rotation part with a first axis as a rotation center, the first rotation part is rotationally set on the second rotation part with a second axis as a rotation center, and the first axis is set at an angle with the second axis;

The camera assembly comprises a detection camera, a first moving part, a second moving part, a third moving part and a camera support, wherein the detection camera is rotatably arranged on the first moving part by taking a third axis as a rotation center, the first moving part is arranged on the second moving part and moves along a first direction along with the second moving part on the third moving part, and the third moving part can be movably arranged on the camera support along a second direction.

Optionally, the first axis is perpendicular to the second axis, the first direction is perpendicular to the second direction, and the third axis is perpendicular to both the first direction and the second direction.

Optionally, the first rotary part includes first rotary power part and first rotation transmission portion, the gyration is got the material portion and is set up on the first rotation transmission portion, first rotary power part with first rotation transmission portion is connected, so that first rotary power part passes through first rotation transmission portion drives the gyration is got the material portion and is rotated.

Optionally, the first rotation drive portion includes a plurality of commutators, the gyration is got material portion and is a plurality of, the gyration is got material portion one-to-one and is set up on the output shaft of commutator, the output shaft of commutator is followed first axis extends, and is adjacent the input shaft of commutator is connected through first shaft coupling, first gyration power portion with at least one the input shaft transmission of commutator is connected, so that pass through first shaft coupling drives a plurality of the input shaft synchronous rotation of commutator, so that a plurality of the output shaft of commutator and a plurality of the gyration are got material portion synchronous rotation.

Optionally, the rotary material taking part comprises a rotary sucker or a rotary clamping member, wherein the rotary sucker or the rotary clamping member is used for loading the object to be detected, and the rotary sucker or the rotary clamping member is arranged on the output shaft of the reverser and is coaxially arranged with the output shaft of the reverser.

Optionally, the second rotation portion includes rotation supporting seat, gyration backup pad and second gyration power portion, first gyration portion sets up in the gyration backup pad, second gyration power portion respectively with the gyration supporting seat with the gyration backup pad is connected, so as to drive first gyration uses the second axis as the center of rotation rotates on the gyration supporting seat.

Optionally, the first motion portion includes first motion connecting plate and first driving piece, the detection camera pass through first motion connecting plate with the output shaft of first driving piece is connected, the output shaft of first driving piece extends along the third axis, so as to drive first motion connecting plate with the detection camera uses the third axis is the rotation center.

Optionally, the first moving connecting plate is further provided with a light source part, and the light source part is movably arranged on the first moving connecting plate along the first direction through a first guiding structure.

Optionally, the second moving part includes a second moving connecting plate, a second driving piece and a second guiding structure, the third moving part includes a third moving connecting plate, the second guiding structure is disposed on the third moving connecting plate along the first direction, and the second driving piece is connected with the second moving connecting plate, so as to drive the second moving connecting plate to slide along the first direction on the second guiding structure.

Optionally, the third moving part further includes a third driving element and a third guiding structure, the third guiding element is disposed on the camera support along the second direction, and the third driving element is connected with the third moving connecting plate, so as to drive the third moving connecting plate to slide along the second direction on the third guiding structure.

In another aspect of the present application, a detection apparatus is provided, comprising a visual detection mechanism as described above.

Optionally, the detection device includes a feeding assembly and a frame assembly, the feeding assembly, the rotation assembly and the camera assembly are arranged on the frame assembly, the feeding assembly includes a fixing frame and a first carrying portion, the fixing frame is arranged on the frame assembly, and the first carrying portion can be movably arranged on the fixing frame along a third direction so as to carry the object to be detected on the station to be carried to the rotation material taking portion.

Optionally, the first transport portion includes first transport power module, first transport fixed module and first transport and gets the material module, first transport fixed module slides and sets up on the mount, first transport power module respectively with first transport fixed module with the mount is connected, so as to drive first transport fixed module is in follow on the mount the third direction slides, first transport is got the material module and is set up on the fixed module of first transport, so as to be in treat to carry on the station to obtain treat the detection thing and carry to on the gyration is got the material portion.

Optionally, the fixed module of first transport includes first transport connecting plate, second transport connecting plate, first transport connecting plate with the second transport connecting plate is connected through first guide post, the second transport connecting plate is in on the mount, and can follow on the mount the third direction slides, follow on the mount the third direction is provided with first guide way, first guide post slides and sets up in the first guide way, first transport is got the material module and is included the transport sucking disc, the transport sucking disc sets up on the first transport connecting plate, first transport power module respectively with the mount with the second transport connecting plate is connected, so as to drive the second transport connecting plate first guide post with the transport sucking disc is followed the synchronous removal of third direction.

Optionally, the feeding assembly further includes a second carrying portion, where the second carrying portion is movably disposed on the fixing frame along the first direction, so as to carry the object to be detected on the station to be extracted to the station to be carried.

Optionally, the second carrying portion includes a second carrying power module, a second carrying fixing module and a second carrying material taking module, where the second carrying power module is respectively connected with the second carrying fixing module and the fixing frame, so as to drive the second carrying fixing module to move along the first direction relative to the fixing frame, and the second carrying material taking module is disposed on the second carrying fixing module, so that the material to be detected is obtained on the material taking station and carried to the material taking station.

Optionally, the fixed module of second transport includes upset link, upset board, upset power spare and fourth guide, the upset link passes through the fourth guide can be followed the first direction sets up slidingly on the mount, the upset board sets up on the upset link, the upset power spare respectively with the upset link with the upset board is connected, so as to drive the upset board uses the fourth axis as center of rotation to rotate on the upset link, the fourth axis is on a parallel with the second axis, the second transport is got material module and is set up on the upset board.

Optionally, the second carrying part includes a material taking working condition and a feeding working condition, under the material taking working condition, the second carrying material taking module is arranged towards the material taking station, and the second carrying power module is used for driving the second carrying fixed module to move towards the material taking station, so that the second carrying material taking module obtains the material to be detected on the material taking station; under the feeding working condition, the second carrying and taking module is arranged towards the station to be carried, and the second carrying power module is used for driving the second carrying fixed module to move towards the station to be carried, so that the second carrying and taking module conveys the object to be detected to the station to be carried.

Optionally, the detection device further includes a translation assembly, the translation assembly includes a translation fixed portion and a translation power portion, the rotation assembly is disposed on the translation fixed portion, the translation power portion is connected with the translation fixed portion, so as to drive the translation fixed portion and the rotation assembly to move along the third direction on the frame assembly, the path along which the rotation assembly moves along with the translation fixed portion includes a receiving station and a detecting station, the rotation assembly is disposed at the receiving station so as to receive the object to be detected conveyed by the first conveying portion, and the rotation assembly is disposed at the detecting station so as to enable the camera assembly to detect the object to be detected on the rotation assembly.

Optionally, the detection device further includes a positioning component, the positioning component is disposed on the rack component, the positioning component includes a first positioning portion and a second positioning portion, the first positioning portion is used for driving the object to be detected to be positioned in the second direction, and the second positioning portion is used for driving the object to be detected to be positioned in the third direction.

Optionally, the positioning assembly includes positioning bottom plate, first positioning portion includes first baffle, first push pedal, first connecting plate, first adapter plate and first positioning power spare, first adapter plate with positioning bottom plate parallel arrangement, first baffle setting is in on the positioning bottom plate, first connecting plate can be followed the second direction is movably to be set up on the first adapter plate, first push pedal setting is in on the first connecting plate, first baffle with first push pedal is followed the third direction extends, first positioning power spare with first connecting plate is connected, is used for through first connecting plate drives first push pedal is followed the second direction removes, so as to be close to or keep away from first baffle.

Optionally, the positioning assembly includes a first slider and a first positioning guide, the first slider is slidably disposed on the first positioning guide, the first connecting plate is movably disposed on the first adapting plate along the second direction through the first slider and the first positioning guide, a plurality of first mounting seats are disposed on the first connecting plate, a plurality of first pushing plates are disposed in parallel, the first pushing plates are disposed on the first mounting seats in a one-to-one correspondence manner, and the first positioning power member is connected with the first connecting plate, so as to synchronously drive a plurality of first pushing plates to move along the second direction through the first connecting plate;

and a buffer spring is arranged between the first mounting seat and the first push plate, and the buffer spring is arranged along the second direction.

Optionally, the second positioning portion includes a second baffle, a second push plate, a second adapting plate, a second slider, a second positioning guide member and a second positioning power member, where the second baffle is disposed on the positioning base plate, the second adapting plate is disposed parallel to the positioning base plate, the second slider is slidably disposed on the second positioning guide member, the second push plate is movably disposed on the second adapting plate along the third direction through the second slider and the second positioning guide member, the second baffle and the second push plate extend along the second direction, and the second positioning power member is connected with the second push plate and is used to drive the second push plate to move along the third direction so as to approach or depart from the second baffle;

The first direction, the second direction and the third direction are perpendicular to each other.

