CN117368209A - Visual detection system and detection method - Google Patents
Visual detection system and detection method Download PDFInfo
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- CN117368209A CN117368209A CN202311352545.4A CN202311352545A CN117368209A CN 117368209 A CN117368209 A CN 117368209A CN 202311352545 A CN202311352545 A CN 202311352545A CN 117368209 A CN117368209 A CN 117368209A
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- 238000001514 detection method Methods 0.000 title claims abstract description 111
- 230000000007 visual effect Effects 0.000 title claims abstract description 22
- 238000011179 visual inspection Methods 0.000 claims description 27
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/8851—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/8851—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges
- G01N2021/8887—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges based on image processing techniques
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Abstract
The invention relates to a visual detection system and a detection method, wherein the detection system comprises a frame, a front visual detection device, a left and right direction detection device, a back visual detection device and a front and back direction detection device; the upper part of the frame is connected with a workbench; the front vision detection device comprises a first camera, wherein the first camera is used for acquiring a front image of a product; the left-right direction detection device comprises a second camera and a third camera, wherein the second camera is used for acquiring a left image of the front surface of the product, and the third camera is used for acquiring a right image of the front surface of the product; the back vision detection device comprises a fourth camera, wherein the fourth camera is used for acquiring a back image of the product; the front-back direction detection device comprises a fifth camera and a sixth camera, wherein the fifth camera is used for acquiring front side images of the back surface of the product, and the sixth camera is used for acquiring back side images of the back surface of the product. The invention also discloses a detection method. The invention can effectively detect the products in multiple directions and is more beneficial to the control of the whole quality of the products.
Description
Technical Field
The invention relates to the technical field of visual detection, in particular to a visual detection system and a visual detection method.
Background
In order to meet the requirement of product quality inspection, appearance inspection is required to be performed on characteristic parameters of the surface of a product, and compared with manual inspection, the visual inspection technology has higher inspection efficiency, so that the visual inspection technology is widely applied to the fields of size inspection, defect inspection, automatic control and the like. The existing visual inspection technology generally utilizes a camera inspection device to photograph images of products to be inspected to detect defects and sizes by arranging the camera inspection device at a plurality of stations, but the existing inspection system can only detect single azimuth of the products, is inconvenient to detect a plurality of azimuth of the same products, cannot meet the requirement of omnibearing detection of the products, is not beneficial to handle control of the whole quality of the products, and cannot meet production requirements.
Disclosure of Invention
Therefore, the technical problem to be solved by the invention is to overcome the defect that the detection system in the prior art is inconvenient to carry out multi-azimuth detection on the product.
In order to solve the technical problems, the invention provides a visual detection system: comprising the steps of (a) a step of,
the upper part of the rack is connected with a workbench;
the front visual detection device is connected to the workbench and comprises a first camera, wherein the first camera is used for acquiring front images of products;
the left-right direction detection device is connected to the workbench and comprises a second camera and a third camera, wherein the second camera is used for collecting left images of the front surface of the product, and the third camera is used for collecting right images of the front surface of the product;
the back vision detection device is connected to the workbench and comprises a fourth camera, and the fourth camera is used for collecting back images of products;
the front-back direction detection device is connected to the workbench and comprises a fifth camera and a sixth camera, wherein the fifth camera is used for collecting front side images of the back surface of a product, and the sixth camera is used for collecting back side images of the back surface of the product.
In one embodiment of the invention, the front vision detection device comprises a first frame body, wherein the upper part of the first frame body is connected with the first camera, the lower part of the first camera is provided with a first lens, the first lens is vertically arranged, and the lower part of the first frame body is connected with a first light source.
In an embodiment of the invention, the left-right direction detection device comprises a second frame body, a second camera, a third camera and a first prism are connected to the second frame body, the second camera is provided with a second lens, the third camera is provided with a third lens, the second lens is vertically arranged, the third lens is horizontally arranged, a second light source is also connected to the second frame body, the second light source is located below the first prism, the first prism is located between the second lens and the third lens, and the first prism is used for dividing reflected light beams of a product into a plurality of beams in different directions, one beam enters the second lens, and the other beam enters the third lens.
