CN116329127A - A macro-distance detection and sorting method and application for appearance detection - Google Patents

Abstract

The invention relates to the technical field of appearance defect detection of electronic products, in particular to a micro-distance detection and sorting method for appearance detection. The method specifically comprises the following steps of firstly, feeding in micro-distance detection, secondly, detecting CG (CG) surface, thirdly, and turning over a detection object; detecting a BG surface; step five, micro-distance detection and sorting blanking; the positions, which are easy to cause appearance defects, of the detected object can be covered better through the stations and the corresponding arrangement method of the micro-distance detection cameras, and the multi-station arrangement method can enable the detection of the appearance defects which can be covered to be more complete.

Description

A macro detection and sorting method and application for appearance detection

technical field

The invention relates to the technical field of electronic product appearance defect detection, in particular to a macro-distance detection and sorting method for appearance detection.

Background technique

With the increasing development of electronic technology, electronic products have gradually become an indispensable part of daily life, especially smart products such as smart phones and tablet computers.

Now the output and consumer demand of smartphones and tablet PCs are on the rise. Since these products are electronic products assembled and formed based on the middle frame, the quality of the middle frame of these products directly affects the quality of the product.

The middle frame of this type of product is divided into the BG side for installing the screen and the CG side for installing the battery; during the processing and transportation of the middle frame, the BG side and the CG side are prone to appearance defects that affect product quality. Appearance defects such as stress marks, bruises, crushing, scratches, edge burrs, edge burrs, edge curling, over-milling, missing milling, and incomplete milling.

Most of the traditional detection methods for the appearance of such objects are manually inspected by the naked eye, or through the detection equipment to take pictures and identify them one by one; on the one hand, the detection accuracy of these detection methods is not high enough, because the coverage of appearance inspection in these methods The area is not complete, and there is no systematic and targeted camera arrangement for different detection areas, so the traditional detection method is prone to missed detection of defective products; on the other hand, these detection methods do not form a complete set of automatic detection equipment and method, from loading to unloading, the prior art lacks an appearance defect detection device capable of detecting targeted appearance defects from loading, dust removal, and different areas until unloading; therefore, the detection efficiency of existing detection equipment is low , it is difficult to meet the needs of product appearance inspection under large-scale production.

For macro detection, the shooting field of view of macro detection is smaller, and the imaging effect is clearer; but it is difficult for existing macro detection cameras to be directly applied to the object detection process required by the present invention through corresponding detection methods, so now In the prior art, there is a lack of a macro-distance inspection system and method that is better suitable for the appearance inspection of this type of object and has a more comprehensive layout coverage.

Contents of the invention

Aiming at the technical problems existing in the prior art, the present invention provides a macro detection and sorting method for appearance detection, which specifically includes the following steps,

Step 1. Macro detection and feeding

Place the detection object that requires macro detection at the feeding position for macro detection;

Step 2: CG surface detection

Put the detection object CG face up and pass through the first station for macro detection, the second station for macro detection, the first reserved station for macro detection, the second reserved station for macro detection until the macro detection is turned over Material level, the first station of macro detection is used to detect the edge of the plate on the CG surface of the detection object, and the second station of macro detection is used to detect the waterproof surface of the CG surface of the detection object.

Step 3. Detect object flipping

Flip the detection object with the CG face up at the upper material position of the macro detection flip to the lower material position of the macro detection flip and keep the BG face up;

Step 4, BG surface detection

Keep the detection object at the flipping position of the macro detection and keep the BG face up and pass through the third station of the macro detection, the fourth station of the macro detection, the fifth station of the macro detection, and the sixth station of the macro detection position until the macro detection and sorting position; the third macro detection station is used to detect the position of the nut on the BG inner cavity surface of the detection object, and the fourth macro detection station is used to detect the U of the BG inner cavity surface of the detection object The fifth station of macro-distance detection is used to detect the four corners of the upper and lower U regions on the BG inner cavity surface of the test object, and the sixth station of macro-distance detection is used to test the T groove area of the BG inner cavity surface of the test object to test.

Step 5. Micro-distance detection, sorting and cutting

The detection objects that have completed the macro detection and are located at the macro detection and sorting position are transplanted to the macro separation track along the y-axis direction and moved along the macro separation track to the position to be picked up. The defective products of the macro detection will be At the position to be picked up, it is picked up into the defective product collection mechanism, and the qualified products of macro-distance detection will wait for the pick-up mechanism of the next station to pick it up and move to the next station at the position to be picked up.

Specifically, through the above-mentioned stations and the corresponding macro-distance inspection camera arrangement method, it is possible to preferably cover the parts of the inspection object that are prone to appearance defects, and the multi-station arrangement method can enable coverable appearance defect detection It is more complete, so as to ensure the detection accuracy of the macro detection and the overall detection process; in addition, the macro detection is arranged in the middle of the entire detection equipment. Putting them together can better facilitate the arrangement and reduce the cost compared to the separate arrangement; at the same time, the detection object is turned over during the macro detection; so that the parts on both sides of the macro detection device in the whole equipment can be used for CG respectively Surface and BG surface detection, so that the whole process starts from loading, the first half is CG surface detection, and the second half is BG surface detection, which can facilitate subsequent image analysis data processing.

Preferably, the macro detection and sorting device includes a macro detection body, and the macro detection body includes a macro BG surface detection part, a macro CG surface detection part, and a macro detection and sorting part; the macro CG surface detection part is arranged There are the first station for macro detection and the second station for macro detection; the third station for macro detection, the fourth station for macro detection, the fifth station for macro detection and The sixth station of macro detection; the macro detection and sorting part is used to pick up the detection objects after BG and CG detection and sort them to the next station.

As a preference, the main body of the macro device is provided with a total of twelve macro detection placement positions arranged in parallel at 6×2 intervals along the x-axis and y-axis directions, and the twelve macro detection placement positions are divided into two rows along the x-axis direction The first and second macro detection parts are arranged, the CG surface detection part includes the first macro detection part, and the BG surface detection part includes the second macro detection part; the macro feeding level is located at the first micro distance of the CG surface detection part. In the detection part, the macro detection and sorting position is located in the second macro detection part of the BG surface detection part. Twelve macro detection placement positions from the macro feeding position to the macro detection and sorting position work together to form a macro detection In the moving route of the detection object, the moving route of the detection object is in an S shape from the first macro detection part to the second macro detection part.

It can be understood that, through the arrangement of 6×2 in the present invention, the two sides of each row along the y-axis direction are respectively used as the upper and lower material levels of the row, and the four positions in the middle can be used as detection stations and correspond to corresponding micro Cooperating with the detection camera, the 6×2 layout can better meet the layout requirements of the eight detection stations. At the same time, this enables the BG surface detection part and the CG surface detection part to be distributed in a symmetrical structure, each occupying two rows. The macro detection part can also make the main body of the macro device be arranged at the junction of the BG surface detection part and the CG surface detection part, so that the overall arrangement structure and subsequent operation are more stable.

Preferably, the macro-separation section includes a macro-separation first y-axis module driven by an air source and a macro-separation x-axis module, and the macro-separation first y-axis module is used to pick up Detect the detection object at the sorting position and transplant it to the x-axis linear module of macro-distance sorting; The first z-axis cylinder of micro-distance sorting in the axial direction, the lower part of the piston rod facing downwards of the first z-axis cylinder of macro-distance sorting is connected with the first adsorption plate of macro-distance separation; the first adsorption plate of macro-distance separation is arranged with Multiple micro-distance sorting nozzles, the suction direction of the multiple macro-distance sorting nozzles is towards the lower side and cooperate together to form an adsorption area, which is used to adsorb the detection objects at the macro-distance detection and sorting position; The upper part of the mover of the linear module from the sorting x-axis is horizontally arranged with a macro-separation adsorption positioning plate for absorbing and positioning the detection object and carrying it to move along the x-axis;

The x-axis linear module of macro-distance sorting is arranged beside one end of the far-macro-distance detection and sorting position, and the second y-axis linear module of macro-distance sorting driven by air source and the macro-distance sorting and blanking used as electric cylinder are arranged. The y-axis linear module, the second y-axis linear module for macro-distance sorting is used to pick up the detection object located at the x-axis linear module of macro-distance sorting and transplant it to the y-axis linear module of macro-distance sorting and unloading ; The second y-axis linear module of macro-separation is arranged with the second z-axis cylinder of macro-separation along the z-axis direction at the second y-axis mover of macro-separation, and the second z-axis cylinder of macro-separation The lower part is connected with the second adsorption plate of macro-distance sorting for adsorption and loosening of the detection object. The horizontal arrangement of the y-axis mover of macro-distance sorting and unloading y-axis linear module is useful. It is used to place the detection object and carry it to move the macro-separation feeding suction part.

Preferably, the six macro-distance detection placement positions at the first macro-distance detection part sequentially form the macro-distance feeding position, the macro-distance detection first station, the macro-distance detection second station, the macro-distance detection The first reserved station, the second reserved station for macro detection, and the flipping and loading position for macro detection; the 6 macro detection placement positions at the second macro detection part form macro detection sequentially along the negative direction of the x-axis Turn over the material position, the third station for macro detection, the fourth station for macro detection, the fifth station for macro detection, the sixth station for macro detection, and the sorting position for macro detection.

Preferably, the first station for macro detection, the second station for macro detection, the third station for macro detection, the fourth station for macro detection, the fifth station for macro detection and the sixth station for macro detection The first camera assembly for macro detection, the second camera assembly for macro detection, the third camera assembly for macro detection, and the fourth camera assembly for macro detection are respectively arranged on the top of the A camera assembly, a fifth camera assembly for macro detection, and a sixth camera assembly for macro detection.

Preferably, the macro detection camera includes a macro camera main body, and a macro camera mounting block is formed at the upper side wall of the macro camera body, and the macro camera mounting block is used to install the macro camera at each macro detection station. The holes are matched for arrangement and installation. The first macro shooting lens with the shooting optical path facing downward is arranged on the lowermost end surface of the macro camera body, and the lower part of the side wall opposite to the installation block of the macro camera is arranged at the main body of the macro camera. There is a second macro shooting lens with the shooting light path facing outward; the lens axes of the first macro shooting lens and the second macro shooting lens are perpendicular to each other;

Multiple macro detection cameras at the first camera assembly of macro detection cooperate to form the first detection position of macro detection. The z-axis lifting module of macro detection can drive the CG surface positioning tooling at this station and the detection object to move upward to The first detection position of macro detection, the first camera assembly of macro detection includes a plurality of macro detection cameras respectively arranged on the outside of the two broad sides of the surface of the detection object CG; the macro detection cameras on both sides are arranged in parallel and spaced on the detection object CG Between the two ends in the width direction of the surface, the macro detection cameras are arranged obliquely through the adapter plate, and the outer wall plane of the macro detection camera at the first camera component of the macro detection is maintained between - degrees relative to the CG surface of the detection object The inclination angle; the first macro shooting lens and the second macro shooting lens of each macro detection camera at this station are all facing the side of the wide side edge of the CG surface to be used for the macro of the edge of the CG plate detection.

The second macro detection station also includes a macro detection second camera assembly located directly above the CG surface positioning tooling at this station, where the macro detection second camera assembly forms a macro detection second detection position, and the macro detection z The shaft lifting module can drive the CG surface positioning tool at the station and the detection object to move upward to the second detection position of the macro detection. The second camera assembly of the macro detection includes two cameras arranged in parallel between the two long sides of the CG surface. A row of macro detection cameras, two rows of macro detection cameras are parallel to the two long sides of the CG surface of the detection object, and a single row of macro detection cameras is arranged in parallel and spaced from one wide side of the CG surface to the other wide side to cover On the entire CG waterproof surface, the first macro shooting lens of a single macro detection camera at the two rows of macro detection cameras is all vertically facing the bottom plane of the CG surface, and the second macro shooting lens is all facing the long side of the CG surface. It is used for macro detection of CG waterproof surface.