Advantageous effects

According to the visual detection mechanism and the visual detection equipment provided by the embodiment of the invention, the rotary material taking part is arranged to firmly acquire the to-be-detected object and drive the to-be-detected object to carry out visual detection. The camera component can drive the object to be detected to rotate by taking the first axis as the rotation center through the first rotating part, and can drive the object to be detected to rotate by taking the second axis as the rotation center through the second rotating part, so that the freedom degree of the motion of the object to be detected is increased, and the camera component can detect the object to be detected in a larger range. The first moving part is arranged to drive the detection camera to rotate by taking the third axis as a rotation center, so that the shooting angle of the detection camera can be adjusted in the circumferential direction of the third axis, and the detection range is enlarged. Through setting up second motion to make first motion setting up on the second motion, and then can drive the detection camera along first direction, can realize making the detection camera treat the detection thing in first direction, through setting up the third motion, and make the third motion can remove the setting on the camera support along the second direction, can realize making the detection camera treat the detection thing in the second direction, further enlarged the detection scope of treating the detection thing, can treat the detection thing in more angles, in a larger scale, the detectability of vision detection mechanism has been promoted, the detection effect is improved, simultaneously, can also make vision detection mechanism be applicable to detect the detection thing of waiting of structure complicacy, for example detect the inner tube defect, for example again to wearing class of complicacy structure, metal class wait to detect the thing, the application scope of vision detection mechanism has been improved, the vacancy of prior art has been filled.

Drawings

FIG. 1 is a first perspective view of a swing assembly according to an embodiment of the present disclosure;

FIG. 2 is a second perspective view of a swing assembly according to an embodiment of the present disclosure;

FIG. 3 is a schematic perspective view of a camera assembly according to an embodiment of the present application;

fig. 4 is a schematic perspective view of a first moving part according to an embodiment of the present application;

fig. 5 is a schematic perspective view of a second motion part according to an embodiment of the present application;

fig. 6 is a schematic perspective view of a third moving part according to an embodiment of the present application;

fig. 7 is a schematic perspective view of a camera stand according to an embodiment of the present application;

fig. 8 is a schematic perspective view of a feeding assembly according to an embodiment of the present disclosure at a first view angle;

fig. 9 is a schematic perspective view of a feeding assembly according to an embodiment of the present disclosure at a second view angle;

fig. 10 is a schematic perspective view of a first carrying power module in a feeding assembly according to an embodiment of the present disclosure;

FIG. 11 is a schematic perspective view of a translation assembly according to an embodiment of the present application;

FIG. 12 is a schematic perspective view of a positioning assembly according to an embodiment of the present application;

fig. 13 is a schematic perspective view of a first positioning portion according to an embodiment of the present application;

fig. 14 is a schematic perspective view of a second positioning portion according to an embodiment of the present application;

Fig. 15 is a schematic view of a first perspective structure of a detection apparatus according to an embodiment of the present application;

fig. 16 is a second schematic perspective view of a detection apparatus according to an embodiment of the present application;

fig. 17 is a side view of a detection apparatus according to an embodiment of the present application.

The reference numerals are expressed as:

1. a swivel assembly; 2. a camera assembly; 3. a rotary material taking part; 4. a first turning part; 5. a second rotating part; 6. an object to be detected; 7. a first rotary power unit; 8. a rotary joint; 9. a commutator; 10. a first coupling; 11. a rotary driven wheel; 12. a rotary driving wheel; 13. a revolving synchronous belt; 14. a rotary supporting seat; 15. a slewing support plate; 16. a second rotary power unit; 17. a speed reducer; 18. a second coupling; 19. fixing a supporting shaft; 20. a first kinematic connection plate; 21. a first driving member; 22. detecting a camera; 23. a first guide structure; 24. a first light source; 25. a second light source; 26. a third light source; 27. a light source mounting member; 28. a fourth light source; 29. an adjusting plate; 30. a second moving part; 31. a second kinematic connection plate; 32. a motor mount; 33. a first lead screw motor; 34. a belt; 35. a driving roller; 36. a driven roller; 37. a screw rod supporting seat; 38. a second guide structure; 39. a camera mount; 40. a third kinematic connection plate; 41. a third guide structure; 42. a second lead screw motor; 43. a ball screw; 44. fixing the backboard; 45. a feeding assembly; 46. a frame assembly; 47. a fixing frame; 48. a first conveyance power module; 49. a first handling fixing module; 50. a first handling connection plate; 51. a second handling connection plate; 52. the first carrying and taking module; 53. a first guide post; 54. a first guide groove; 55. a carrying motor; 56. carrying a driving wheel; 57. carrying a synchronous belt; 58. carrying a driven wheel; 59. carrying a screw rod; 60. a fixed block; 61. a top plate; 62. carrying a sliding rail; 63. a limiting block; 64. turning over the connecting frame; 65. a turnover plate; 66. a turnover motor; 67. turning over the driving wheel; 68. turning over the synchronous belt; 69. turning over the driven wheel; 70. a fourth guide member; 71. a bearing fixing ring; 72. a rotary plate; 73. a feeding belt; 74. a second carrying power module; 75. a translation assembly; 76. a translation fixing portion; 77. a translational power section; 78. translating the frame; 79. translating the guide rail; 80. a connecting block; 81. a positioning assembly; 82. positioning a bottom plate; 83. a first positioning portion; 84. a first baffle; 85. a first push plate; 86. a first positioning power member; 87. a first connection plate; 88. a first positioning guide; 89. a cylinder connecting piece; 90. a buffer spring; 91. a second positioning portion; 92. a second baffle; 93. a second push plate; 94. a second positioning guide; 95. a second positioning power piece; 96. a positioning bracket; 97. a first adapter plate; 98. a first slider; 99. a second adapter plate; 100. and a second slider.

Detailed Description

In the description of the present application, it should be understood that the terms "center," "longitudinal," "transverse," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," etc. indicate or are based on the orientation or positional relationship shown in the drawings, merely for convenience of description and to simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the invention.

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

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

The preferred embodiments of the present invention will be described below with reference to the accompanying drawings, it being understood that the preferred embodiments described herein are for illustration and explanation of the present invention only, and are not intended to limit the present invention.

As shown in fig. 1 to 7, according to an embodiment of the present application, there is provided a visual inspection mechanism including a swing assembly 1 and a camera assembly 2, the swing assembly 1 including a swing pick-up section 3, a first swing section 4 and a second swing section 5, the swing pick-up section 3 being configured to set an object 6 to be inspected, the swing pick-up section 3 being rotatably set on the first swing section 4 with a first axis as a rotation center, the first swing section 4 being rotatably set on the second swing section 5 with a second axis as a rotation center, the first axis being disposed at an angle to the second axis;

The camera assembly 2 includes a detection camera 22, a first moving portion, a second moving portion 30, a third moving portion, and a camera bracket 39, the detection camera 22 is rotatably disposed on the first moving portion with the third axis as a rotation center, the first moving portion is disposed on the second moving portion 30 and moves in the first direction on the third moving portion along with the second moving portion 30, and the third moving portion is movably disposed on the camera bracket 39 in the second direction.

The rotary material taking part 3 is arranged, so that the object 6 to be detected can be firmly obtained, and the object 6 to be detected is driven to carry out visual detection. Through setting up first gyration portion 4 can realize driving to wait to detect thing 6 and regard as rotation center rotation, can also drive to wait to detect thing 6 and regard as rotation center rotation through setting up second gyration portion 5, has increased the degree of freedom that wait to detect thing 6 motion, makes camera module 2 can wait to detect thing 6 and carry out the detection of bigger scope. By setting the first moving part to drive the detection camera 22 to rotate with the third axis as the rotation center, the shooting angle of the detection camera 22 can be adjusted in the circumferential direction of the third axis, and the detection range is enlarged. By arranging the second moving part 30 and arranging the first moving part on the second moving part 30, the detection camera 22 can be driven to move along the first direction, the detection of the object 6 to be detected by the detection camera 22 in the first direction can be realized, by arranging the third moving part and arranging the third moving part on the camera support 39 in a movable manner along the second direction, the detection of the object 6 to be detected by the detection camera 22 in the second direction can be realized, the detection range of the object 6 to be detected is further enlarged, the visual detection of the object 6 to be detected can be carried out in a larger range at a larger angle, the detection capability of the visual detection mechanism is improved, the detection effect is improved, and meanwhile, the visual detection mechanism can be suitable for carrying out visual detection on the object 6 to be detected with a complex structure, such as detecting the inner tube defect, and then detecting the wearing type and metal type object 6 with complex structures.

Wherein the detection camera 22 is a visual detection camera.

Wherein the first direction and the second direction are two different directions.