In one embodiment of the invention, the visual inspection system further comprises a first glass carrying platform, the first glass carrying platform is connected with the workbench, the back visual inspection device comprises a fourth frame body, the lower part of the fourth frame body is connected with the fourth camera, the upper part of the fourth camera is provided with a fourth lens, the fourth lens is vertically arranged, the upper part of the fourth frame body is connected with a fourth light source, and the fourth lens is positioned below the first glass carrying platform.
In an embodiment of the invention, the visual inspection system further includes a second glass carrier, the front-rear direction inspection device includes a fifth frame, a fifth camera, a sixth camera and a second prism are connected to the fifth frame, a fifth lens is disposed on the fifth camera, a sixth lens is disposed on the sixth camera, the fifth lens is disposed vertically, the sixth lens is disposed horizontally, the fifth lens is located below the second glass carrier, a fifth light source is further connected to the fifth frame, the fifth light source is located above the second prism, the second prism is located between the fifth lens and the sixth lens, the second prism is used for dividing reflected light beams of the product into a plurality of light beams in different directions, one light beam enters the fifth lens, and the other light beam enters the sixth lens.
In one embodiment of the invention, the visual inspection system further comprises a positioning jig and a transplanting device, wherein the positioning jig is used for positioning the product, and the transplanting device is used for moving the product positioned by the positioning jig to the front visual inspection device, the left-right direction inspection device, the back visual inspection device or the front-back direction inspection device.
In one embodiment of the invention, the positioning jig comprises a supporting frame, a jig plate is connected to the supporting frame, a supporting plate is connected to the upper portion of the jig plate, a first through hole is formed in the middle of the supporting plate, a sliding through hole is formed in the jig plate, the first through hole is communicated with the sliding through hole, a first positioning block is arranged on the supporting plate, a first movable block and a second movable block are slidably arranged in the sliding through hole, the sliding direction of the first movable block is defined as a first direction, the sliding direction of the second movable block is defined as a second direction, the first direction is perpendicular to the second direction, the first movable block penetrates through the first through hole and is opposite to the first positioning block, and a second positioning block is also connected to the upper portion of the jig plate and is opposite to the second movable block.
In one embodiment of the present invention, the positioning jig further includes a driving plate, a first sliding plate and a second sliding plate, the first movable block is connected to the first sliding plate, the second movable block is connected to the second sliding plate, the driving plate is slidably connected to the bottom of the jig plate, the driving plate is driven by a cylinder, the driving plate includes a first driving portion and a second driving portion, the first driving portion abuts against the first sliding plate to drive the first sliding plate to slide along the first direction, a first inclined surface is provided on the second driving portion, and a second inclined surface is provided on the second sliding plate, and the first inclined surface abuts against the second inclined surface to drive the second sliding plate to slide along the second direction; the first sliding plate is further connected with the jig plate through a first spring, and the second sliding plate is further connected with the jig plate through a second spring.
In one embodiment of the present invention, the first sliding plate is connected to the jig plate through a first rail assembly, and the second sliding plate is connected to the jig plate through a second rail assembly.