Preferably, the macro detection camera includes a macro camera main body, and a macro camera mounting block is formed at the upper side wall of the macro camera body, and the macro camera mounting block is used to install the macro camera at each macro detection station. The holes are matched for arrangement and installation. The first macro shooting lens with the shooting optical path facing downward is arranged on the lowermost end surface of the macro camera body, and the lower part of the side wall opposite to the installation block of the macro camera is arranged at the main body of the macro camera. There is a second macro shooting lens with the shooting light path facing outward; the lens axes of the first macro shooting lens and the second macro shooting lens are perpendicular to each other;

Multiple macro detection cameras at the first camera assembly of macro detection cooperate to form the first detection position of macro detection. The z-axis lifting module of macro detection can drive the CG surface positioning tooling at this station and the detection object to move upward to The first detection position of macro detection, the first camera assembly of macro detection includes a plurality of macro detection cameras respectively arranged on the outside of the two broad sides of the surface of the detection object CG; the macro detection cameras on both sides are arranged in parallel and spaced on the detection object CG Between the two ends in the width direction of the surface, the macro detection cameras are arranged obliquely through the adapter plate, and the outer wall plane of the macro detection camera at the first camera component of the macro detection is maintained between - degrees relative to the CG surface of the detection object The inclination angle; the first macro shooting lens and the second macro shooting lens of each macro detection camera at this station are all facing the side of the wide side edge of the CG surface to be used for the macro of the edge of the CG plate detection.

The second macro detection station also includes a macro detection second camera assembly located directly above the CG surface positioning tooling at this station, where the macro detection second camera assembly forms a macro detection second detection position, and the macro detection z The shaft lifting module can drive the CG surface positioning tool at the station and the detection object to move upward to the second detection position of the macro detection. The second camera assembly of the macro detection includes two cameras arranged in parallel between the two long sides of the CG surface. A row of macro detection cameras, two rows of macro detection cameras are parallel to the two long sides of the CG surface of the detection object, and a single row of macro detection cameras is arranged in parallel and spaced from one wide side of the CG surface to the other wide side to cover On the entire CG waterproof surface, the first macro shooting lens of a single macro detection camera at the two rows of macro detection cameras is all vertically facing the bottom plane of the CG surface, and the second macro shooting lens is all facing the long side of the CG surface. It is used for macro detection of CG waterproof surface.

The third station for macro detection also includes a third camera assembly for macro inspection located directly above the BG surface positioning fixture at the station, and multiple macro inspection cameras at the third camera assembly for macro inspection cooperate to form a macro inspection The third detection position, the z-axis lifting module for macro detection can drive the CG surface positioning tooling at this station and the detection object to move upward to the third detection position for macro detection. Two rows of macro detection cameras between the two long sides of the cavity on the BG surface of the object, each row of macro detection cameras are arranged in parallel and spaced from one wide side to the other wide side of the cavity on the BG surface, each micro The first macro shooting lenses from the detection camera are all vertically facing the bottom plane of the inner cavity of the BG surface, and the second macro shooting lenses are all vertically facing the inner wall of the long side protruding perpendicular to the bottom plane of the inner cavity of the BG surface for BG Micro-distance detection of the nut position on the inner cavity surface.

The fourth station for macro detection also includes a fourth camera assembly for macro inspection located directly above the BG surface positioning fixture at this station, and multiple macro inspection cameras at the fourth camera assembly for macro inspection cooperate to form a macro inspection The fourth detection position, the macro detection z-axis lifting module can drive the CG surface positioning tooling at this station and the detection object to move upwards to the fourth detection position of the macro detection. Two rows of macro detection cameras arranged in parallel on the two broad sides of the cavity, each row of macro detection cameras are arranged in parallel and spaced from one wide side of the inner cavity of the BG surface to the other wide side, each macro detection camera at this station The first macro shooting lenses are all vertically facing the bottom plane of the BG surface cavity, and the second macro shooting lenses are all vertically facing the wide side inner wall protruding perpendicular to the bottom plane at the BG surface cavity for the BG cavity surface Up and down U area macro detection;

The fifth station for macro detection also includes a fifth camera assembly for macro inspection located directly above the BG surface positioning fixture at this station, and multiple macro inspection cameras at the fifth camera assembly for macro inspection cooperate to form a macro inspection The fifth detection position, the macro detection z-axis lifting module can drive the CG surface positioning tooling at this station and the detection object to move upwards to the fifth detection position of the macro detection, the fifth camera assembly of the macro detection includes respectively arranged on the BG surface Four macro detection cameras inside the four corners of the inner cavity, the first macro shooting lens of each macro detection camera is vertically facing the bottom plane of the inner cavity on the BG surface, and the second macro shooting lens is facing the BG surface The inner wall of the corners of the inner cavity is used for macro detection of the four corners of the upper and lower U areas on the inner surface of the BG inner cavity;

The sixth macro detection station also includes the sixth macro detection camera assembly located directly above the BG surface positioning fixture at this station, and multiple macro detection cameras at the sixth camera assembly of the macro detection cooperate to form a macro detection The sixth detection position, the macro detection z-axis lifting module can drive the CG surface positioning tooling at this station and the detection object to move upwards to the sixth detection position of the macro detection. Two rows of macro detection cameras are arranged parallel to the two long sides of the wall. Each row of macro detection cameras is arranged in parallel and spaced from one wide side of the inner cavity of the BG surface to the other wide side. Each macro detection camera at this station The first macro shooting lenses are all vertically facing the bottom plane of the inner cavity of the BG surface, and the second macro shooting lenses are all vertically facing the inner wall of the long side protruding perpendicular to the bottom plane at the inner cavity of the BG surface for use on the inner cavity surface of the BG T-groove area macro detection.

Preferably, the first station for macro detection, the second station for macro detection, the first reserved station for macro detection and the second reserved station for macro detection, the third station for macro detection, the third station for macro detection The fourth station, the fifth station for macro detection, and the sixth station for macro detection are respectively equipped with corresponding ball screw-type macro detection z-axis linear modules 3690, and each macro detection The z-axis mover for macro detection of z-axis linear module 3690 is respectively connected with the first station for macro detection, the second station for macro detection, the first reserved station for macro detection and the second reserved station for macro detection position, the third station for macro detection, the fourth station for macro detection, the fifth station for macro detection and the sixth station for macro detection are connected to the lower ends to drive them to move upward to the corresponding detection positions.

The present invention also provides an application of a macro-distance detection and sorting method for appearance detection. The detection object in the aforementioned method is the middle frame of the mobile phone.

Description of drawings

Fig. 1 is a schematic structural diagram of the main body of the device in embodiment 1; Fig. 2 is a schematic structural diagram of the CG surface positioning tool in embodiment 2; Fig. 3 is a structural schematic diagram of another perspective of the CG surface positioning tool in embodiment 2; Fig. 4 is Schematic diagram of the structure of the main body of the fixture in Example 2; Figure 5 is a schematic diagram of the structure of another perspective of Figure 4; Figure 6 is a schematic diagram of the structure of the main body of the feeding device in Example 3; Figure 7 is a schematic diagram of the feeding part of the full tray in Figure 6 Schematic diagram of the structure; Fig. 8 is a schematic diagram of the structure of another perspective of Fig. 7; Fig. 9 is a schematic diagram of the structure of the lifting module of the feeding process in Fig. 6; Fig. 10 is a schematic diagram of the structure of the feeding level in Fig. 6; Schematic diagram of the structure of the tray collecting position; FIG. 12 is a schematic diagram of the structure of the hollow tray clamping mechanism in FIG. 11; FIG. 13 is a schematic diagram of the structure of the dust removal device in Example 3; FIG. 14 is a schematic diagram of the structure of the turning position in FIG. 13;

Figure 15 is a schematic structural view of the material level in Figure 13; Figure 16 is a schematic structural view of the dust removal two-axis module in Figure 13; Figure 17 is a schematic structural view of the area array detection device in Example 3; Figure 18 is a 2D in Example 4 Schematic diagram of the structure of the detection device combined with 3D; Figure 19 is a schematic structural diagram of another perspective of Figure 18; Figure 20 is a schematic structural diagram of the multi-head grabbing module in Figure 19; Figure 21 is the combined detection of the y-axis feeding line in Figure 19 Schematic diagram of the structure of the module; FIG. 22 is a schematic diagram of the structure of the combined detection transport path in FIG. 19; FIG. 23 is a schematic structural diagram of the combined detection transition assembly in FIG. 19; FIG. 24 is a schematic structural diagram of the 2D line-scan camera in FIG. 19; FIG. 25 It is a schematic structural diagram of the bionic AOI light source and a 2D camera mounting frame in Figure 19; Figure 26 is a schematic structural diagram of the 3D detection module in Figure 19; Figure 29 is a schematic structural view of the macro camera body in Example 5; Figure 30 is a structural schematic view of the first station for macro detection in Example 5; Figure 31 is Schematic diagram of the structure of the second station for macro-distance detection in Example 5; FIG. 32 is a schematic diagram of the structure of the third station for macro-distance detection in Embodiment 5; FIG. 33 is a schematic diagram of the structure of the fourth station for macro-distance detection in Embodiment 5 ; Fig. 34 is a schematic structural view of the fifth station of macro detection in embodiment 5; Fig. 35 is a schematic structural view of the sixth station of macro detection in embodiment 5; Fig. 36 is a structure of the main body of macro detection in embodiment 6 Schematic diagram; Figure 37 is a schematic structural diagram of the BG surface of the mobile phone middle frame; Figure 38 is a structural schematic diagram of the CG surface of the mobile phone middle frame.

Detailed ways

In order to further understand the contents of the present invention, the present invention will be described in detail in conjunction with examples. It should be understood that the examples are only for explaining the present invention and not for limiting it.

Example 1

This embodiment provides an appearance defect detection method, which is performed based on appearance defect detection equipment, which specifically includes the following steps,

Step 1. Loading

Feeding through the feeding device for appearance defect detection;

Step 2. Dust removal and CG surface array detection

Keep the BG side of the detection object facing down and perform dust removal through the material surface dust removal device 1300, and after dust removal, use the area array detection device 1700 to perform area array detection on the CG surface of the detection object;

Step 3: CG surface 2D and 3D combined detection

Through the detection system combining appearance 2D and 3D, CG surface detection is performed on the detection object after the previous step;

Step 4, macro detection

Use a macro detection system 150 to perform macro detection on the CG surface and BG surface of the detection object that is completed in the previous step. During the macro detection process, the detection object is turned over, and the detection object that has completed the macro detection keeps the BG face upward. ;

Step 5, BG surface 2D and 3D combined detection

Through the detection system combining appearance 2D and 3D, BG surface detection is performed on the detection object after the previous step;

Step 6. BG surface array detection

Perform area array detection on the BG surface of the detection object through the area array detection device 1700;

Step 7. Sorting and cutting

Therefore, after the test is completed, the test objects after the test are sorted into qualified products and defective products.

It can be understood that by using this method, a whole set of equipment can be used to detect the BG surface and CG surface of the detection object, so that the appearance defects that may exist at the detection object can be covered more comprehensively, so that a large number of detection objects can be efficiently inspected Detect and sort out defective products.

In this embodiment, an appearance defect detection device includes a device main body 100. The device main body 100 includes a feeding end and a feeding end. Array detection system 130 , 2D and 3D combined CG surface detection system 140 , macro detection system 150 , 2D and 3D combined BG surface detection system 160 and BG surface array detection system 170 .

Specifically, the device main body 100 in this embodiment can preferably cover all areas of the detection object with a single device, and use targeted systems to detect different detection parts, so it can Better improve the detection rate of defective products, so as to ensure the quality of products.

In addition, the main body 100 of the device in this embodiment can complete the whole process from feeding to dust removal to targeted detection in each area to unloading through a single device, so the whole detection process can be made more compact, with fewer gaps in the middle, Therefore, the overall detection efficiency can be better improved, and the detection efficiency can be ensured, so as to meet the detection demand of large output.