The first axis is perpendicular to the second axis, the first direction is perpendicular to the second direction, and the third axis is perpendicular to both the first direction and the second direction. Through setting the first axis to mutually perpendicular with the second axis to set up first direction and second direction mutually perpendicular, can realize treating detection thing 6 in a large scale and carry out visual detection, promoted detectability and detection effect.

The first axis and the second axis are disposed at right angles, in this embodiment, the first axis may be a straight line extending horizontally, and the plane where the second axis is located may be a vertical plane.

In this embodiment, the first direction may be a vertical direction, that is, a Z-axis direction of the visual detection mechanism. The second direction may be transverse, i.e. horizontal and perpendicular to the direction of the incoming material of the visual inspection mechanism, i.e. the Y-axis direction of the visual inspection mechanism.

The extending direction of the second axis is the second direction.

The first rotary part 4 comprises a first rotary power part 7 and a first rotary transmission part, the rotary material taking part 3 is arranged on the first rotary transmission part, and the first rotary power part 7 is connected with the first rotary transmission part so that the first rotary power part 7 drives the rotary material taking part 3 to rotate through the first rotary transmission part.

Through setting up first gyration drive portion, for gyration get material portion 3 provides the setting position to make gyration get material portion 3 can realize taking the first axis as rotation center rotation, can provide power for gyration to get material portion 3 and the rotation of first gyration drive portion through setting up first gyration power portion 7, guaranteed to drive steadily and accurately and wait to detect thing 6 and rotate.

The first rotary power unit 7 may be a motor.

The first rotary transmission part can be a transmission part such as a belt or a commutator.

As an embodiment, the rotary material taking part 3 may include a rotary suction cup, where the rotary suction cup is used to suck the object 6 to be detected, and the rotary suction cup is disposed on the output shaft of the commutator 9 and is coaxially disposed with the output shaft of the commutator 9, and the suction cup realizes taking and placing of the object 6 to be detected through an air source, so that the rotary suction cup and the output shaft of the commutator 9 are coaxially disposed, and the object 6 to be detected is ensured to be able to rotate stably.

As an embodiment, the rotary extracting portion 3 may include a rotary clamping member, which may be a pneumatic clamp or other clamping member capable of clamping the object 6 to be detected.

Specifically, taking a pneumatic clamp of the rotary clamping piece as an example, the pneumatic clamp is communicated with an air source, and the air source drives the pneumatic clamp to act so as to take and place the object 6 to be detected. When the object to be detected 6 is required to be detected, the air source drives the pneumatic clamp to act so as to clamp the object to be detected 6, and when feeding or taking materials from the pneumatic clamp, the air source drives the pneumatic clamp to open.

In this embodiment, the first rotary transmission portion includes a plurality of commutators 9, the rotary material taking portions 3 are plural, the rotary material taking portions 3 are disposed on output shafts of the commutators 9 in a one-to-one correspondence manner, the output shafts of the commutators 9 extend along the first axis, input shafts of adjacent commutators 9 are connected through a first coupling 10, and the first rotary power portion 7 is in transmission connection with the input shaft of at least one of the commutators 9, so as to drive the input shafts of the commutators 9 to synchronously rotate through the first coupling 10, so that the output shafts of the commutators 9 and the rotary material taking portions 3 synchronously rotate.

The power can be stably transferred to the rotary material taking part 3 through the arrangement of the reverser 9, and meanwhile, the power reversing can be realized, so that the first rotary power part 7 can be arranged on one side, far away from the rotary material taking part 3, of the reverser 9, the equipment width is reduced, and the equipment is miniaturized. Through setting up a plurality of commutators 9 and a plurality of gyration and get material portion 3, can realize simultaneously taking, rotation and detection to a plurality of objects 6 that wait to detect, very big improvement detection efficiency. Through setting up first shaft coupling 10, can make the output shaft of a plurality of commutators 9 and a plurality of gyration get material portion 3 synchronous rotation, further guaranteed good detection efficiency.

The number of the detecting cameras 22 is also a plurality, the detecting cameras 22 are arranged in one-to-one correspondence with the rotary material taking parts 3, and each detecting camera 22 is used for detecting the objects 6 to be detected on the corresponding rotary material taking part 3.

The first rotating part 4 further comprises a carrier support plate, and the commutators 9 are sequentially arranged on the carrier support plate along the second direction.

In this embodiment, the number of the reverser 9, the rotary material taking part 3, and the detection cameras 22 is four. The four commutators 9 are sequentially arranged on the support plate of the carrying platform, input shafts of adjacent commutators 9 in the four commutators 9 are connected through a first coupler 10, a rotary driven wheel 11 is arranged on a power shaft of any one of the commutators 9, a rotary driving wheel 12 is arranged on an output shaft of the first rotary power part 7, the rotary driving wheel 12 is connected with the rotary driven wheel 11 through a rotary synchronous belt 13, and the first coupler 10 is driven to rotate, so that the object 6 to be detected is driven to rotate through the commutators 9 by taking a central axis of the output shaft of the commutators 9 as a rotation center, namely, the first axis is used as a rotation center.

The output shaft of the commutator 9 is a hollow shaft, one end of the hollow shaft is provided with a rotary joint 8, the other end of the hollow shaft is connected with the rotary material taking part 3, the rotary joint 8 is communicated with an external air pipe, and then the rotary material taking part 3 is communicated with the external air pipe, so that the sucker can adsorb the object 6 to be detected.

After the rotation material taking part 3 absorbs the object 6 to be detected, the detection camera 22 photographs and detects a first detection position of the object 6 to be detected, and after the detection of the first detection position is completed, the first rotation power part 7 drives the object 6 to be detected to rotate by taking the first axis as a rotation center through the first rotation transmission part, so that detection data of different angles are obtained.

The second rotary part 5 comprises a rotary support seat 14, a rotary support plate 15 and a second rotary power part 16, the first rotary part 4 is arranged on the rotary support plate 15, and the second rotary power part 16 is respectively connected with the rotary support seat 14 and the rotary support plate 15 so as to drive the first rotary part 4 to rotate on the rotary support seat 14 by taking the second axis as a rotation center.

Through setting up rotation supporting seat 14, can provide stable setting position for rotation supporting plate 15, also can realize simultaneously driving rotation supporting plate 15 through second rotation power portion 16 and regard the second axis as rotation center on rotation supporting seat 14, and then realize the position of adjustment to wait to detect thing 6 in the circumference of second axis, can wait to detect thing 6 in more angles, more within a wide range and carry out visual detection, promoted visual detection mechanism's detectability, improve the detection effect.

The rotary support base 14 may be a U-shaped base, an opening of the U-shaped base is upward, the rotary support plate 15 is rotatably disposed on two opposite plates in the U-shaped base through a second coupling 18 and a fixed support shaft 19, and the second coupling 18 is connected with the second rotary power portion 16, so that the second rotary power portion 16 drives the rotary support plate 15 to rotate.

Wherein the first rotary transmission part and the rotary material taking part 3 are arranged on the top surface of the rotary support plate 15, and the first rotary power part 7 and the second rotary power part 16 are arranged on the bottom surface of the rotary support plate 15.

Specifically, the second rotary power unit 16 includes a second rotary motor and a speed reducer 17, and the second rotary power unit 16 and the speed reducer 17 are connected to the rotary support plate 15 through a second coupling 18 to power the rotation of the rotary support plate 15.

The first moving part comprises a first moving connecting plate 20 and a first driving piece 21, the detection camera 22 is connected with an output shaft of the first driving piece 21 through the first moving connecting plate 20, and the output shaft of the first driving piece 21 extends along a third axis to drive the first moving connecting plate 20 and the detection camera 22 to rotate by taking the third axis as a rotation center.

Through setting up first motion connecting plate 20, provide stable mounted position for detecting camera 22 to through setting up first driving piece 21 to make the output shaft of first driving piece 21 extend along the third axis, and then can realize driving first motion connecting plate 20 and detecting camera 22 and regard the third axis as rotation center rotation, make detecting camera 22 can adjust the position of shooing in the axial of third axis, and then carry out the detection of bigger scope to the thing 6 that detects.

The third axis extends horizontally, and the extending direction of the third axis is the same as the feeding direction of the visual detection mechanism, that is, the extending direction of the third axis is the X-axis direction of the visual detection mechanism.

The first driving member 21 may be a DD motor.

The detection camera 22 is fixedly disposed on the first moving connecting plate 20, the first moving connecting plate 20 is vertically disposed, and the first moving connecting plate 20 is connected with an output end of the first driving member 21, so that the first driving member 21 drives the first moving connecting plate 20 to rotate in a vertical plane with the third axis as a rotation center.

The first moving connection plate 20 is further provided with a light source portion provided on the first moving connection plate 20 movably in the first direction by the first guide structure 23.

Through setting up light source portion, can provide the illumination for visual detection, through setting up first guide structure 23, can realize adjusting the light source portion and wait to detect the distance between the thing 6, and then adjust illumination intensity and illumination scope, guaranteed good illumination effect, and then improved the detection effect.