A method of detecting a visual detection system according to any one of the preceding claims, comprising the steps of:
step 1), acquiring a front image of a product by using a first camera of a front vision detection device, transmitting the front image to an industrial personal computer, and detecting the appearance of the product according to the front image of the product by the industrial personal computer;
step 2), a second camera of the left-right direction detection device is used for collecting a left image of the front face of the product, a third camera is used for collecting a right image of the front face of the product, the left image of the front face of the product and the right image of the front face of the product are transmitted to an industrial personal computer, and the industrial personal computer performs appearance detection according to the left image of the front face of the product and the right image of the front face of the product;
step 3), acquiring a back image of the product by using a fourth camera of the back vision detection device, transmitting the back image of the product to an industrial personal computer, and carrying out appearance detection by the industrial personal computer according to the back image of the product;
step 4), a fifth camera of the front-rear direction detection device is utilized to collect front side images of the back surface of the product, a sixth camera is utilized to collect rear side images of the back surface of the product, the front side images of the back surface of the product and the rear side images of the back surface of the product are transmitted to an industrial personal computer, and the industrial personal computer performs appearance detection according to the front side images of the back surface of the product and the rear side images of the back surface of the product;
and 5) if any one of the front image of the product, the left image of the front of the product, the right image of the front of the product, the back image of the product, the front image of the back of the product and the back image of the back of the product shows that the product has appearance defects, judging that the product is unqualified, recovering the unqualified product, otherwise, judging that the product is qualified, and moving the qualified product to a blanking station.
Compared with the prior art, the technical scheme of the invention has the following advantages:
the visual detection system and the visual detection method can effectively detect the products in multiple directions, and are more beneficial to the control of the overall quality of the products; the detection efficiency is high, and the requirement of high-efficiency production can be well met.
Drawings
In order that the invention may be more readily understood, a more particular description of the invention will be rendered by reference to specific embodiments thereof that are illustrated in the appended drawings.
FIG. 1 is a schematic diagram of the visual inspection system of the present invention;
FIG. 2 is a top view of the visual inspection system shown in FIG. 1;
FIG. 3 is a schematic view of the visual inspection system of FIG. 1 with the frame removed;
FIG. 4 is a schematic view of the structure of FIG. 3 at another angle;
FIG. 5 is a schematic view of the arrangement of a plurality of positioning jigs on a workbench;
FIG. 6 is a schematic diagram of a positioning fixture;
FIG. 7 is an enlarged view of a portion of FIG. 6 at N;
FIG. 8 is a front view of the positioning fixture of FIG. 6;
FIG. 9 is a top view of the positioning fixture of FIG. 8;
FIG. 10 is a bottom view of the positioning fixture of FIG. 8;
FIG. 11 is a schematic view of the pallet of FIG. 6;
FIG. 12 is an exploded view of the positioning jig of FIG. 6;
FIG. 13 is an exploded view of the positioning fixture of FIG. 6 at another angle;
FIG. 14 is an enlarged view of a portion of FIG. 13 at M;
FIG. 15 is a schematic diagram of the structure of the front vision inspection device;
FIG. 16 is a schematic diagram of the structure of the left-right direction detecting device;
FIG. 17 is a schematic view of the structure of the rear vision inspection apparatus;
FIG. 18 is a schematic diagram of the structure of the front-rear direction detecting device;
FIG. 19 is a schematic view of a transplanting device;
FIG. 20 is a schematic view of another transplanting device;
description of the specification reference numerals:
1. a frame;
2. a work table; 21. a recovery station;
3. a front vision detection device; 31. a first frame body; 32. a first camera; 321. a first lens; 33. a first light source;
4. a left-right direction detecting device; 41. a second frame body; 42. a second camera; 421. a second lens; 43. a third camera; 431. a third lens; 44. a first prism; 45. a second light source;
5. a backside visual inspection device; 51. a fourth frame body; 52. a fourth camera; 521. a fourth lens; 53. a fourth light source;
6. front and rear direction detecting means; 61. a fifth frame body; 62. a fifth camera; 621. a fifth lens; 63. a sixth camera; 631. a sixth lens; 64. a second prism; 65. a fifth light source;
7. a first glass stage;
8. a second glass stage;
9. positioning jig; 91. a support frame; 92. a jig plate; 921. a sliding through hole; 922. a first spring; 923. a second spring; 924. a first rail assembly; 9241. a guide rail body; 9242. a sliding body; 925. a second rail assembly; 926. a third rail assembly; 923. a cylinder; 93. a supporting plate; 931. a first through hole; 932. a first positioning block; 94. a first movable block; 95. a second movable block; 96. a second positioning block; 97. a driving plate; 971. a first driving section; 972. a second driving section; 9721. a first inclined surface; 98. a first slip plate; 99. a second slip plate; 991. a second inclined surface;
10. transplanting device; 101. a transfer rack; 102. a vacuum chuck;
11. a vibration motor; 111. a body portion; 1111. a bore; 112. a spring element.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and specific examples, which are not intended to be limiting, so that those skilled in the art will better understand the invention and practice it.