Example 2

This embodiment provides the CG surface positioning tool 200 for positioning and cooperating with the CG surface of the test object and the BG surface product positioning fixture for positioning and cooperating with the BG surface of the middle frame of the mobile phone used in the first embodiment.

The CG surface positioning tool 200 includes a CG surface positioning bottom plate 210 for connecting and arranging the gas circuit, a CG surface suction head arrangement plate 220 is arranged on the upper end surface of the CG surface positioning bottom plate 210, and the upper end surface of the CG surface suction head arrangement plate 220 A CG surface adsorption position is formed at the CG surface suction head layout plate 220, and a plurality of CG surface suction nozzles 221 connected to the air path are arranged at the CG surface suction nozzle 221. for adsorption.

A CG surface installation groove 222 is formed at the long side wall of the CG surface suction head arrangement plate 220, and a CG surface proximity sensor 223 is installed in the CG surface installation groove 222, and the sensing direction of the CG surface proximity sensor 223 faces the adsorption position of the CG surface for induction identification ; The side wall and the center of the bottom wall of the CG surface positioning base plate 210 are respectively arranged with two CG surface air passage ports 211, and the CG surface air passage port 211 at the center of the bottom wall of the CG surface positioning base plate 210 is arranged with a seal for sealing O-ring 212;

The CG surface positioning bottom plate 210 is provided with the CG surface gas path opening 211. The CG surface process hole 213 for processing the internal gas path is formed at the side wall. After the processing and assembly are completed, the process hole is plugged with screws, and the CG surface gas path is connected The port 211 communicates with the CG surface suction nozzle 221 through an internal air path.

The number of suction nozzles at the CG surface suction head layout plate 220 is four, and the four suction nozzles are respectively arranged at positions close to the four corners relative to the center position of the CG surface suction head layout plate 220, and the CG surface positioning bottom plate 210 is close to The corner of one side of the outer wall of the CG surface proximity sensor 223 is formed with a wiring groove, and the wiring groove extends along the corner to the CG surface installation groove 222 where the proximity sensor is located and forms a connection. The connection area between the wiring groove and the CG surface installation groove 222 is formed. have rounded corners.

There are through screw holes 213 formed at the four corners where the CG surface positioning bottom plate 210 and the CG surface suction head arrangement plate 220 are attached. The screw holes 213 are used to screw in screws to connect the CG surface positioning bottom plate 210 and the CG surface suction nozzles. 221 phase positioning connection.

The BG surface product positioning jig comprises a fixture main body 400, and the fixture main body 400 includes a BG surface placing base plate 410 arranged at its bottom and arranged horizontally, and a BG surface placing frame 420 arranged vertically on the top of the BG surface placing base plate 410, BG The upper end surface of the surface placement frame 420 is formed with a BG surface placement position for placing the detection object, and the BG surface placement frame 420 is provided with a BG surface adsorption component and a BG in-plane limiter for positioning the detection object at the BG surface placement position. components.

The BG surface adsorption component is used to cooperate with the bottom wall of the BG surface of the detection object to achieve adsorption, and the BG surface limit component is used to abut against the side wall of the BG surface of the detection object to form an inner limit fit; the BG surface placement frame 420 is four Footstool shape; the BG in-plane limit assembly includes a four-claw cylinder 430 arranged in the middle of the lower side of the BG surface placement frame 420, and the four claw bodies 431 of the four-claw cylinder 430 are arranged in a circular distribution relative to the central position of the BG surface; The four claws 431 are respectively perpendicular to the four edges of the detection object corresponding to the placement position on the BG surface, and are arranged to move along the vertical direction.

There are BG surface positioning pins 4311 vertically arranged on one side of the four claws 431 far away from the center of the BG surface, and two BG surface positioning pins 4311 at each claw body 431 are arranged symmetrically on the middle two sides of the corresponding sideline. Side; the BG surface positioning pins 4311 at the four claws 431 are respectively used to abut against and cooperate with the corresponding detection object BG surface side walls to cooperate to form internal expansion positioning; the side walls of the BG surface placement frame 420 are provided with The gas source interface 421 connected to the gas source pipeline.

The area where the BG surface is placed is surrounded by the four claws 431 of the four-claw cylinder 430 is provided with a BG surface suction head layout plate 440; the four corner areas of the BG surface suction head layout plate 440 are respectively equipped with BG surface suction Nozzle 441; the BG surface suction nozzle 441 at the four corner areas is used to adsorb and cooperate with the bottom wall of the BG surface to realize the adsorption and release of the detection object; the BG surface suction cup mounting plate at one of the corner areas is also A BG surface proximity sensor 442 for identifying a detection target is attached.

Example 3

This embodiment provides a feeding device and method for detecting appearance defects applicable to Embodiment 1, wherein a feeding method for detecting appearance defects specifically includes the following steps:

Step 1. Loading the full tray

Stack the trays full of materials to be tested vertically to form the trays and place them vertically on the lower part of the feeding device;

Step 2. Lifting the tray

Through the lifting module 640 in the feeding process, the entire material tray is vertically lifted up to the material taking position;

Step 3: Take material from the uppermost tray in the vertical row of trays

The feeding process reclaiming assembly arranged above the retrieving position takes the material from the uppermost tray located in the vertical row of trays and transfers it to the next station;

Step 4. Empty tray collection

The lifting module 640 of the feeding process lifts the entire vertical row of trays up to the empty tray collection position 630; the empty tray clamping mechanism 635 located at the empty tray collection position 630 removes the uppermost part of the vertical row of trays. The empty material tray of the material is clamped and fixed;

Step 5. The trays are returned vertically

After the empty tray is fixed at the empty tray collection position 630 by the empty tray clamping mechanism, the entire tray is vertically returned to the pick-up position driven by the lifting module;

Step 6. Repeat Step 3-Step 5

Repeat the vertical retrieving of trays, collection of empty trays, and vertical return of trays;

Step 7. Stack empty trays vertically

The trays loaded with the materials to be detected at the vertical row of trays are all retrieved by the retrieving assembly, and all the empty trays are stacked at the empty tray collection position 630 through the empty tray clamping mechanism 635 to form a vertical empty tray. List;

Step 8. Take back the empty tray

The empty tray clamping mechanism 635 is released, and the empty trays are taken out vertically by the manipulator or manually.

Specifically, through the above method, it is more efficient and convenient to take out the material tray with the material and take back the empty material tray; and this method can make the arrangement of the feeding device used more reasonable; combined with Figure 6, the method The feeding device used for appearance defect detection includes a feeding device main body 600, and the feeding device main body 600 is sequentially arranged with full feeding trays for stacking and placing full trays to form a vertical row of trays. The material section 610 is used to take the material to be detected at the full tray and move it to the next station's take-up position, and is used to stack and collect the empty trays after the completion of the take-up to form an empty tray. The empty tray collection position 630 in the row; the loading process lifting module 640 for lifting the tray is also arranged at the main body 600 of the feeding device.

Specifically, the main body of the device in this embodiment is first placed in the form of stacked trays; understandably,

First, the form of stacking trays can stack more trays at one time, so that more materials can be loaded in one feeding process; and because the materials in the trays are mainly aimed at having a square three-dimensional structure Electronic products; therefore, stacking in the vertical direction can keep the end faces of electronic products stably horizontal for subsequent material extraction.

Second, the form of tray stacking can be matched with the full tray feeding part 610, material fetching level and empty tray collecting position 630 arranged in sequence along the vertical direction, so that the arrangement structure of the entire device is concentrated in the vertical direction, thereby ensuring that the space occupied by the main body of the device in the horizontal direction is small.

Third, the trays stacked in the vertical direction can naturally form the uppermost part that is convenient for retrieving materials and the lowermost part that is convenient to cooperate with the supporting structure to support the whole; The uppermost tray is used for retrieving and lifting separation without affecting other trays.

Fourth, in this embodiment, the loading personnel can put the stacked full trays into the full tray feeding part 610; Synergy; only through the lifting control of one lifting module, it is possible to realize the retrieving of the uppermost material tray and match the height formed by the material tray itself to lift the empty material tray after the uppermost reclaiming is completed to the empty material tray collection position 630 In such a cycle, the vertical columns of full trays in the full tray feeding section 610 are naturally gradually reduced by taking materials, and the vertical columns of empty trays at the collection position 630 of empty trays gradually rise and increase.

Fifth, since the empty trays in this embodiment are naturally piled up at the empty tray collection position 630 to form a vertical column of empty trays, they can be easily taken away by manipulators or collectors.

In this embodiment, with reference to Fig. 7-Fig. 8, the feeding part 610 of the full tray includes a feeding part placement bottom plate 611 arranged in parallel in the horizontal direction; the upper part of the placement bottom plate is arranged with a feeding part consistent with the extending direction of the placement bottom plate Sliding guide rail 612; a sliding bottom plate of the feeding part is arranged at the sliding guide rail 612 of the feeding part on both sides;

The part of the sliding bottom plate between the sliding guide rails 612 of the feeding part on both sides forms a lifting opening 618 along the vertical direction to cooperate with the lifting module to lift; the middle part of the upper surface of the sliding bottom plate forms a placement area for placing the tray; The four corners are all arranged with limit stops 613 in the vertical direction; the limit stops 613 are trapezoidal and each corner is provided with two and are respectively located on both sides of the corner apex to The feed tray forms a limit; the middle part of the upper surface of the side of the sliding bottom plate of the feeding part far away from the lifting opening 618 is provided with a handle 614 for pulling the sliding bottom plate of the feeding part to slide along the sliding guide rail 612 of the feeding part.

It can be understood that the sliding bottom plate at the feeding part can preferably support the tray at the bottom of the vertical row of trays at the feeding part; and the sliding bottom plate can cooperate with the limit stopper 613 to jointly form a The placement area for placing the vertical row of trays; the vertical row of trays located in the placement area can preferably be limited in the vertical direction to ensure its vertical position and retrieving level and empty trays The collection bit 630 corresponds.

In this embodiment, the feeding part cylinder assembly 615 for driving the feeding part sliding bottom plate to slide along the feeding part sliding guide rail 612 is arranged at the place where the feeding part is placed on the bottom plate 611; The feeding part sliding bottom plate is connected; the feeding part placement bottom plate 611 is located at the position below the handle 614 and is arranged with a feeding part positioning pin 616 driven by an air source to move in the vertical direction; The positioning pins 616 of the feeding part cooperate with each other to position the through hole of the feeding part on the upper limit of the sliding direction of the sliding bottom plate of the feeding part;

It can be understood that the movement and positioning in the horizontal direction of the sliding bottom plate of the feeding part and the vertical row of trays placed at the feeding part can be preferably controlled by the feeding part cylinder assembly 615 and the feeding part positioning pin 616 ,

The sliding bottom plate is located at the end outer wall of one side of the lifting opening 618 and is provided with an L-shaped induction piece 617 of the feeding part; The induction plate 617 of the feeding part is an inductor that is inductively matched; the bottom plate 611 of the feeding part is located on both sides of the sliding guide rail 612 of the feeding part, and a feeding part for induction identification of the tray at the feeding part is also provided Through-beam photoelectric sensor 619.

Specifically, this type of sensor can better automatically control the feeding device.

Further, in this embodiment, referring to FIG. 9 , the lifting module 640 of the loading process includes a lifting installation frame 641 arranged in the vertical direction. Sliding table, the two sides of the servo electric sliding table are provided with two lifting sliding blocks 642 sliding in the vertical direction, and the lifting sliding block 642 is driven by a servo motor 643 with a brake; the two lifting sliding blocks 642 are connected together with a The lifting mounting plate 644 placed in the vertical direction, the lifting mounting plate 644 top is symmetrically connected with right-angled lifting mounting pallets 645 along both sides of the horizontal direction. The lifting bottom plate 646 formed by extending in the direction of the lifting opening 618 at the bottom plate;

To be specific, the servomotor 643 with a brake can be used as the drive to better drive the vertical row of the trays to move up and down to achieve positioning; in addition, the vertical row of the trays can be preferably positioned by installing the relevant mechanism at the lifting slide block 642. Stabilizing supports to ensure that the entire column remains vertical and that each individual pan remains level for subsequent retrieval.