The first guiding structure 23 is a sliding groove and a sliding block, the sliding groove is formed in the first moving connecting plate 20, the sliding groove is parallel to the detecting camera 22, the sliding block is arranged on the light source part, and the light source part is arranged in the sliding groove in a sliding manner through the sliding block.

The illumination portion includes a first light source 24, a second light source 25, and a third light source 26, the slider is disposed on an outer wall of the first light source 24, the second light source 25 is located at a side of the first light source 24 near the object 6 to be detected, and the third light source 26 is disposed at an outer peripheral side of the second light source 25 through a light source mounting member 27.

The first moving connecting plate 20 may further be provided with a fourth light source 28, where the fourth light source 28 is disposed at an end of the first moving connecting plate 20 near the object 6 to be detected through an adjusting plate 29.

The second moving part 30 includes a second moving connecting plate 31, a second driving member and a second guiding structure 38, the third moving part includes a third moving connecting plate 40, the second guiding structure 38 is disposed on the third moving connecting plate 40 along the first direction, and the second driving member is connected with the second moving connecting plate 31 to drive the second moving connecting plate 31 to slide on the second guiding structure 38 along the first direction.

By providing the second moving connecting plate 31, the second driving member and the second guiding structure 38, the position of the inspection camera 22 can be adjusted in the first direction, and a wider range of inspection of the object 6 to be inspected can be achieved.

The second moving connecting plate 31 and the third moving connecting plate 40 are in a flat plate structure, and the second moving connecting plate 31 and the third moving connecting plate 40 are vertically arranged.

The second guiding structure 38 may be a linear guide, where the first direction is a vertical direction, the linear guide is vertically disposed on the third moving connecting plate 40, and the second moving connecting plate 31 is slidably disposed on the second guiding structure 38.

The second driving member may be a screw device, and may specifically include a first screw motor 33, a belt 34, a driving roller 35, a driven roller 36, and a screw support 37.

Specifically, the first screw motor 33 may be disposed on the third moving connection plate 40 through the motor mount 32, and the screw is vertically disposed on the third moving connection plate 40 through the screw support 37. The lead screw sliding block is slidably arranged on the third motion connecting plate 40 and is connected with the second motion connecting plate 31, so that the first lead screw motor 33 can drive the lead screw to rotate through the driving roller 35, the belt 34 and the driven roller 36, and then drive the lead screw sliding block to axially move on the lead screw, and further drive the second motion connecting plate 31 to move up and down, and the detection camera 22 arranged on the first motion connecting plate 20, the first motion part and the light source part can be driven to synchronously move up and down.

The third moving part further includes a third driving member and a third guiding structure 41, the third guiding member is disposed on the camera support 39 along the second direction, and the third driving member is connected with the third moving connecting plate 40 to drive the third moving connecting plate 40 to slide on the third guiding structure 41 along the second direction.

By providing the camera support 39, a fixed position is provided for the third movement portion, and thus the overall fixation of the camera assembly is achieved. By providing the third driving member and the third guide structure 41, the position of the detection camera 22 can be adjusted in the second direction, and a wider range of detection of the object 6 to be detected can be achieved.

Wherein the camera support 39 is a gantry, and the third kinematic connection plate 40 is arranged between two legs of the gantry.

Specifically, a fixed back plate 44 is provided between the two legs of the camera mount 39, and the third driving member and the third guide structure 41 are provided on the fixed back plate 44.

The third guiding structure 41 may be a linear guide, the second direction is a horizontal direction, that is, the Y-axis direction, the third guiding structure 41 is transversely disposed on the fixed back plate 44, and the third moving connecting plate 40 is slidably disposed on the third guiding structure 41.

Wherein the second driving member is disposed on the stationary backplate 44. The second driving member may be a screw device, and may include a second screw motor 42, a ball screw 43, and a screw slider.

Specifically, the second lead screw motor 42 may be disposed on the stationary backplate 44 by the motor mount 32, with the lead screw disposed transversely and on the stationary backplate 44 by the lead screw support 37. The screw slider is slidably connected to the third moving connecting plate 40, so that the second screw motor 42 can drive the third moving connecting plate 40 to move along the second direction by driving the screw slider to move, and further drive the second moving portion 30, the first moving portion, the detecting camera 22 and the light source portion to synchronously move along the second direction.

Referring to fig. 8 to 17 in combination, in another aspect of the present embodiment, there is provided a detection apparatus including a visual detection mechanism as described above. The detection device may be a visual detection device.

The detection equipment comprises a feeding assembly 45 and a frame assembly 46, wherein the feeding assembly 45, the rotary assembly 1 and the camera assembly 2 are arranged on the frame assembly 46, the feeding assembly 45 comprises a fixing frame 47 and a first carrying part, the fixing frame 47 is arranged on the frame assembly 46, and the first carrying part can be movably arranged on the fixing frame 47 along a third direction so as to carry a to-be-detected object 6 on a to-be-carried station to the rotary material taking part 3.

By providing the frame assembly 46, a secure setting position is provided for the feeding assembly 45, the swivel assembly 1 and the camera assembly 2. Through setting up first transport portion to make first transport portion can follow the third direction on mount 47 and remove, and then can carry the waiting to detect on the station 6 of waiting to carry to the gyration and get material portion 3, realized automatic unloading, improved detection efficiency.

The feeding assembly 45, the rotating assembly 1, the camera assembly 2 and other assemblies can be arranged on the frame assembly 46 in a connection mode of bolts, welding and the like, and are arranged on the ground or the equipment platform through the frame assembly 46.

Wherein the first direction, the second direction and the third direction are three different directions.

In this embodiment, the first direction is the Z-axis direction of the visual inspection mechanism, the second direction is the Y-axis direction of the visual inspection mechanism, and the third direction is the X-axis direction of the visual inspection mechanism.

The first carrying part comprises a first carrying power module 48, a first carrying fixing module 49 and a first carrying taking module 52, the first carrying fixing module 49 is slidably arranged on the fixing frame 47, the first carrying power module 48 is respectively connected with the first carrying fixing module 49 and the fixing frame 47 so as to drive the first carrying fixing module 49 to slide on the fixing frame 47 along a third direction, and the first carrying taking module 52 is arranged on the first carrying fixing module 49 so as to obtain an object 6 to be detected on a station to be carried and carry the object to the rotary taking part 3.

The first conveyance power module 48 is provided to power the conveyance of the object 6 to be inspected. The first carrying and taking module 52 is arranged to obtain the object 6 to be detected, and the object 6 to be detected is placed on the rotary taking part 3. By arranging the first carrying fixing module 49, an installation position is provided for the first carrying material taking module 52, so that the first carrying power module 48 can drive the first carrying material taking module 52 to move, and carrying of the object 6 to be detected is realized.

Wherein the first conveyance power module 48 may be an electric cylinder.

The first carrying and taking module 52 may be a first carrying suction cup, where the first carrying suction cup is connected to an external air source to suck or put down the object 6 to be detected.

The first carrying and taking modules 52 may be multiple, and the second carrying and taking modules are arranged along the second direction, and the number of the first carrying and taking modules 52 is the same as the number of the rotary taking portions 3. The first carrying and taking modules 52 are arranged in one-to-one correspondence with the material transferring and taking parts.

The fixing frame 47 may be a gantry.

The first carrying fixing module 49 includes a first carrying connecting plate 50 and a second carrying connecting plate 51, the first carrying connecting plate 50 is connected with the second carrying connecting plate 51 through a first guiding post 53, the second carrying connecting plate 51 is on the fixing frame 47 and can slide along a third direction on the fixing frame 47, a first guiding groove 54 is arranged on the fixing frame 47 along the third direction, the first guiding post 53 is slidably arranged in the first guiding groove 54, the first carrying material taking module 52 includes a carrying sucker, the carrying sucker is arranged on the first carrying connecting plate 50, and the first carrying power module 48 is respectively connected with the fixing frame 47 and the second carrying connecting plate 51 to drive the second carrying connecting plate 51, the first carrying connecting plate 50, the first guiding post 53 and the carrying sucker to synchronously move along the third direction.

The second carrying connecting plate 51 is slidably disposed on the fixing frame 47, and the first carrying power module 48 is respectively connected with the fixing frame 47 and the second carrying connecting plate 51, so that the first carrying power module 48 can drive the second carrying connecting plate 51 to move along the third direction. Providing a stable mounting position for the first carrier web 50 by providing the second carrier web 51. The first carrying connection plate 50 provides an installation position for the carrying sucker, and the object 6 to be detected can be driven to move along the third direction through the carrying sucker. By providing the first guide posts 53 and the first guide grooves 54, the movement stability of the first and second conveyance connecting plates 50 and 51 in the third direction is ensured.

Wherein, the first transport connecting plate 50 and the second transport connecting plate 51 are both flat plates and horizontally arranged, and the second transport connecting plate 51 is located above the first transport connecting plate 50.