Lifting mounting frame 641 is arranged with the lifting limit stop bar along the vertical direction at one side outer wall place near lift base plate 646, and the lift limit stop bar sticks against the side wall of the vertical column of the material tray to form a vertical guide; the lift base plate The middle part of 646 is formed with a middle opening along the vertical direction, and the lower bottom surface of the lifting bottom plate 646 is positioned at the side of the middle opening and is arranged with a photoelectric sensor for lifting. Columns are sensed.

In this embodiment, referring to FIG. 10 , the retrieving level includes a retrieving base plate 621 arranged in the horizontal direction, and the middle part of the upper surface of the retrieving base plate 621 is formed with a retrieving opening 622 for the vertical passage of the trays along the vertical direction; The material opening 622 reserves one more material-sized space than the material tray along the y-axis direction; the upper part of the material retrieving base plate 621 is arranged with a feeding process reclaiming assembly, and the feeding process reclaiming assembly includes a material located on the reclaiming base plate 621. The two sides of the surface are arranged along the x-axis direction of the synchronous belt-type material retrieving process x-axis linear module 623; the x-axis and y-axis directions are respectively consistent with the width and length direction of the material tray at the vertical column of the material tray; the material reclaiming process x The x-axis mover of the reclaiming process moving along the x-axis direction is installed at the linear module 623 of the axis. group 624;

It can be understood that this implementation mainly uses the x-axis linear module 623 of the reclaiming process and the y-axis linear module 624 of the reclaiming process to realize the required movement during reclaiming; on the one hand, the x-axis linear module 623 of the reclaiming process can be compared It is conveniently arranged on both sides of the feeding opening 622. On the other hand, a y-axis linear module 624 can better meet the feeding requirements through a feeding process, and the materials at the tray can be sequentially processed according to the specified feeding order. pick up.

The y-axis linear module 624 of the reclaiming process is provided with two adjacently arranged reclaiming process y-axis movers 6241 that move along the y-axis direction, and the two reclaiming process y-axis movers 6241 pass through the x-axis connecting block A reclaiming process z-axis cylinder 6242 arranged in the vertical direction is connected, and the lower part of the piston rod of the reclaiming process z-axis cylinder 6242 is connected with a reclaiming process adsorption assembly 6243. The reclaiming process adsorption assembly 6243 includes The moving z-axis connecting block, the z-axis connecting block drives the lower surface to be connected with the suction cup mounting plate 6244 arranged in the horizontal direction, and the four corners of the suction cup mounting plate 6244 in the picking process are arranged with suction cups facing downward. The feeding suction nozzle in the retrieving process; the four retrieving suction cups in the retrieving process cooperate to absorb the material to be detected; the upper side of the suction cup mounting plate 6244 in the retrieving process is equipped with an encoder 6245 through the coding mounting plate.

To be specific, usually the materials placed on the tray are arranged in a distribution of 2×5, with 5 in the length direction and 2 in the width direction. A total of 10 materials are placed in a single tray; A picking process adsorption component 6243, starting from the first row, picks up 2 materials each time and removes them, when the fifth one is picked up, moves forward to the second row, picks up the first one of the second row, and then moves it out; finally Remove the remaining 4 materials in the second row in turn; this arrangement can match the picking order, on the one hand, 10 materials can be removed one by one without empty load each time, on the other hand, this can also reduce the y-axis better The load on the sliding block; and the movement is relatively fast.

The feeding opening 622 of the feeding bottom plate 621 is respectively arranged with a feeding positioning assembly for fixing the uppermost tray of the vertical column of the feeding tray on both sides along the x-axis direction; the feeding positioning assembly includes a feeding positioning assembly arranged along the x-axis direction. Positioning cylinder 625, the piston rod of reclaiming and positioning cylinder 625 is connected with retrieving and positioning horizontal plate 626 extending along the y-axis direction, and the retrieving and positioning horizontal plate 626 at the retrieving and positioning components on both sides is driven by the cylinder to move to the pressing position Positioning is realized on both sides of the uppermost tray in the vertical column of the tray; the pick-up tray for identifying the uppermost tray in the vertical column of the induction tray is provided at both sides of the pick-up opening 622 at the bottom plate 621 along the x-axis direction The photoelectric sensor 627 of the material part is opposite, and the two sides of the material opening 622 at the material extraction bottom plate 621 along the x-axis direction are arranged with a plurality of vertical material retrieval guide rods 628, and the material retrieval guide rods 628 are used to communicate with The trays are arranged vertically against each other to form a vertical guide.

To be specific, the retrieving positioning assembly can preferably fix the uppermost tray to be reclaimed vertically during retrieving, so as to ensure that the position of the retrieving tray does not deviate during the entire retrieving process. shift. In addition, the guide bar 628 can preferably ensure the stable arrangement of the trays in the vertical direction to correspond to the feeding part and the empty tray collection position 630 to ensure the normal progress of the entire feeding process.

With reference to Fig. 11, the empty tray collection position 630 includes a collection position bottom plate 631 arranged in the horizontal direction; collection position linear guide rails 632 are respectively arranged on both sides of the upper surface of the collection bottom plate; the collection position linear guide rails 632 on both sides are arranged with multiple The collection position sliding block 633 that slides with it; The upper surface place of a plurality of collection position sliding blocks 633 is jointly connected with a collection position annular plate 634; through the collection opening; the collection position annular plate 634 is provided with an empty tray clamping mechanism 635 on both sides of the collection opening;

To be specific, the collecting opening can preferably correspond to the above-mentioned retrieving opening 622 and the lifting opening 618 so as to be used for the vertical movement of the vertical row of trays.

The empty material tray clamping mechanism 635 comprises an empty material tray clamping cylinder 6351, the piston rod end of the empty material tray clamping cylinder 6351 is connected with an empty material tray clamping plate 6352, the empty material tray clamping plate 6352 is L-shaped and includes The clamping vertical plate 63521 along the vertical direction and the clamping horizontal plate 63522 along the horizontal direction; The bottom surfaces of the trays abut against each other to support the vertical row of empty trays, and the clamping vertical plates 63521 at the empty tray clamping mechanism 635 on both sides abut against the side walls of the empty trays at the vertical row of empty trays to form limit;

The side wall of the mobile phone opening at the collection position annular plate 634 is provided with a plurality of empty tray limiters 636 along the vertical direction; the empty tray limiter rod cooperates with the clamping vertical plate 63521 to form a vertical plate for empty trays. Columns limit the vertical passage through which passes in the vertical direction.

It can be understood that the above-mentioned empty tray clamping mechanism 635 can stably support the vertical row of empty trays located at the empty tray collection position 630 from the bottom, and the vertical row of empty trays after the completion of retrieving will hold the empty trays from the bottom. The trays are lifted up vertically, and then the empty tray clamping mechanism 635 clamps and removes the empty trays positioned at the top of the vertical columns of the trays and serves as the bottom of the vertical columns of the empty trays.

Example 3

This embodiment provides a dust removal and detection system suitable for the equipment body 100 in Embodiment 1, which is realized based on the dust removal device 1300 and the area array detection device 1700 that cooperate with each other; the area array detection device 1700 is also applicable to the CG area array Detection system 130 and BG surface array detection system 170; this embodiment also provides a material surface dust removal and detection method based on the dust removal device 1300 and the area array detection device 1700, which specifically includes the following steps:

Step 1. Loading material for dust removal

Place the detection object to be dust-removed at the turning position 1310 and keep the BG face up;

Step 2. Turn over the detection object to be dust-removed

Flip the detection object at the material turning position 1310 by 180 degrees to the material lifting position 1320, at this time, the detection object CG is positioned at the material lifting position 1320 facing upward;

Step 3. Lift the detection object to be dust-removed

Lift the detection object located at the lifting position 1320 to the height that can be picked up by the subsequent dust removal two-axis module 1330;

Step 4. Pick up the detection object and move to the dust removal position

Move the dust removal two-axis module 1330 and pick up the detection object lifted to the pick-up height; and keep the detection object BG facing down, first move horizontally along the x-axis direction to directly above the dust removal position after suction, and then move down along the z-axis to the dust removal position;

Step 5. Dust removal

Dust is removed from the detection object at the dust removal position through the dust removal typhoon system located at the lower side of the dust removal position, and the dust is blown up and sucked away from the top;

Step 6. The detection object is transported to the area array detection position 1713

After the dust removal is completed, the detection object is moved to the area array detection position 1713 at the area array camera 1714 through the dust removal two-axis module 1330;

Step 7. Area array detection

The area array detection position 1713 has degrees of freedom in the direction of rotation around the y-axis and two directions of rotation relative to its own central axis; the area array camera 1714 has degrees of freedom in three directions along the x-axis, y-axis, and z-axis; The five axial movements of the array detection position 1713 and the area array camera 1714 cooperate to adjust the relative spatial position relationship between the object to be inspected and the area array camera 1714; Side and four diagonal inspections and four edges on a plane are inspected.

To be specific, in this embodiment, the detection object with the CG face up in the previous loading station is turned over to the BG face down through the turning mechanism, because the BG face is formed with grooves and cracks and other parts that are prone to dust accumulation. , so keep the BG face down to remove dust through the dust removal position, so that the dust removal effect can be better for the BG surface that is easy to accumulate dust, and the dust removal effect is better; As a result, the follow-up BG surface defect image acquisition is affected by dust; thus, it can ensure that the BG surface surface condition can be clearly identified by image acquisition during the subsequent inspection process.

In addition, the dust removal method in this embodiment can preferably be smoothly connected with the previous feeding device and the subsequent area array inspection, so that the entire visual inspection process can be carried out efficiently and uninterruptedly, without additional inspection by other external equipment. The object is dedusted; in addition, after the dedusting, the detection object is directly moved to the area array detection place, so that the detection object will not come into contact with the external environment again and avoid the situation of dust accumulation due to contact with the external environment again. Therefore, in this embodiment The dust removal method can ensure that the detection object can keep the surface clean after the dust removal.

In this embodiment, with reference to Figure 13, the dust removal device 1300 is arranged in turn along the x-axis direction with a material turning position 1310, a material lifting level 1320, and a dust removal typhoon system; The dust removal two-axis module 1330 that transports the detection object between the dust removal position formed on the upper side of the dust removal typhoon system and the detection position in the area array detection device 1700; Area camera 1714 for visual inspection.

It can be understood that the foregoing dust removal and area array detection processes can be preferably realized through the above structure.

Referring to Fig. 14, the material turning position 1310 includes a material turning part 1311 installed at intervals along the y-axis direction at the material turning shaft 1312, which absorbs the detection object by adsorbing the CG surface; one end of the turning shaft 1312 is connected to the power wheel, and the power wheel The transmission belt and the transmission wheel are connected to the output end of the turning servo motor 1313 to realize the controlled rotation, and the turning part 1311 realizes the adsorption and release of the detection object through the vacuum suction cup;

Referring to Fig. 15, the material lifting position 1320 includes a material lifting and placing part 1321 arranged at intervals along the y-axis direction in a one-to-one correspondence with the turning and placing plate, which absorbs the detection object through the adsorption BG surface, and the lower part of the material lifting and placing part 1321 is connected to the The arranged lifting bottom plate 1322, a plurality of lifting and placing plates are symmetrically arranged on both sides of the middle part of the lifting bottom plate 1322, and the lower end of the middle part of the lifting bottom plate 1322 is connected with the piston rod of the lifting cylinder 1323 to move along the z-axis direction accordingly , the lifting and placing part 1321 includes a BG surface product positioning fixture for fixing the detection object through the BG surface of the detection object;

Referring to Figure 16, the dust removal two-axis module 1330 includes a synchronous belt-type dust removal x-axis linear module 1331 arranged along the x-axis direction above the entire material turning level 1310, material lifting level 1320 and both sides of the dust removal typhoon system. The x-axis linear module 1331 is driven by the same dust removal x-axis servo motor 1332, and the dust removal x-axis linear modules 1331 on both sides are synchronized through the synchronization rod 1333;

The upper part of the dust removal x-axis sliding block 1334 at the dust removal x-axis linear module 1331 on both sides is jointly arranged with a dust removal y-axis beam 1335 along the y-axis direction. The dust removal z-axis linear module 1336 of the synchronous belt type along the z-axis direction, the dust removal z-axis sliding plate 1337 moving along the z-axis direction at the dust removal z-axis linear module 1336 is connected with a material lifting position 1320 along the y-axis direction. A pair of dust removal y-axis mounting plates 1338 are arranged correspondingly, and dust removal position adsorption parts 1339 are arranged at intervals along the y-axis direction at the lower part of the dust removal y-axis mounting plate 1338 .