The fixing frame 47 includes a top plate 61, and the top plate 61, the first conveying connection plate 50 and the second conveying connection plate 51 are horizontally disposed.

The second carrying connection board 51 is slidably disposed on the top board 61 through a carrying sliding rail 62, the carrying sliding rail 62 is located at the bottom of the top board 61, and the carrying sliding rail 62 extends along the third direction, so that the second carrying connection board 51 can slide on the fixing frame 47 along the third direction.

The number of the carrying slide rails 62 is two, one is disposed at one end of the top along the second direction, and the other is disposed at the other end of the top along the second direction.

Wherein the first transport connection plate 50 and the second transport connection plate 51 remain parallel to the top plate 61 while being moved synchronously in the third direction.

The first guide post 53 is vertical, the bottom end of the first guide post 53 is fixed on the first carrying connecting plate 50, after the first guide post 53 passes through the second carrying connecting plate 51 upwards, the first guide post 53 penetrates into the first guide groove 54, the first guide groove 54 is formed on the top plate 61 and extends along the third direction, and the first guide post 53 passes through the first guide groove 54 vertically, so that when the first carrying connecting plate 50 and the second carrying connecting plate 51 move along the third direction, the first guide post 53 synchronously moves along the third direction in the first guide groove 54 to play a guiding role.

The first carrying power module 48 may include a carrying motor 55, a carrying driving wheel 56, a carrying timing belt 57, a carrying driven wheel 58, a carrying screw 59, and a fixed block 60.

Wherein the conveyance motor 55 is provided on top of the top plate 61 through a fixing plate and a motor mounting plate.

Wherein, carry lead screw 59 sets up at the top of roof through the lead screw mount pad, carries lead screw 59 and sets up along the third direction.

Wherein, the transport action wheel 56 is installed on the output shaft of transport motor 55, and the transport driven wheel 58 is installed in the one end that transport lead screw 59 is close to transport motor 55, and transport action wheel 56 and transport driven wheel 58 pass through the synchronous belt 57 of transport and connect.

The fixed block 60 is connected with a screw nut of the carrying screw rod and the second carrying connecting plate 51 respectively, and further drives the carrying screw rod 59 to rotate through the carrying motor 55, so that the fixed block 60 moves along with the screw nut in a third direction, and further drives the second carrying connecting plate 51 to slide on top along the third direction.

The feeding assembly 45 further includes a second carrying portion movably disposed on the fixing frame 47 along the first direction, so as to carry the object 6 to be detected on the material taking station to the material carrying station.

Through setting up second transport portion to make second transport portion can follow first direction and remove, can be with waiting to get on the material station wait to detect article 6 and carry the station to wait, realize waiting to detect article 6's transport.

Wherein, the object 6 to be detected is located below the station to be carried.

The second carrying portion can be placed on the fixing frame 47 to move up and down, so that the object 6 to be detected carried by the object 6 to be detected is carried upwards to the station to be carried.

The second carrying part comprises a second carrying power module 74, a second carrying fixed module and a second carrying material taking module, wherein the second carrying power module 74 is respectively connected with the second carrying fixed module and the fixed frame 47 so as to drive the second carrying fixed module to move along the first direction relative to the fixed frame 47, and the second carrying material taking module is arranged on the second carrying fixed module so as to obtain the object 6 to be detected on the material taking station and carry the object 6 to the material taking station.

The second conveyance power module 74 is provided to power the conveyance of the object 6 to be inspected. The second carrying and taking module is arranged, so that the object 6 to be detected can be obtained, the object 6 to be detected is obtained from the object taking station, and the object is carried to the object carrying station. The second carrying and taking module is provided with an installation position by arranging the second carrying and fixing module, so that the second carrying and taking module can be driven to move by the second carrying and power module 74, and carrying of the object 6 to be detected is realized.

Wherein the second carrier power module 74 may be an electric cylinder.

Wherein the second carrying power module 74 is disposed on the top plate 61 of the fixing frame 47.

The second carrying and taking module can be a second carrying sucker, and the second carrying sucker is connected with an external air source to suck or put down the object 6 to be detected.

The second carrying and taking modules can be multiple, and the multiple second carrying and taking modules are distributed along the second direction. The number of the second carrying and taking modules is the same as that of the rotary taking parts 3, and the second carrying and taking modules are arranged in one-to-one correspondence with the first carrying and taking modules 52.

In this embodiment, the number of the second carrying and taking modules and the first carrying and taking modules 52 is four.

The second carrying and fixing module comprises a turnover connecting frame 64, a turnover plate 65, a turnover power piece and a fourth guide piece 70, wherein the turnover connecting frame 64 is slidably arranged on the fixing frame 47 along the first direction through the fourth guide piece 70, the turnover plate 65 is arranged on the turnover connecting frame 64, the turnover power piece is respectively connected with the turnover connecting frame 64 and the turnover plate 65 to drive the turnover plate 65 to rotate on the turnover connecting frame 64 by taking a fourth axis as a rotation center, the fourth axis is parallel to the second axis, and the second carrying and taking module is arranged on the turnover plate 65.

Through upset link 64 and upset board 65 to get the module setting with the second transport on upset board 65, can realize that the second transport is got the module and is rotated as center of rotation along with upset board 65 with the fourth axis, and then realize following to get the material station and absorb the material and overturn and remove to waiting to carry the station, guaranteed the stability when waiting to detect article 6 of absorption, improved work efficiency. By arranging the overturning power piece, power can be provided for overturning the overturning plate 65, and automatic overturning is realized. The fourth guide 70 provides a guide for the movement of the tilting connection 64 on the holder 47.

The turnover connecting frame 64 may have a U-shaped structure, and the turnover plate 65 may be rotatably disposed on two parallel surfaces of the U-shaped structure of the turnover connecting frame 64.

The turnover power part comprises a turnover motor 66, a turnover driving wheel 67, a turnover synchronous belt 68 and a turnover driven wheel 69. One end of the turnover plate 65 is connected with a turnover driven wheel 69, the other end is connected with a bearing fixing ring 71 and a rotary disc 72 on the turnover connecting frame 64, and the turnover driving wheel 67 and the turnover driven wheel 69 are connected through a turnover synchronous belt 68; four second carry and get material module and arrange on the upset board 65 side by side through sucking disc mounting. The output shaft of the turning motor 66 rotates to drive the turning driving wheel 67 to rotate, and then drives the turning driven wheel 69 to rotate through the turning synchronous belt 68, so as to drive the turning plate 65 and the second carrying and taking module to rotate.

Wherein the turnover angle of the turnover plate 65 and the second carrying and taking module is 180 degrees. That is, when the object 6 to be detected is obtained from the station to be detected, the second carrying and taking module is vertically downward, and after the object 6 to be detected is obtained, the overturning plate 65 and the second carrying and taking module are overturned by 180 degrees, so that the second carrying and taking module is vertically upward.

As a feeding method, the detecting apparatus further includes a feeding belt 73, and feeding can be performed by the feeding belt 73. A feed belt 73 is disposed on the frame assembly 46 below the flipping panel 65. The object 6 to be detected is placed on the feeding belt 73, so that the feeding belt 73 drives the object 6 to be detected to move to the material taking station along the third direction, and the second carrying and material taking module can obtain the object 6 to be detected at the material taking station.

The second carrying power module 74 is connected to the overturning connecting frame 64, so as to drive the overturning connecting frame 64, the rotating plate and the second carrying material taking module to move up and down synchronously.

The fourth guide 70 is disposed vertically, and the fourth guide 70 is slidably disposed on the top plate 61 of the fixing frame 47 in the first direction by a linear bearing. A stopper 63 is provided at the top of the fourth guide 70.

The number of the fourth guides 70 may be plural, and the plurality of fourth guides 70 may be arranged in the second direction.

The second carrying part comprises a material taking working condition and a feeding working condition, under the material taking working condition, a second carrying material taking module is arranged towards a material taking station, and a second carrying power module 74 is used for driving a second carrying fixed module to move towards the material taking station so as to enable the second carrying material taking module to obtain a material 6 to be detected on the material taking station; under the feeding working condition, the second carrying and taking module is arranged towards the station to be carried, and the second carrying power module 74 is used for driving the second carrying and fixing module to move towards the station to be carried, so that the second carrying and taking module carries the object 6 to be detected to the station to be carried.

Under the material taking working condition, the second carrying power module 74 is arranged to drive the second carrying fixing module to move towards the material taking station, so that a section of abdication gap is reserved between the second carrying material taking module and the material 6 to be detected on the material conveying belt 73, the abdication can be formed when the second carrying material taking module rotates along with the overturning plate 65, and the collision between the second carrying material taking module and the material 6 to be detected on the material conveying belt 73 is avoided. Under the feeding working condition, the second carrying power module 74 is set to drive the second carrying fixing module to move towards the station to be carried, so that a section of abdication gap is reserved between the second carrying material taking module and the first carrying material taking module 52, abdication can be formed when the second carrying material taking module carries the material to be detected 6 to rotate along with the overturning plate 65, and collision between the material to be detected 6 and the second carrying material taking module and the first carrying material taking module 52 is avoided.

The object 6 to be detected passes through the feeding belt 73 with the surface a upwards to reach the station to be extracted below the overturning plate 65, and the second carrying power module 74 drives the second carrying fixing module to move downwards, so that the second carrying extracting module absorbs the object 6 to be detected. Then, the overturning motor 66 drives the overturning plate 65 to overturn 180 degrees through the overturning driving wheel 67, the overturning synchronous belt 68 and the overturning driven wheel 69, so that the object 6 to be detected rotates to face the B upwards, and overturning of the object 6 to be detected is realized. Then, the first carrying power module 48 drives the first carrying fixing module 49 and the first carrying material taking module 52 to move, so that the first carrying material taking module 52 is located above the surface of the object 6B to be detected. The second carrying power module 74 drives the second carrying fixing module to move upwards, so that the second carrying material taking module transfers the to-be-detected object 6 to the first carrying material taking module 52, and after the first carrying material taking module 52 absorbs the to-be-detected object 6, the first carrying power module 48 drives the first carrying fixing module 49 and the first carrying material taking module 52 to carry the to-be-detected object 6 to the rotary material taking part 3.

The detection device further comprises a translation assembly 75, the translation assembly 75 comprises a translation fixing portion 76 and a translation force portion 77, the rotation assembly 1 is arranged on the translation fixing portion 76, the translation force portion 77 is connected with the translation fixing portion 76 to drive the translation fixing portion 76 and the rotation assembly 1 to move on the frame assembly 46 along a third direction, a path along which the rotation assembly 1 moves along with the translation fixing portion 76 comprises a receiving station and a detection station, the rotation assembly 1 is located at the receiving station to receive the to-be-detected object 6 conveyed through the first conveying portion, and the rotation assembly 1 is located at the detection station to enable the camera assembly 2 to detect the to-be-detected object 6 on the rotation assembly 1.

Through setting up translation subassembly 75, can realize driving gyration subassembly 1 and remove along the third direction, and then make and connect and remove between material station and the detection station, can realize sending the thing 6 that waits to detect from receiving the material station to detecting the station.

Wherein the swing assembly 1 is disposed on the frame assembly 46 by a translation assembly 75.

The translation fixing portion 76 is of a flat plate structure and is horizontally arranged, and the revolving assembly 1 is arranged on the top surface of the translation fixing portion 76.

Wherein the translation power portion 77 may be a translation screw.

Wherein the translation assembly 75 further includes a translation frame 78, the translation frame 78 being disposed on the housing assembly 46. The translation power portion 77 is disposed along the third direction and fixed to the inner wall of the translation frame 78. The translation assembly 75 further includes two translation rails 79, and the translation rails 79 are disposed along the third direction and fixed on the inner wall of the translation frame 78 at two ends. The translation power portion 77 is disposed between two translation rails 79.

The translation fixing portion 76 is connected with a lead screw nut of the translation lead screw through a connecting block 80, so that the translation lead screw can drive the translation fixing portion 76 to move along a third direction.

As another feeding mode, the detecting device further includes a positioning component 81, the feeding can be performed by the positioning component 81, the positioning component 81 is disposed on the rack component 46, the positioning component 81 includes a first positioning portion 83 and a second positioning portion 91, the first positioning portion 83 is used for driving the object 6 to be detected to be positioned in the second direction, and the second positioning portion 91 is used for driving the object 6 to be detected to be positioned in the third direction.

The positioning component 81 is arranged to position the object 6 to be detected, and then the positioned object 6 to be detected is conveyed to the rotary component 1 through the feeding component 45, so that the camera component 2 detects the object 6 to be detected. Through setting up first location portion 83 and second location portion 91, can all be in the second direction and the third direction to the thing 6 that awaits measuring location, improved positioning accuracy, guaranteed good location accuracy.

The first positioning portion 83 is configured to drive the object 6 to be detected to move to a preset position in the second direction, so as to position the object 6 to be detected in the second direction.

The second positioning portion 91 is configured to drive the object to be detected 6 to move to a preset position in the third direction, so as to position the object to be detected 6 in the third direction.

Wherein the positioning assembly 81 may be disposed below the flipping plate 65.

The positioning assembly 81 includes a positioning base 82, the first positioning portion 83 includes a first baffle 84, a first push plate 85, a first connecting plate 87, a first adapting plate 97 and a first positioning power member 86, the first adapting plate 97 is arranged parallel to the positioning base 82, the first baffle 84 is arranged on the positioning base 82, the first connecting plate 87 is movably arranged on the first adapting plate 97 along a second direction, the first push plate 85 is arranged on the first connecting plate 87, the first baffle 84 and the first push plate 85 extend along a third direction, and the first positioning power member 86 is connected with the first connecting plate 87 and is used for driving the first push plate 85 to move along the second direction through the first connecting plate 87 so as to be close to or far away from the first baffle 84.

By providing the positioning base 82, a set position is provided for the first shutter 84 and the object 6 to be detected. By providing the first adapter plate 97, a set position is provided for the first push plate 85 and the first positioning power member 86. Determining the preset position in the second direction can be achieved by providing the first shutter 84. Through setting up first push pedal 85 and first location power spare 86, can realize driving to wait to detect thing 6 and remove in the second direction, and then cooperate first baffle 84 to press from both sides waiting to detect thing 6 between first baffle 84 and first push pedal 85, realize waiting to detect thing 6 to fix a position in the second direction.

Wherein, positioning bottom plate 82 and first adapter plate 97 are connected and all are the level setting, and the thing 6 that waits to detect is placed at the top of positioning bottom plate 82, and first adapter plate can set up in the below of positioning bottom plate 82, and first baffle 84 and first push pedal 85 are located the top of positioning bottom plate 82.

Wherein, the first baffle 84 is disposed on the top surface of the positioning base 82, and the first baffle 84 is disposed opposite to the first push plate 85 in the second direction.

The number of the first baffles 84 may be plural, and the number of the first pushing plates 85 may be plural, where the first baffles 84 are disposed in one-to-one correspondence with the first pushing plates 85.

Wherein the first positioning power member 86 is a cylinder. The first positioning power member 86 is disposed in a mounting groove in the top surface of the first adapter plate 97.

The first connecting plate 87 extends along the second direction, and the plurality of first pushing plates 85 extend along the third direction and are disposed perpendicular to the first connecting plate 87.

Four grooves are formed in the positioning base plate 82, and positioning support plates are arranged in the grooves and used for supporting the object 6 to be detected.

Wherein, positioning assembly 81 further includes a positioning bracket 96, positioning base 82 is disposed on positioning bracket 96, and positioning bracket 96 is disposed on the top surface of frame assembly 46.

In the present embodiment, the number of the first shutter 84 and the first push plate 85 is four as an example. The first baffle plates 84 and the first push plates 85 are arranged in one-to-one correspondence to form four groups, and can simultaneously position the four objects 6 to be detected in the second direction.

The positioning assembly 81 includes a first slider 98 and a first positioning guide 88, the first slider 98 is slidably disposed on the first positioning guide 88, the first connecting plate 87 is movably disposed on the first rotating plate 97 along the second direction through the first slider 98 and the first positioning guide 88, a plurality of first mounting seats are disposed on the first connecting plate 87, the number of the first push plates 85 is plural, the plural first push plates 85 are disposed in parallel, the first push plates 85 are disposed on the first mounting seats in one-to-one correspondence, and the first positioning power member 86 is connected with the first connecting plate 87 to synchronously drive the plural first push plates 85 to move along the second direction through the first connecting plate 87.

By providing the first mounting seat with a mounting position for the first push plate 85, a stable connection of the first push plate 85 is ensured. By providing the first slider 98 and the first positioning guide 88, a guiding effect can be provided for the movement of the first connecting plate 87, and the stability and accuracy of the movement are ensured.

The first sliders 98 may be plural, and the plural first sliders 98 are arranged along the second direction and are slidably connected to the first positioning guide 88.

Wherein the first positioning guide 88 may be a positioning guide, the first positioning guide 88 is disposed on a top surface of the first adapter plate 97, and the first adapter plate 97 and the first positioning guide 88 extend in the second direction.

In this embodiment, the number of the first mounting seats is four as an example. The four first push plates 85 are arranged in one-to-one correspondence with the four first mounting seats.

The first mounting seat is in a concave shape, the opening of the concave shape faces the first push plate 85, and the first push plate 85 is inserted into a hollow part of the concave shape of the first mounting seat.