The dust removal position adsorption part 1339 includes a dust removal position suction nozzle mounting plate arranged horizontally. The four corners of the dust removal position suction nozzle mounting plate are provided with suction nozzles facing the lower side, and the suction nozzles at the four corners are used for cooperation. Cooperating with the CG surface of the detection object at the lifting position 1320 to pick up, the dust removal y-axis beam 1335 can move along the x-axis direction to the dust removal position on the upper side of the dust removal typhoon system.

Referring to Fig. 17, the area array detection device 1700 is provided with an area array two-axis rotation device 1710, the area array two-axis rotation device 1710 includes a rotating housing 1711 arranged along the y-axis direction; The ends are movably installed on the area array x-axis moving plate 1712, and the rotating housing 1711 is rotated by the area array servo motor arranged inside it;

On the upper surface of the rotating housing 1711, a plurality of area array detection positions 1713 are evenly spaced along the y-axis direction, and the area array detection positions 1713 can rotate around their own central axis relative to the rotating housing 1711; the area array x-axis moving plate 1712 The area array camera 1714 is arranged on the middle upper side of the area array x-axis slide rail, and the lower part of the area array camera 1714 forms an area array visual detection area; the area array x-axis slide One end of the rail along the x-axis direction is used to receive the detection object after dust removal by the dust removal device 1300, and the other end is used to cooperate with the 2D and 3D detection system to transfer the detection object after the area array vision detection to the next detection station.

Specifically, the above physical structure can better ensure the stable movement and smooth turning of the detection object between different stations during the entire dust removal and detection process, thereby ensuring the smooth progress of the entire dust removal and detection process. In addition, the area array camera 1714 cooperates well with the area array two-axis rotating device 1710 to collect images from different angles of the inspected object, so that it can more comprehensively cover various positions prone to defects on the appearance of the inspected object.

When the detection object is the middle frame of the mobile phone and the size ratio of the whole device is arranged according to the middle frame of the mobile phone, in the actual operation process, it takes 1s to turn the four middle frames of the mobile phone at the same time, and it takes 1.5s to pick up the material at the lifting level 1320, and then It takes 1 second for the turning position 1310 to turn back to the original position with the turning shaft 1312. It takes 2 seconds for the dust removal position adsorption part 1339 at the dust removal two-axis module 1330 to move and pick up materials. It takes 2 seconds for the dust removal position adsorption part 1339 to carry the middle frame of the mobile phone to the dust removal position. It takes 1s for tornado dust removal, 3s for tornado dust removal, 1s for moving to the area array detection device 1700 after dust removal, 1s for the dust removal two-axis module 1330 to drive the dust removal position adsorption part 1339 back to the original position, and 13s for the whole process, a total of 4 pairs The middle frame of a mobile phone is used for dust removal and area array detection. The middle frame of a single mobile phone takes about 3.3s, and the entire dust removal process is fast and efficient; and the dust removal and area array detection as a link in the entire testing process can be compared with other links of the entire testing equipment. Smooth transition to ensure the stability of the entire inspection process.

When the detection object is the middle frame of the mobile phone and the size ratio of the entire device is arranged according to the middle frame of the mobile phone, in the actual area array detection process, at the beginning of the area array detection, the suction nozzle of the dust removal position is lowered (0.2s) to break the vacuum discharge (0.3s), the suction nozzle of the dust removal position rises (0.2s), the area array two-axis rotating device 1710 moves to the area array visual detection area (0.5s), the mobile phone middle frame rotation motion detection, one by one for the four sides of the mobile phone middle frame Edge and four diagonal detection and four sides on the plane are detected (17s), the area array two-axis rotation device 1710 moves to the position where the 2D and 3D detection systems cooperate (0.5s), the suction nozzles at the 2D and 3D detection systems Decline (0.2s) and start vacuum suction (0.3s), the suction nozzles at the 2D and 3D detection systems rise, and the area array two-axis rotating device 1710 returns to the position to wait for the next batch of mobile phone middle frames that have completed dust removal (1s), The whole process takes 20.4s, and the middle frame of a single mobile phone takes about 5.1s. The running speed of the whole area array detection process is kept fast, thus ensuring the efficient operation of the whole process.

Example 4

This embodiment provides an appearance 2D and 3D combination detection system suitable for the device body 100 in Embodiment 1, which is realized based on a combination of appearance 2D and 3D detection device 1800; this device is suitable for both 2D and 3D combined CG surface detection System 140 and 2D and 3D combined BG surface detection system 160, this embodiment also provides a detection method and application based on the combination of 2D and 3D appearance detection system, this method can be applied to CG surface Detection and BG surface detection, which specifically includes the following steps:

Step 1, 2D and 3D combined detection and loading

Use the multi-head grabbing module 1810 to grab the detection objects that have undergone dust removal and area array visual inspection;

Step 2, 2D and 3D combined detection discharge

The multi-head grasping module 1810 places the grasped detection objects one by one at the initial position of the combined detection;

Step 3, 2D and 3D combined detection and collection

The detection objects located at the initial position of the combination detection are grasped and placed in the combination detection delivery path 1890 one by one by the combination detection retrieving component;

Step 4, 2D detection

Transport a single test object to the 2D line-scan detection position along the joint detection transport path 1890, and use the 2D detection module to detect scratches and pressure marks on the middle plate surface of the test object, middle plate stress marks, and middle plate over/missing cleaning. 2D line scan detection;

Step five, 3D detection

Continue to transport the test object to the 3D line laser detection position along the joint detection transport path 1890, and use the 3D detection module 1860 to detect the mid-plate stress marks, mid-plate depressions, mid-plate steps, and mid-plate transitions on the mid-plate surface of the test object Milling, mid-plate springback, mid-plate surface deformation, mid-plate over/miss milling, and mid-plate knife marks are detected;

Step 6, 2D and 3D combined detection and blanking

The detection objects after 2D and 3D detection are transported to the material discharge position by combining the detection discharge conveying shaft 1870 .

To be specific, the above-mentioned 2D and 3D inspection method can preferably complete 2D inspection and 3D inspection sequentially through a single combined inspection delivery path 1890, so as to preferably take pictures and identify possible appearance defects at the inspection object, covering The range is wide, so that the accuracy of the test results can be better ensured, and then the products with defects in appearance can be better identified through testing.

Referring to Figures 18-19, an appearance 2D and 3D combined detection device 1800 includes a multi-head grabbing module 1810 for 2D and 3D combined detection loading and a combined detection blanking for 2D and 3D combined detection blanking The conveying shaft 1870 and the lower side of the multi-head grabbing module 1810 are arranged with a combined detection and transportation path 1890 arranged along the x-axis direction; the moving route of the combined detection and transportation path 1890 is arranged sequentially from the multi-heads grabbing module 1810 to the unloading and conveying axis There are 2D detection module and 3D detection module 1860.

Referring to Fig. 20, the multi-head material grabbing module 1810 includes a vertically arranged multi-head material grabbing installation frame 1811, and the upper surface of the multi-head material grabbing mounting frame 1811 is horizontally arranged along the x-axis direction with a material grabbing x-axis linear mold driven by an air source. Group 1812; grabbing x-axis linear module 1812 is connected to the upper part of the grabbing x-axis mover with a grabbing installation plate 1813 that moves along the x-axis with the grabbing x-axis mover, and the grabbing installation plate 1813 is placed along the z-axis There is a material grabbing z-axis linear module 1814 that is an electric cylinder, and a material grabbing z-axis mounting plate 1815 facing downward along the z-axis direction is arranged at the material grabbing z-axis mover of the material grabbing z-axis linear module 1814. The lower part of the z-axis mounting plate 1815 is equipped with a grabbing head mounting plate 1816 along the y-axis direction, and a plurality of grabbing heads 1817 are installed at even intervals along the y-axis direction on the lower side of the grabbing head mounting plate 1816 .

One end of the grabbing x-axis linear module 1812 along the x-axis direction is located on the upper side of the discharge position of the previous station, and the lower side of the other end is arranged with a grabbing head 1817 at the grabbing head mounting plate 1816. Corresponding to the grab material placement frame 1818, the upper part of the grab material placement rack 1818 is used for positioning and matching with the detection object; referring to Figure 21, the upper side of the grab material placement rack 1818 is arranged along the y-axis direction and adopts a combination of an electric cylinder Detecting the y-axis feeding linear module 1820, combined with detecting the combination of detecting the movement of the y-axis feeding linear module 1820 along the y-axis direction, and detecting the combination of the y-axis feeding mover connected with a slide cylinder arranged along the z-axis direction Detecting the z-axis retrieving module 1821, combined with detecting the combined detection of the z-axis retrieving module 1821 moving along the z-axis direction The lower surface of the plate 1822 is used for positioning and loosening the CG surface of the detection object. Referring to FIG. 22 , the combination detection transport path 1890 is arranged below the combination detection pick-up plate 1822 and is located on the multiple grasping and placing racks 1818 along the y-axis The position in the middle of the direction; the combination detection pick-up plate 1822 is used to position and cooperate with the detection object to carry it to the combination detection delivery channel 1890 and release it to place it in the combination detection delivery channel 1890 .

The combined detection transport path 1890 includes a combined detection x-axis transport module 1891 arranged along the x-axis direction using a double mover linear motor module, and a separation sensor is arranged at the middle position of the combined detection x-axis transport module 1891 along the x direction Combined with the detection x-axis transport module 1891, the parts on both sides of the separation sensor constitute the first mover moving part 18911 and the second mover moving part 18912 respectively, the first mover moving part 18911 and the second mover moving part 18912 A first mover and a second mover that slide along the x-axis in their area are provided respectively; a combination detection transition assembly 1850 is provided at the junction of the first mover moving part 18911 and the second mover.

The upper part of the first mover and the second mover is installed with a combination detection and positioning assembly 1892 for positioning and loosening the BG surface of the detection object. One end of the first mover moving part 18911 along the x-axis direction is located at the combination detection position. The lower side of the material plate 1822 is used to receive the detection object at the combination detection and picking plate 1822 through the combination detection positioning assembly 1892 at the first mover;

Referring to FIG. 23 , the first mover moving part 18911 is arranged with a joint detection transition assembly 1850 on the upper side of the other end along the x-axis direction. Referring to FIG. 23 , the joint detection transition assembly 1850 is installed along the z-axis direction through the joint detection transition mounting bracket 1851 Arranged and installed directly above the joint detection transport channel 1890, the joint detection transition assembly 1850 includes a joint detection transition z-axis module 1852 using a slide cylinder, and a joint detection transition z-axis mover at the joint detection transition z-axis module 1852 The lower part is horizontally arranged with a combination detection transition suction plate 1853, which is used for positioning and loosening cooperation with the CG surface of the detection object at the first mover by controlling the vacuum phase.