Wherein, be provided with cylinder connecting piece 89 along three direction on the first connecting plate 87, the action end of first location power piece 86 is connected with first connecting plate 87 through cylinder connecting piece 89 to drive first connecting plate 87 and remove along the second direction.

The buffer spring 90 is arranged between the first mounting seat and the first push plate 85, the buffer spring 90 is arranged along the second direction, and the buffer effect can be provided when the first push plate 85 collides with the object 6 to be detected and the first push plate 85 and the first baffle 84 clamp the object 6 to be detected through the buffer spring 90, so that the object 6 to be detected is prevented from being damaged.

Wherein, set up in the first mount pad and have the mounting groove, be provided with the slider in the mounting groove, the slider can slide along the second direction in the mounting groove, and first push pedal 85 is connected with the slider to slide along the second direction along with the slider in the mounting groove, the one end butt of buffer spring 90 is on the cell wall of mounting groove, the other end butt is on the outer wall of slider.

The number of the buffer springs 90 is the same as that of the first push plates 85, and the buffer springs 90 are arranged in one-to-one correspondence with the first push plates 85.

Wherein, the buffer spring 90 is located at one side of the corresponding first push plate 85 away from the corresponding object 6 to be detected.

Wherein the buffer spring 90 is in an initial state when the first push plate 85 is not in contact with the object 6 to be detected.

The second positioning portion 91 includes a second baffle 92, a second push plate 93, a second adapting plate 99, a second slider 100, a second positioning guide 94 and a second positioning power member 95, the second baffle 92 is disposed on the positioning base 82, the second adapting plate 99 is disposed parallel to the positioning base 82, the second slider 100 is slidably disposed on the second positioning guide 94, the second push plate 93 is movably disposed on the second adapting plate 99 along a third direction through the second slider 100 and the second positioning guide 94, the second baffle 92 and the second push plate 93 extend along the second direction, and the second positioning power member 95 is connected with the second push plate 93 and is used for driving the second push plate 93 to move along the third direction so as to approach or depart from the second baffle 92.

Determining the preset position in the third direction can be achieved by providing the second shutter 92. By providing the second adapter plate 99, a stable installation position is provided for the second push plate 93, the second slider 100, the second positioning guide 94, and the second positioning power member 95. Through setting up second push pedal 93 and second location power spare 95, can realize driving to wait to detect thing 6 and remove in the third direction, and then cooperate second baffle 92 to press from both sides to wait to detect thing 6 between second baffle 92 and second push pedal 93, realize waiting to detect thing 6 in the third direction and fix a position. By providing the second slider 100 and the second positioning guide 94, the second push plate 93 is ensured to stably slide in the third direction.

The second baffle 92 extends along the second direction, and the second baffle 92 may be one long plate or a plurality of short plates. When the second baffles 92 are a plurality of short plates, the number of the second baffles 92 is the same as the number of the second carrying and material taking modules, and the plurality of second baffles 92 extend along the second direction and are sequentially arranged along the second direction.

Wherein the second adapter plate 99 is parallel to and horizontally disposed with the positioning base plate 82. The second positioning guide 94 and the second positioning power member 95 are disposed on the top surface of the second adapter plate 99. The second positioning guide 94 extends in the third direction, and the second slider 100 is slidable on the second positioning guide 94 in the third direction.

The present embodiment takes the number of the second baffles 92 as four as an example.

The second push plate 93 is a long plate, so that all objects 6 to be detected on the positioning bottom plate 82 can be pushed to move simultaneously, simultaneous positioning is realized, and positioning efficiency is improved.

Wherein the second push plate 93 is disposed parallel to the second baffle 92.

The second positioning power member 95 drives the second push plate 93 to approach or depart from the second baffle 92 along the third direction, and keeps parallel with the second baffle 92 when the second push plate 93 moves.

The second positioning power piece 95 includes a second positioning cylinder, where the second positioning cylinder is disposed on the second adapter plate 99, and a piston of the second positioning cylinder is fixedly connected with the second push plate 93. Under the action of an external air pipe, the piston of the second positioning cylinder extends, so that the second push plate 93 is driven to reciprocate in the third direction, and the object 6 to be detected is positioned in the third direction.

Four second positioning blocks are arranged on the second push plate 93, the four second positioning blocks are arranged on the outer wall of one side, facing the object 6 to be detected, of the second push plate 93, and the second positioning blocks are arranged in one-to-one correspondence with the object 6 to be detected.

The first positioning power member 86 and the second positioning power member 95 act simultaneously, and then position the object 6 to be detected in the second direction and the third direction simultaneously.

According to the visual detection mechanism and the visual detection equipment provided by the embodiment of the invention, the rotary material taking part 3 is arranged to firmly acquire the object 6 to be detected and drive the object 6 to be detected to carry out visual detection. Through setting up first gyration portion 4 can realize driving to wait to detect thing 6 and regard as rotation center rotation, can also drive to wait to detect thing 6 and regard as rotation center rotation through setting up second gyration portion 5, has increased the degree of freedom that wait to detect thing 6 motion, makes camera module 2 can wait to detect thing 6 and carry out the detection of bigger scope. By setting the first moving part to drive the detection camera 22 to rotate with the third axis as the rotation center, the shooting angle of the detection camera 22 can be adjusted in the circumferential direction of the third axis, and the detection range is enlarged. By arranging the second moving part 30 and arranging the first moving part on the second moving part 30, the detection camera 22 can be driven to detect the object 6 to be detected in the first direction, by arranging the third moving part and arranging the third moving part on the camera support 39 in a movable manner in the second direction, the detection camera 22 can detect the object 6 to be detected in the second direction, the detection range of the object 6 to be detected is further enlarged, the object 6 to be detected can be visually detected in a larger range at more angles, the detection capability of the visual detection mechanism is improved, the detection effect is improved, and meanwhile, the visual detection mechanism can be suitable for visual detection of the object 6 to be detected with a complex structure, such as detection of an inner tube defect, detection of the wearing type and metal type object 6 to be detected with complex structures, the application range of the visual detection mechanism is improved, and the gap of the prior art is filled.

The detection equipment in the embodiment of the application can realize full-digital closed-loop servo control, multi-axis motion control, ensure the smoothness and high simulation of motion, reduce dynamic drift and distortion, and meet the imaging requirements of multiple light sources, multiple channels and multiple angles. Through modularization combination and free flexible system integration, different demands of customers are met, and the system is easy to maintain, stable in operation and long in service life of the whole machine. The detection equipment has high automation degree and short maintenance and debugging time, and meets the requirements of overall consistency, correlation, repeatability, high precision and high reliability for introducing development.

It will be readily appreciated by those skilled in the art that the above advantageous ways can be freely combined and superimposed without conflict.

The foregoing description of the preferred embodiment of the present invention is not intended to limit the invention to the particular form disclosed, but on the contrary, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention. The foregoing is merely a preferred embodiment of the present application and it should be noted that it will be apparent to those skilled in the art that several modifications and variations can be made without departing from the technical principles of the present application, and these modifications and variations should also be regarded as the scope of the present application.

Claims

1. The detection equipment is characterized by comprising a visual detection mechanism, wherein the visual detection mechanism comprises a rotary assembly (1) and a camera assembly (2), the rotary assembly (1) comprises a rotary material taking part (3), a first rotary part (4) and a second rotary part (5), the rotary material taking part (3) is used for setting a to-be-detected object (6), the rotary material taking part (3) is rotationally arranged on the first rotary part (4) by taking a first axis as a rotation center, the first rotary part (4) is rotationally arranged on the second rotary part (5) by taking a second axis as a rotation center, and the first axis and the second axis are in angle arrangement;

the camera assembly (2) comprises a detection camera (22), a first moving part, a second moving part (30), a third moving part and a camera bracket (39), wherein the detection camera (22) is rotatably arranged on the first moving part by taking a third axis as a rotation center, the first moving part is arranged on the second moving part (30) and moves along a first direction along with the second moving part (30) on the third moving part, and the third moving part is movably arranged on the camera bracket (39) along a second direction;

the detection equipment comprises a feeding assembly (45), wherein the feeding assembly (45) comprises a fixed frame (47) and a first carrying part, and the first carrying part can be movably arranged on the fixed frame (47) along a third direction so as to carry the to-be-detected object (6) on a to-be-carried station to the rotary material taking part (3);

The first conveying part comprises a first conveying power module (48), a first conveying fixed module (49) and a first conveying material taking module (52);

the first transport fixed module (49) includes first transport connecting plate (50), second transport connecting plate (51), first transport connecting plate (50) with second transport connecting plate (51) are connected through first guide post (53), second transport connecting plate (51) are in on mount (47), and can follow on mount (47) first guide slot (54) are provided with on mount (47) along the third direction, first guide post (53) slip sets up in first guide slot (54), first transport get material module (52) include transport sucking disc, the transport sucking disc sets up on first transport connecting plate (50), first transport power module (48) respectively with mount (47) with second transport connecting plate (51) are connected, so as to drive second transport connecting plate (51), first transport connecting plate (50), first guide post (53) and third direction synchronous removal of sucking disc.