A 2D detection module is arranged above the middle position of the first mover moving part 18911 along the x-axis direction, and the first mover moving part 18911 located in the detection area of the 2D detection module forms a 2D line-scan detection position; the 2D detection module It includes a 2D line scan camera 1840 and a bionic AOI light source 1832 arranged in a ring around the 2D line scan detection position, combined with the bionic AOI light source 1832 to install through the 2D camera mounting frame 1830; A shooting opening 1831 is formed on one side. The 2D line scan camera 1840 is fixedly installed through the 2D camera mounting bracket 1830 and its shooting optical path is directly facing the 2D line scanning detection position at the first mover moving part 18911 through the shooting opening 1831 .

One end of the second mover moving part 18912 along the x-axis direction is located on the lower side of the joint detection transition suction plate 1853 for receiving the detection object at the joint detection transition suction plate 1853 through the second mover, and the second mover The other end of the moving part 18912 along the x-axis direction is located on the lower side of the combined detection and feeding shaft 1870; referring to Figure 26, a 3D detection module 1860 is arranged above the middle position of the second mover moving part 18912 along the x-axis direction ; The second mover moving part 18912 located in the detection area of the 3D detection module 1860 forms a 3D line laser detection position. The 3D detection y-axis linear module 1861 arranged along the y-axis direction is selected as a linear motor, and the 3D camera 1862 is installed on the lower part of the 3D detection y-axis mover of the 3D detection y-axis module and moves along the y-axis to measure the 3D line The detection object at the laser detection position performs 3D detection, and there are 3 3D detection cameras installed in a misplaced position.

Referring to Fig. 27, the combined detection and blanking conveying axis 1870 includes a combined detection and blanking y-axis module 1871 located on the upper side of the end of the combined detection transport path 1890 and arranged across the y-axis direction and controlled by an air source. Combined detection and blanking at the axis module 1871 The y-axis mover 18711 is installed along the z-axis direction and adopts a combined detection and blanking z-axis module 1872 that is a slide cylinder, and a combined detection and blanking z-axis module 1872 is installed. Combined detection and blanking z-axis mover 18721 is equipped with a horizontally arranged combined detection and blanking suction plate 18722, which is used for positioning and loosening with the CG surface of the detection object;

Combined detection and blanking y-axis module 1871 is arranged on one side along the y-axis direction with a combined detection and blanking transition position and a combined detection and blanking x-axis module controlled by an air source toward the far side of the 3D detection module along the x-axis direction. Group 1880, one end of the combined detection and blanking x-axis module 1880 along the x-axis direction is located above the transition position of combined detection and blanking, and the combined detection and blanking x-axis mover 1881 of the combined detection and blanking x-axis module 1880 is connected with The ball screw type combination detection and transportation z-axis module 1882 arranged along the z-axis direction, the combination detection and transportation z-axis mover 1882 moved along the z-axis direction at the combination detection and transportation z-axis mover 18821 is connected with a horizontally arranged combination The detection and transportation suction plate 1883 is combined with the detection and transportation suction plate 1883 to position and absorb and cooperate with the detected CG surface by controlling the vacuum.

Specifically, the above-mentioned structure can better meet the needs of transplanting and detection in the entire detection process; in the detection process, when used for the detection of the plate area in the CG surface, the 2D detection module and the 3D detection module The 1860 can take pictures and identify appearance defects such as bruises, crushes and scratches on the mid-plate of the CG surface.

When the device is used for the detection of the plate area in the BG plane (the detection of the plate area in the BG plane is located after the macro detection), the stress marks at the plate in the BG plane can be detected by the 2D detection module and the 3D detection module 1860 Bumps, crushes, scratches, edge burrs, edge burrs, edge curling, over-milling, missed milling, and unmilled in place and other appearance defects can be identified by image acquisition. At the same time, burrs in the 2D code area, The 2D code is scratched, over milled, missed milled, and not milled in place for image recognition.

When the detection object is the middle frame of the mobile phone and the size ratio of the whole device is arranged according to the middle frame of the mobile phone, in the whole 2D line scanning detection process, firstly, the combination detection material taking plate 1822 is lowered (0.2s) to break the vacuum and discharge to the combination detection and delivery The first mover (0.3s) at the path 1890 rises back to its original position (0.2s), and the detection object moves to the 2D line scan detection position (2s) along the combination detection transport path 1890, and then moves to the combination detection transition suction plate The lower side of 1853 (0.5s), combined with the detection of the transition suction plate 1853 down (0.2s), vacuum suction (0.3s), after suction combined with the detection of the transition suction plate 1853 rise (0.2s), the first mover returns Bit (1s), the entire 2D detection process takes 5.4s to complete the 2D detection of a single detection object, and the detection time can be controlled in a short time, thus ensuring the efficient progress of the entire detection process.

When the detection object is the middle frame of the mobile phone and the size ratio of the whole device is arranged according to the middle frame of the mobile phone, in the whole 3D laser detection process, the first step is to combine the detection transition suction plate 1853 to drop (0.2s) and break the vacuum discharge (0.3 s), the macro detection transition suction plate rises (0.2s), the second mover moves the middle frame of the mobile phone to the camera position (0.5s), and then performs 3D line laser (150mm/s) which takes 2s, the second mover The child carries the middle frame of the mobile phone and moves to the lower material level (0.5s), combined with the detection and transportation suction plate 1883, descends (0.2s) and turns on the vacuum suction (0.3s), after the suction is completed, combined with the detection and transportation suction plate 1883 rises (0.2s ), the empty jig at the second mover returns (1s), and the 3D inspection takes 5.4s.

The 2D camera parameters used in this implementation are: camera model: DASLA LA-CM-16K05A-00-R, telecentric lens: DTCM16-80H-AL, working distance: 120mm, scanning interval: 0.005mm, movement mode: camera Fixed, product moves horizontally.

The parameters of the 3D camera 1862 used in this embodiment are: camera SR8060, object distance: 60mm, sampling frequency: 3.2k-13k.

Example 5

This embodiment provides a macroscopic inspection system for appearance defects applicable to the main body of the device in Embodiment 1. This embodiment also provides a macroscopic inspection method and application for appearance defects based on a macroscopic inspection system for appearance defects. This method It can be applied to CG surface detection and BG surface detection, which specifically includes the following steps:

Step 1. Macro detection and feeding

Place the detection object that requires macro detection at the feeding position for macro detection;

Step 2: CG surface detection

The detection object CG faces upwards and then passes through the first macro detection station 3000 and the second macro detection station 3100; the first macro detection station 3000 is used to detect the edge of the board in the CG surface of the detection object, The second macro detection station 3100 is used to detect the CG surface and waterproof surface of the detection object.

Step 3. Detect object flipping

Flip the detection object with the CG face up to the BG face up

Step 4, BG surface detection

Put the detection object BG face up and pass through the third station 3200 for macro detection, the fourth station 3300 for macro detection, the fifth station 3400 for macro detection and the sixth station 3500 for macro detection; the third station for macro detection The station 3200 is used to detect the position of the nut on the BG inner cavity surface of the test object, the fourth station 3300 of the macro detection is used to detect the upper and lower U-shaped areas on the BG inner cavity surface of the test object, and the fifth station of the macro test 3400 is used to detect the four corners of the upper and lower U areas on the BG inner cavity surface of the test object, and the sixth macro detection station 3500 is used to test the T groove area on the BG inner cavity surface of the test object.

Step 5. Micro-distance inspection and blanking

Unload the detection object that has completed the macro detection to the next station.

Specifically, through the above-mentioned macro-distance detection method, it is possible to separately detect the various parts that are prone to appearance defects on the CG surface and the BG surface of the material through multiple stations, and at the same time, each station can pass a unique The layout of the macro detection camera can achieve the best detection effect.

The macro detection device includes a macro BG surface detection part and a macro CG surface detection part; the macro CG surface detection part is equipped with a macro detection first station 3000 and a macro detection second station 3100; the macro BG surface A third macro detection station 3200 , a fourth macro detection station 3300 , a fifth macro detection station 3400 and a sixth macro detection station 3500 are arranged at the detection part.

Both the first station 3000 for macro detection and the second station 3100 for macro detection include a CG surface positioning tool for absorbing and releasing the detection object by cooperating with the CG surface of the detection object, and the third station 3200 for macro detection , the fourth macro detection station 3300, the fifth macro detection station 3400 and the sixth macro detection station 3500 all include BG surface positioning for absorbing and releasing the detection object by cooperating with the BG surface of the detection object Fixture; the lower side of the CG surface positioning tool and the BG surface positioning fixture is equipped with a macro-distance detection z-axis lifting module for lifting the detection object, and the macro-distance BG surface detection part and the macro-distance CG surface detection part are both A plurality of macro-distance detection cameras are arranged and coordinated to perform macro-distance detection of the BG surface and the CG surface of the detection object.

With reference to Figure 29, the macro detection camera includes a macro camera body 2900, and a macro camera mounting block 2910 is formed on the upper side wall of the macro camera body 2900, and the macro camera mounting block 2910 is used to communicate with each macro detection station. The mounting holes of the macro camera are matched with each other for arrangement and installation. The bottom end surface of the macro camera body 2900 is arranged with a first macro shooting lens 2920 with the shooting optical path facing downward, and the macro camera body 2900 is provided with a macro camera mounting block. On the lower part of the side wall opposite to 2910 is arranged a second macro shooting lens 2930 with the shooting optical path facing outward; the lens axes of the first macro shooting lens 2920 and the second macro shooting lens 2930 are perpendicular to each other.

Referring to Fig. 30, the first macro detection station 3000 also includes a macro detection first camera assembly located directly above the CG surface positioning tooling at the station, and multiple macro detection cameras at the first macro detection camera assembly cooperate Cooperate to form the first detection position of macro detection. The z-axis lifting module of macro detection can drive the CG surface positioning tooling at this station and the detection object to move upward to the first detection position of macro detection. The first camera component of macro detection includes A plurality of macro detection cameras respectively arranged on the outer sides of the two broad sides of the CG surface of the detection object; the macro detection cameras on both sides are arranged in parallel and spaced between the two ends of the CG surface of the detection object in the width direction, and the macro detection cameras pass through The adapter board is arranged obliquely, and the outer wall plane of the macro detection camera at the first camera assembly of the macro detection maintains an inclination angle of 20-30 degrees relative to the CG surface of the detection object; each macro detection camera at this station The first macro-shooting lens 2920 and the second macro-shooting lens 2930 are both facing the side of the wide side edge of the plate in the CG plane for macro detection of the edge of the plate in the CG;

Referring to Fig. 31, the second macro detection station 3100 also includes a second macro detection camera assembly located directly above the CG surface positioning tooling at this station, where the second macro detection camera assembly forms the second macro detection position The macro detection z-axis lifting module can drive the CG surface positioning tooling at the station and the detection object to move upward to the second detection position of the macro detection. The second camera assembly of the macro detection includes two lengths arranged in parallel on the CG surface Two rows of macro detection cameras between the sides, the two rows of macro detection cameras are respectively parallel to the two long sides of the CG surface of the detection object, and the single row of macro detection cameras is arranged in parallel from one wide side of the CG surface to the other One wide side to cover the entire CG waterproof surface, the first macro shooting lens 2920 of a single macro detection camera at the two rows of macro detection cameras is all vertically facing the bottom plane of the CG surface, and the second macro shooting lens 2930 is all facing the CG The long side of the surface is used for macro detection of CG waterproof surface.

With reference to Figure 32, the third station 3200 for macro detection also includes a third camera assembly for macro detection located directly above the BG surface positioning jig at the station, and multiple macro detection cameras at the third camera assembly for macro detection cooperate Cooperate to form the third detection position of macro detection. The z-axis lifting module of macro detection can drive the CG surface positioning tooling at this station and the detection object to move upward to the third detection position of macro detection. The third camera component of macro detection includes Two rows of macro-distance detection cameras are respectively arranged in parallel between the two long sides of the inner cavity of the BG surface of the detection object. The first macro-distance shooting lens 2920 of each macro-distance detection camera is all perpendicular to the bottom plane of the inner cavity of the BG plane, and the second macro-distance shooting lens 2930 is all vertically towards the length protruding perpendicular to the bottom plane of the inner cavity of the BG plane. The inner wall of the side is used for macro detection of the position of the nut on the inner surface of the BG;

With reference to Figure 33, the fourth macro detection station 3300 also includes a fourth macro detection camera assembly located directly above the BG surface positioning jig at this station, and multiple macro detection cameras at the fourth camera assembly for macro detection cooperate Cooperate to form the fourth detection position of macro detection. The z-axis lifting module of macro detection can drive the CG surface positioning tooling at this station and the detection object to move upward to the fourth detection position of macro detection. The fourth camera component of macro detection includes Two rows of macro-distance detection cameras are arranged parallel to the two broad sides of the inner cavity of the BG surface, and each row of macro-distance detection cameras is arranged at intervals from one broad side of the inner cavity of the BG surface to the other. The first macro-distance shooting lens 2920 of each macro-distance detection camera is all vertically towards the bottom plane of the inner cavity of the BG plane, and the second macro-distance shooting lens 2930 is all vertically towards the wide-side inner wall protruding perpendicular to the bottom plane at the inner cavity of the BG plane It is used for macro detection of the upper and lower U areas on the inner surface of the BG;

Referring to Figure 34, the fifth station 3400 for macro detection also includes a fifth camera assembly for macro inspection located directly above the BG surface positioning jig at the station, and multiple macro inspection cameras at the fifth camera assembly for macro inspection coordinate Cooperate to form the fifth detection position of macro detection. The z-axis lifting module of macro detection can drive the CG surface positioning tooling at this station and the detection object to move upward to the fifth detection position of macro detection. The fifth camera component of macro detection includes The four macro-distance detection cameras are respectively arranged inside the four corners of the inner cavity of the BG plane. The first macro-distance shooting lens 2920 of each macro-distance detection camera is vertically facing the bottom plane of the inner cavity of the BG plane, and the second macro-distance shooting lens 2920 The lens 2930 is facing the inner wall of the corner of the inner cavity of the BG surface for macro detection of the four corners of the upper and lower U areas of the inner cavity of the BG;

With reference to Figure 35, the sixth macro detection station 3500 also includes a sixth macro detection camera assembly located directly above the BG surface positioning jig at this station, and multiple macro detection cameras at the sixth camera assembly for macro detection cooperate Cooperate to form the sixth detection position of macro detection. The z-axis lifting module of macro detection can drive the CG surface positioning tooling at this station and the detection object to move upward to the sixth detection position of macro detection. The sixth camera component of macro detection includes Two rows of macro-distance detection cameras are respectively arranged parallel to the two long sides of the inner wall of the BG surface. The first macro-distance shooting lenses 2920 of the first macro-distance detection cameras are all vertically towards the bottom plane of the inner cavity of the BG plane, and the second macro-distance shooting lenses 2930 are all vertically towards the inner wall of the long side protruding perpendicular to the bottom plane at the inner cavity of the BG plane It is used for macro-distance inspection of the T-groove area on the inner surface of the BG.

Specifically, through the above-mentioned stations and the corresponding macro-distance inspection camera arrangement method, it is possible to preferably cover the parts of the inspection object that are prone to appearance defects, and the multi-station arrangement method can enable coverable appearance defect detection It is more complete, so as to ensure the detection accuracy of the macro detection and the overall detection process; in addition, the macro detection is arranged in the middle of the entire detection equipment. Putting them together can better facilitate the arrangement and reduce the cost compared to the separate arrangement; at the same time, the detection object is turned over during the macro detection; so that the parts on both sides of the macro detection device in the whole equipment can be used for CG respectively Surface and BG surface detection, so that the whole process starts from loading, the first half is CG surface detection, and the second half is BG surface detection, which can facilitate subsequent image analysis data processing.

The parameters of the macro-distance detection camera adopted in this embodiment are as follows, lens structure: 3P+IR, lens matching chip: 1/6", maximum image surface of lens: diameter 3.3mm; focal length of lens: 1.35mm; total length of lens: 2.90 ±0.1mm; lens aperture: 2.2±5%; lens diagonal angle: D=88.7°; lens optical distortion <1.5%; relative illuminance of the lens> 39.6%; Keep a distance of 10mm±0.03mm.

Example 6

This embodiment provides a macro detection and sorting device suitable for Embodiment 5. The macro detection and sorting device includes a macro detection body 3600, and the macro detection body 3600 includes a macro BG surface detection unit and a macro CG surface detection unit. The first macro detection station and the second macro detection station are arranged at the macro CG surface detection department; the third macro detection station is arranged at the macro BG surface detection department , the fourth station of macro detection, the fifth station of macro detection and the sixth station of macro detection; the macro detection and sorting part is used to pick up the detection objects after BG and CG detection and sort them to the next work bit.

The main body of the macro device is provided with a total of twelve macro detection placement positions arranged in parallel at 6×2 intervals along the x-axis and y-axis directions, and the twelve macro detection placement positions are divided into two rows arranged along the x-axis direction. One and the second macro detection part 3620, the CG surface detection part includes the first macro detection part 3610, the BG surface detection part includes the second macro detection part 3620; the macro feeding level is located at the first macro detection part of the CG surface detection part The distance detection part 3610 and the macro detection and sorting position 3630 are located in the second macro detection part 3620 of the BG surface detection part, and the twelve macro detection placement positions cooperate together from the macro feeding position to the macro detection and sorting position 3630 The movement route of the detection object in the macro detection is composed, and the movement route of the detection object is S-shaped from the first macro detection part 3610 to the second macro detection part 3620 .

It can be understood that, through the arrangement of 6×2 in the present invention, the two sides of each row along the y-axis direction are respectively used as the upper and lower material levels of the row, and the four positions in the middle can be used as detection stations and correspond to corresponding micro Cooperating with the detection camera, the 6×2 layout can better meet the layout requirements of the eight detection stations. At the same time, this enables the BG surface detection part and the CG surface detection part to be distributed in a symmetrical structure, each occupying two rows. The macro detection part can also make the main body of the macro device be arranged at the junction of the BG surface detection part and the CG surface detection part, so that the overall arrangement structure and subsequent operation are more stable.

The macro sorting section includes the macro sorting first y-axis module 3640 driven by the air source and the macro sorting x-axis module 3650. The macro sorting first y-axis module 3640 is used to pick up the Detect the detection object at the sorting position 3630 and transplant it to the x-axis linear module of the macro-separation; The first z-axis cylinder 3660 for micro-distance sorting along the z-axis direction, the downward piston rod of the first z-axis cylinder 3660 for macro-distance sorting is connected with the first adsorption plate for macro-distance sorting; the first adsorption plate for macro-distance sorting There are multiple micro-distance sorting nozzles arranged on the board. The suction direction of the multiple macro-distance sorting nozzles is toward the lower side and cooperate together to form an adsorption area. The adsorption area is used for detection at the macro-distance detection and sorting position 3630. The object is adsorbed; the upper part of the mover of the macro-separation x-axis linear module is horizontally arranged with a macro-separation adsorption positioning plate for absorbing and positioning the detection object and carrying it to move along the x-axis;

The macro separation x-axis module 3650 is arranged next to one end of the far macro detection and separation position 3630. There is a second y-axis linear module 3680 for macro separation driven by an air source and a macro separation using an electric cylinder. Blanking y-axis linear module 3670, macro sorting second y-axis linear module 3680 is used to pick up the detection objects located at the macro-sorting x-axis linear module and transplant them to the macro-sorting y-axis Linear module 3670; the second y-axis mover of macro-separation y-axis linear module 3680 is arranged with the second z-axis cylinder of macro-separation along the z-axis direction, and the micro-separation The lower part of the second z-axis cylinder is connected with the second adsorption plate for macro separation for adsorption and loosening of the detection object, and the micro separation and discharge y-axis linear module 3670 for macro separation and discharge y A macro-distance sorting and feeding adsorption part is arranged horizontally at the axis mover for placing the detection object and carrying it to move.

To be specific, the present embodiment can preferably automatically transport the detection objects located at the sorting station to the next station through the above-mentioned structure, so as to be compatible with the arrangement of 6×2 stations in this embodiment.

The six macro detection placement positions at the first macro detection part 3610 sequentially form the macro feeding position, the first macro detection station, the second macro detection station, and the first macro detection position along the positive direction of the x-axis. Reserved station, macro detection second reserved station and macro detection flip loading position; the 6 macro detection placement positions at the second macro detection part 3620 form a macro detection flip in turn along the negative direction of the x-axis The feeding station, the third station for macro detection, the fourth station for macro detection, the fifth station for macro detection, the sixth station for macro detection, and the sorting station 3630 for macro detection.

The first station for macro detection, the second station for macro detection, the first reserved station for macro detection and the second reserved station for macro detection, the third station for macro detection, the fourth station for macro detection The corresponding ball screw type micro-distance detection z-axis linear module 3690 is installed on the lower side of the fifth station, the fifth macro-distance detection station and the sixth macro-distance detection station. Each macro-distance detection z-axis linear module 3690 The macro detection z-axis mover of module 3690 is respectively connected with the first station for macro detection, the second station for macro detection, the first reserved station for macro detection, the second reserved station for macro detection, and the second reserved station for macro detection. The lower ends of the third station for distance detection, the fourth station for macro-distance detection, the fifth station for macro-distance detection and the sixth station for macro-distance detection are connected to drive them to move upward to corresponding detection positions.

It is easy to understand that, on the basis of one or several embodiments provided by this application, those skilled in the art can combine, split, recombine, etc., the embodiments of this application to obtain other embodiments, and these embodiments do not exceed the scope of this application. The scope of protection applied for.

The above schematically describes the present invention and its implementation, but the description is not restrictive, and the examples show only part of the implementation of the present invention, and the actual structure is not limited thereto. Therefore, if a person of ordinary skill in the art is inspired by it, without departing from the inventive concept of the present invention, without creatively designing a structural mode and embodiment similar to the technical solution, it shall all belong to the protection scope of the present invention .

Claims (10)

1. A micro-distance detection and sorting method for appearance detection is characterized by being realized based on a micro-distance detection and sorting device and specifically comprising the following steps,

step one, micro-distance detection feeding

Placing a detection object needing to be subjected to macro detection at a macro detection loading position;

step two, CG surface detection

Sequentially passing the CG surface of the detection object upwards through a first micro-distance detection station (3000) and a second micro-distance detection station (3100); the micro-distance detection first station (3000) is used for detecting edges of the plate in the CG surface of the detection object, and the micro-distance detection second station (3100) is used for detecting the waterproof surface of the CG surface of the detection object;

step three, detecting object overturning

Flipping a CG-face up test object to BG-face up

Fourth, BG surface detection

The BG surface of the detection object passes through a third micro-distance detection station (3200), a fourth micro-distance detection station (3300), a fifth micro-distance detection station (3400) and a sixth micro-distance detection station (3500) in sequence; the micro-distance detection third station (3200) is used for detecting the position of a nut on the BG inner cavity surface of the detection object, the micro-distance detection fourth station (3300) is used for detecting the upper and lower U-shaped areas on the BG inner cavity surface of the detection object, the micro-distance detection fifth station (3400) is used for detecting four corners of the upper and lower U-shaped areas on the BG inner cavity surface of the detection object, and the micro-distance detection sixth station (3500) is used for detecting the T-slot area on the BG inner cavity surface of the detection object;

Fifth step, micro-distance detection and separation blanking

And transplanting the detection object which completes the micro-distance detection and is positioned at the micro-distance detection sorting position to a micro-distance sorting track along the y-axis direction and moving the detection object to a position to be picked up along the micro-distance sorting track, wherein defective products detected by the micro-distance detection are picked up into a defective product collecting mechanism at the position to be picked up, and qualified products detected by the micro-distance detection are picked up and moved to a next station by a material taking mechanism waiting for the next station at the position to be picked up.