2. The detection apparatus according to claim 1, wherein the first axis is perpendicular to the second axis, the first direction is perpendicular to the second direction, and the third axis is perpendicular to both the first direction and the second direction.

3. The detection device according to claim 1, wherein the first rotary part (4) comprises a first rotary power part (7) and a first rotary transmission part, the rotary material taking part (3) is arranged on the first rotary transmission part, and the first rotary power part (7) is connected with the first rotary transmission part so that the first rotary power part (7) drives the rotary material taking part (3) to rotate through the first rotary transmission part.

4. A detection device according to claim 3, wherein the first rotary transmission part comprises a plurality of commutators (9), the rotary material taking parts (3) are a plurality of, the rotary material taking parts (3) are arranged on the output shafts of the commutators (9) in a one-to-one correspondence manner, the output shafts of the commutators (9) extend along the first axis, the input shafts of adjacent commutators (9) are connected through a first coupling (10), and the first rotary power part (7) is in transmission connection with the input shaft of at least one of the commutators (9) so as to drive the input shafts of the commutators (9) to synchronously rotate through the first coupling (10) so as to synchronously rotate the output shafts of the commutators (9) and the rotary material taking parts (3).

5. The inspection apparatus according to claim 4, characterized in that the rotary pick-up (3) comprises a rotary suction cup or a rotary clamp for loading the object (6) to be inspected, which is arranged on the output shaft of the reverser (9) and coaxially with the output shaft of the reverser (9).

6. The detection device according to claim 1, wherein the second rotating portion (5) comprises a rotating support seat (14), a rotating support plate (15) and a second rotating power portion (16), the first rotating portion (4) is disposed on the rotating support plate (15), and the second rotating power portion (16) is respectively connected with the rotating support seat (14) and the rotating support plate (15) so as to drive the first rotating portion (4) to rotate on the rotating support seat (14) with the second axis as a rotation center.

7. The detection device according to claim 1, wherein the first moving part comprises a first moving connecting plate (20) and a first driving member (21), the detection camera (22) is connected with an output shaft of the first driving member (21) through the first moving connecting plate (20), and the output shaft of the first driving member (21) extends along the third axis to drive the first moving connecting plate (20) and the detection camera (22) to rotate with the third axis as a rotation center.

8. The detection device according to claim 7, characterized in that the first movement connection plate (20) is further provided with a light source part, which is arranged on the first movement connection plate (20) movably in the first direction by means of a first guide structure (23).

9. The detection device according to claim 7, wherein the second movement portion (30) comprises a second movement connection plate (31), a second driving element and a second guiding structure (38), the third movement portion comprises a third movement connection plate (40), the second guiding structure (38) is arranged on the third movement connection plate (40) along the first direction, and the second driving element is connected with the second movement connection plate (31) to drive the second movement connection plate (31) to slide along the first direction on the second guiding structure (38).

10. The detection apparatus according to claim 9, wherein the third movement portion further comprises a third driving member and a third guiding structure (41), the third guiding structure (41) being arranged on the camera support (39) along the second direction, the third driving member being connected with the third movement connecting plate (40) to drive the third movement connecting plate (40) to slide on the third guiding structure (41) along the second direction.

11. The detection apparatus as claimed in claim 1, characterized in that the detection apparatus comprises a frame assembly (46), the feeding assembly (45), the swivel assembly (1) and the camera assembly (2) are arranged on the frame assembly (46), and the fixing frame (47) is arranged on the frame assembly (46).

12. The inspection apparatus of claim 1, wherein the loading assembly (45) further comprises a second handling portion movably disposed on the mount (47) in a first direction for handling the object (6) to be inspected at the station to be handled.

13. The inspection apparatus of claim 12, wherein the second handling portion includes a second handling power module (74), a second handling fixing module, and a second handling material taking module, the second handling power module (74) being respectively connected to the second handling fixing module and the fixing frame (47) to drive the second handling fixing module to move in the first direction relative to the fixing frame (47), the second handling material taking module being disposed on the second handling fixing module to take the object (6) to be inspected on the material taking station and to be handled on the material taking station.

14. The apparatus according to claim 13, wherein the second carrying and fixing module includes a turnover connecting frame (64), a turnover plate (65), a turnover power member and a fourth guide member (70), the turnover connecting frame (64) is slidably disposed on the fixing frame (47) along the first direction by the fourth guide member (70), the turnover plate (65) is disposed on the turnover connecting frame (64), and the turnover power member is respectively connected with the turnover connecting frame (64) and the turnover plate (65) to drive the turnover plate (65) to rotate on the turnover connecting frame (64) with a fourth axis as a rotation center, and the fourth axis is parallel to the second axis, and the second carrying and taking module is disposed on the turnover plate (65).

15. The detection apparatus according to claim 14, wherein the second carrying portion includes a material taking condition and a material feeding condition, in which the second carrying material taking module is disposed toward the material taking station, and the second carrying power module (74) is configured to drive the second carrying fixing module to move toward the material taking station, so that the second carrying material taking module obtains the object (6) to be detected on the material taking station; under the feeding working condition, the second carrying and taking module is arranged towards the station to be carried, and the second carrying power module (74) is used for driving the second carrying fixed module to move towards the station to be carried, so that the second carrying and taking module conveys the object (6) to be detected to the station to be carried.

16. The detection apparatus according to claim 11, further comprising a translation assembly (75), the translation assembly (75) comprising a translation fixing portion (76) and a translation force portion (77), the swing assembly (1) being disposed on the translation fixing portion (76), the translation force portion (77) being connected with the translation fixing portion (76) to drive the translation fixing portion (76) and the swing assembly (1) to move on the frame assembly (46) in the third direction, a path along which the swing assembly (1) moves with the translation fixing portion (76) comprising a receiving station and a detection station, the swing assembly (1) being in the receiving station to receive the object (6) to be detected conveyed via the first conveying portion, the swing assembly (1) being in the detection station to cause the camera assembly (2) to detect the object (6) to be detected on the swing assembly (1).

17. The detection apparatus according to claim 11, further comprising a positioning assembly (81), the positioning assembly (81) being disposed on the frame assembly (46), the positioning assembly (81) comprising a first positioning portion (83) and a second positioning portion (91), the first positioning portion (83) being configured to drive the object to be detected (6) to be positioned in the second direction, and the second positioning portion (91) being configured to drive the object to be detected (6) to be positioned in the third direction.

18. The detection apparatus according to claim 17, characterized in that the positioning assembly (81) includes a positioning bottom plate (82), the first positioning portion (83) includes a first baffle plate (84), a first push plate (85), a first connection plate (87), a first switching plate (97) and a first positioning power member (86), the first switching plate (97) is disposed in parallel with the positioning bottom plate (82), the first baffle plate (84) is disposed on the positioning bottom plate (82), the first connection plate (87) is movably disposed on the first switching plate (97) along the second direction, the first push plate (85) is disposed on the first connection plate (87), the first baffle plate (84) and the first push plate (85) extend along the third direction, and the first positioning power member (86) is connected with the first connection plate (87) for driving the first push plate (85) to move along the second direction so as to approach or separate from the first baffle plate (84).

19. The detection apparatus according to claim 18, wherein the positioning assembly (81) includes a first slider (98) and a first positioning guide (88), the first slider (98) is slidably disposed on the first positioning guide (88), the first connecting plate (87) is movably disposed on the first transferring plate (97) along the second direction through the first slider (98) and the first positioning guide (88), a plurality of first mounting seats are disposed on the first connecting plate (87), the number of first pushing plates (85) is plural, the plurality of first pushing plates (85) are disposed in parallel, the first pushing plates (85) are disposed on the first mounting seats in a one-to-one correspondence manner, and the first positioning power member (86) is connected with the first connecting plate (87) so as to synchronously drive the plurality of first pushing plates (85) to move along the second direction through the first connecting plate (87);

A buffer spring (90) is arranged between the first mounting seat and the first push plate (85), and the buffer spring (90) is arranged along the second direction.

20. The detection apparatus according to claim 18, wherein the second positioning portion (91) includes a second baffle plate (92), a second push plate (93), a second adapter plate (99), a second slider (100), a second positioning guide (94) and a second positioning power member (95), the second baffle plate (92) is disposed on the positioning base plate (82), the second adapter plate (99) is disposed parallel to the positioning base plate (82), the second slider (100) is slidably disposed on the second positioning guide (94), the second push plate (93) is movably disposed on the second baffle plate (99) along the third direction by the second slider (100) and the second positioning guide (94), the second baffle plate (92) and the second push plate (93) extend along the second direction, and the second positioning power member (95) is connected to the second push plate (93) for driving the second push plate (93) to move along the third direction or away from the second baffle plate (93);