2. The macro detection and sorting method for appearance detection according to claim 1, wherein the macro detection and sorting device comprises a macro detection main body (3600), the macro detection main body (3600) comprises a macro BG face detection part, a macro CG face detection part and a macro detection sorting part; a first micro-distance detection station and a second micro-distance detection station are arranged at the micro-distance CG surface detection part; a third station for micro-distance detection, a fourth station for micro-distance detection, a fifth station for micro-distance detection and a sixth station for micro-distance detection are arranged at the micro-distance BG surface detection part; the micro-distance detection and sorting part is used for picking up detection objects after the detection of the BG and the CG and sorting the detection objects to the next station.

3. The method for detecting and sorting the micro-distance for detecting the appearance according to claim 2, wherein twelve micro-distance detection placement positions are arranged in parallel at intervals of 6 x 2 along the x-axis and the y-axis at the main body of the micro-distance device, the twelve micro-distance detection placement positions are divided into two rows of first and second micro-distance detection parts (3620) arranged along the x-axis, the CG surface detection part comprises a first micro-distance detection part (3610), and the BG surface detection part comprises a second micro-distance detection part (3620); the micro-distance loading level is located at a first micro-distance detection part (3610) of the CG surface detection part, the micro-distance detection sorting position (3630) is located at a second micro-distance detection part (3620) of the BG surface detection part, twelve micro-distance detection sorting positions are matched with each other from the micro-distance loading level to the micro-distance detection sorting position (3630) to form a moving route of a detection object in micro-distance detection, and the moving route of the detection object is S-shaped from the first micro-distance detection part (3610) to the second micro-distance detection part (3620).

4. A macro detection and sorting method for appearance detection according to claim 3, characterized in that the macro sorting section comprises a macro sorting first y-axis module (3640) and a macro sorting x-axis module (3650) driven by an air source, the macro sorting first y-axis module (3640) being used for picking up a detection object located at a macro detection sorting site (3630) and transplanting to the macro sorting x-axis module (3650); a first micro-distance sorting z-axis cylinder (3660) along the z-axis direction is arranged at a first micro-distance sorting y-axis rotor at the first micro-distance sorting y-axis module (3640), and a first micro-distance sorting adsorption plate is connected to the lower part of a piston rod of the first micro-distance sorting z-axis cylinder (3660) facing downwards; a plurality of micro-separation suction nozzles are arranged at the micro-separation first suction plate, the suction directions of the micro-separation suction nozzles face to the lower side and are matched together to form a suction area, and the suction area is used for sucking a detection object at a micro-separation detection position (3630); a micro-separation adsorption positioning plate used for adsorbing and positioning the detection object and carrying the detection object to move along the x axis is horizontally arranged at the upper part of a rotor of the micro-separation x-axis module (3650);

a micro-separation second y-axis linear module (3680) driven by an air source and a micro-separation blanking y-axis linear module (3670) which is an electric cylinder are arranged beside one end of a micro-separation x-axis module (3650) far away from a micro-separation detection separation position (3630), and the micro-separation second y-axis linear module (3680) is used for picking up a detection object positioned at the micro-separation x-axis module (3650) and transplanting the detection object to the micro-separation blanking y-axis linear module (3670); the micro-distance sorting second z-axis cylinder along the z-axis direction is arranged at the micro-distance sorting second y-axis rotor of the micro-distance sorting second y-axis linear module (3680), the lower part of the micro-distance sorting second z-axis cylinder is connected with a micro-distance sorting second adsorption plate used for adsorbing and loosening the detection object, and a micro-distance sorting discharging adsorption part used for placing the detection object and carrying the detection object to move is horizontally arranged at the micro-distance sorting discharging y-axis rotor of the micro-distance sorting discharging y-axis linear module (3670).

5. A macro detection and sorting method for appearance detection according to claim 3, wherein 6 macro detection placement bits at the first macro detection section (3610) form a macro loading level, a macro detection first station, a macro detection second station, a macro detection first reservation station, a macro detection second reservation station, and a macro detection flip loading level in sequence along the positive x-axis direction; the 6 micro-distance detection placement positions at the second micro-distance detection part (3620) sequentially form a micro-distance detection overturning blanking position, a micro-distance detection third station, a micro-distance detection fourth station, a micro-distance detection fifth station and a micro-distance detection sixth station along the negative direction of the x-axis until reaching a micro-distance detection sorting position (3630).

6. The method according to claim 4, wherein a first macro camera module, a second macro camera module, a third macro camera module, a fourth macro camera module, a fifth macro camera module, and a sixth macro camera module are respectively arranged above the first macro station (3000), the second macro station (3100), the third macro station (3200), the fourth macro station (3300), the fifth macro station (3400), and the sixth macro station (3500) to be cooperatively arranged with each other.

7. The macro detection and sorting method for appearance detection according to claim 6, wherein the macro detection camera includes a macro camera body (2900), a macro camera mounting block (2910) is formed at an upper side wall of the macro camera body (2900), the macro camera mounting block (2910) is used for being mounted in cooperation with the macro camera mounting holes at each macro detection station, a first macro shooting lens (2920) with a shooting light path facing downwards is arranged at a lowermost end face of the macro camera body (2900), and a second macro shooting lens (2930) with a shooting light path facing outwards is arranged at a lower portion of a side wall of the macro camera body (2900) opposite to the side wall provided with the macro camera mounting block (2910); the lens axes of the first macro shooting lens (2920) and the second macro shooting lens (2930) are mutually perpendicular;

the micro-distance detection first camera component comprises a plurality of micro-distance detection cameras respectively arranged on the outer sides of two wide sides of a CG surface of a detection object; the macro detection cameras on two sides are arranged between two ends of the CG surface of the detection object in parallel at intervals, the macro detection cameras are obliquely arranged through the adapter plate, and the outer wall planes of the macro detection cameras at the macro detection first camera assembly maintain an oblique angle between (20) and (30) degrees with respect to the CG surface of the detection object; the first macro shooting lens (2920) and the second macro shooting lens (2930) of each macro detection camera at the station face towards one side of the edge of the wide side of the CG middle plate for detecting the macro of the edge of the CG middle plate;

The micro-distance detection second station (3100) further comprises a micro-distance detection second camera component located right above the CG surface locating tool at the station, a micro-distance detection second detection position is formed at the micro-distance detection second camera component, the micro-distance detection z-axis lifting module can drive the CG surface locating tool at the station and the detection object to move upwards to the micro-distance detection second detection position, the micro-distance detection second camera component comprises two rows of micro-distance detection cameras which are respectively and parallelly arranged between two long sides of the CG surface, the two rows of micro-distance detection cameras are respectively and parallelly arranged with two long sides of the CG surface of the detection object, a single row of micro-distance detection Xiang Jiping is arranged from one wide side to the other wide side of the CG surface to cover the whole CG waterproof surface, a first micro-distance shooting lens (2920) of a single micro-distance detection camera at the two rows of micro-distance detection cameras faces the bottom plane of the CG surface vertically, and a second micro-distance shooting lens (2930) faces one long side of the CG surface to be used for CG waterproof surface micro-distance detection.

8. The method for detecting and sorting a surface for appearance inspection according to claim 6, wherein the third station (3200) further comprises a third camera assembly located right above the BG surface positioning jig at the station, the third cameras cooperate to form a third detection position, the z-axis lifting module is capable of driving the CG surface positioning fixture at the station and the inspection object to move upward to the third detection position, the third camera assembly comprises two rows of cameras arranged in parallel between two long sides of the BG surface cavity of the inspection object, each row of cameras is arranged in parallel from one wide side to the other wide side of the BG surface cavity, the first (2920) of each camera is vertically oriented to the bottom plane of the BG surface cavity, and the second (2930) is vertically oriented to the inner side wall of the BG surface cavity, which is vertically oriented to the long side of the bottom plane, and protrudes for detecting the BG nut surface position;

The fourth micro-distance detection station (3300) further comprises a fourth micro-distance detection camera component which is positioned right above the BG surface positioning clamp at the station, a plurality of micro-distance detection cameras at the fourth micro-distance detection camera component cooperate to form a fourth micro-distance detection position, the micro-distance detection z-axis lifting module can drive the CG surface positioning clamp at the station and a detection object to move upwards to the fourth micro-distance detection position, the fourth micro-distance detection camera component comprises two rows of micro-distance detection cameras which are respectively arranged in parallel with two wide sides of the BG surface inner cavity, each row of micro-distance detection cameras are arranged at intervals in parallel from one wide side to the other wide side of the BG surface inner cavity, a first micro-distance shooting lens (2920) of each micro-distance detection camera at the station faces perpendicularly to the bottom plane of the BG surface inner cavity, and a second micro-distance shooting lens (2930) faces perpendicularly to the inner side wall of the wide side which is perpendicular to the bottom plane and protrudes to the upper side and lower U area of the BG surface inner cavity;

the fifth micro-distance detection station (3400) further comprises a fifth micro-distance detection camera component right above the BG surface positioning clamp at the station, a plurality of micro-distance detection cameras at the fifth micro-distance detection camera component cooperate to form a fifth micro-distance detection position, the z-axis lifting module for micro-distance detection can drive the CG surface positioning clamp at the station and the detection object to move upwards to the fifth micro-distance detection position, the fifth micro-distance detection camera component comprises four micro-distance detection cameras respectively arranged at the inner sides of four corners of the BG surface inner cavity, a first micro-distance shooting lens (2920) of each micro-distance detection camera faces the bottom plane of the BG surface inner cavity vertically, and a second micro-distance shooting lens (2930) faces the inner wall of the corner of the BG surface inner cavity to be used for micro-distance detection of four corners of the upper U area and the lower U area of the BG surface;

The sixth micro-distance detection station (3500) further comprises a sixth micro-distance detection camera assembly located right above the BG surface positioning clamp at the station, a plurality of micro-distance detection cameras at the sixth micro-distance detection camera assembly cooperate to form a sixth micro-distance detection position, the micro-distance detection z-axis lifting module can drive the CG surface positioning clamp at the station and the detection object to move upwards to the sixth micro-distance detection position, the sixth micro-distance detection camera assembly comprises two rows of micro-distance detection cameras which are respectively arranged in parallel with two long sides of the BG surface inner wall, each row of micro-distance detection cameras are arranged at intervals in parallel from one wide side to the other wide side of the BG surface inner cavity, a first micro-distance shooting lens (2920) of each micro-distance detection camera at the station faces perpendicularly to the bottom plane of the BG surface inner cavity, and a second micro-distance shooting lens (2930) faces perpendicularly to the inner side wall perpendicular to the bottom plane and protruding to the long side of the bottom plane for micro-distance detection of the BG inner cavity surface T groove area.

9. The method for detecting and sorting the appearance according to claim 7, wherein a first micro-distance detecting station, a second micro-distance detecting station, a first reserved micro-distance detecting station, a second reserved micro-distance detecting station, a third micro-distance detecting station, a fourth micro-distance detecting station, a fifth micro-distance detecting station and a sixth micro-distance detecting station are respectively provided with a ball screw type micro-distance detecting z-axis linear module (3690) corresponding to the first micro-distance detecting station, the second micro-distance detecting station, the first reserved micro-distance detecting station, the second reserved micro-distance detecting station, the third micro-distance detecting station, the fourth micro-distance detecting station, the fifth micro-distance detecting station and the sixth micro-distance detecting station, and a micro-distance detecting z-axis rotor of each micro-axis linear module (3690) is respectively connected with the lower ends of the first micro-distance detecting station, the second micro-distance detecting station, the fourth micro-distance detecting station, the fifth micro-distance detecting station and the sixth micro-distance detecting station so as to drive the micro-distance detecting z-axis linear module to move upwards to the corresponding detecting position.

10. The application of a micro-distance detection and sorting method for appearance detection is characterized in that the micro-distance detection and sorting method for appearance detection is realized based on any of the claims 1-9, wherein the detection object is a mobile phone middle frame.

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