Referring to fig. 1 to 4, the present embodiment discloses a vision inspection system including a chassis 1, a front vision inspection device 3, a left-right direction inspection device 4, a rear vision inspection device 5, and a front-rear direction inspection device 6;
the upper part of the frame 1 is connected with a workbench 2;
the front vision detection device 3 is connected to the workbench 2, and the front vision detection device 3 comprises a first camera 32, wherein the first camera 32 is used for acquiring front images of products;
the left-right direction detection device 4 is connected to the workbench 2, the left-right direction detection device 4 comprises a second camera 42 and a third camera 43, the second camera 42 is used for collecting left images of the front surface of the product, and the third camera 43 is used for collecting right images of the front surface of the product;
the back vision detection device 5 is connected to the workbench 2, and the back vision detection device 5 comprises a fourth camera 52, wherein the fourth camera 52 is used for acquiring a back image of a product;
the front-rear direction detecting device 6 is connected to the workbench 2, the front-rear direction detecting device 6 includes a fifth camera 62 and a sixth camera 63, the fifth camera 62 is used for collecting front side images of the back surface of the product, and the sixth camera 63 is used for collecting back side images of the back surface of the product.
By the arrangement of the front visual detection device 3, the left and right direction detection device 4, the back visual detection device 5 and the front and back direction detection device 6, the front whole and the back whole of the product can be detected, and the left and right sides of the front and back sides of the back of the product can be detected, so that the product can be detected in multiple directions, and the defects such as the size of the product, whether pits, welding defects, chromatic aberration and the like are detected better, and the quality of the product can be guaranteed more conveniently; particularly, in the case of a product in which components such as the spring element 112 are welded to the left and right sides or the front and rear sides of the product, the positions of welding points and welding defects of the side components such as the spring element 112 can be effectively detected by detecting the left and right sides of the front surface and the front and rear sides of the back surface of the product.
In one embodiment, as shown in fig. 4 and 14, the front vision detecting device 3 includes a first frame 31, a first camera 32 is connected to an upper portion of the first frame 31, a first lens 321 is disposed on a lower portion of the first camera 32, the first lens 321 is disposed vertically, and a first light source 33 is connected to a lower portion of the first frame 31.
The front vision detecting device 3 mainly detects the overall appearance condition of the front of the product, for example, detects the appearance conditions of the size, the position of parts, whether pits, welding defects, color differences and the like of the product, and when the front vision detecting device 3 is used for collecting the front image of the product, the product is transported to the lower side of the first camera 32, so that the front of the product faces upwards, the first light source 33 emits light to the front of the product, and the light reflected by the product enters the first lens 321 to obtain the front image of the product.
In one embodiment, as shown in fig. 4 and 16, the left-right direction detecting device 4 includes a second frame 41, the second frame 41 is connected with a second camera 42, a third camera 43 and a first prism 44, the second camera 42 is provided with a second lens 421, the third camera 43 is provided with a third lens 431, the second lens 421 is vertically arranged, the third lens 431 is horizontally arranged, the second frame 41 is also connected with a second light source 45, the second light source 45 is located below the first prism 44, the first prism 44 is located between the second lens 421 and the third lens 431, the first prism 44 is used for dividing a reflected light beam of a product into a plurality of light beams in different directions, one light beam enters the second lens 421, and the other light beam enters the third lens 431. That is, the reflected light at the left part of the front of the product is reflected by the first prism 44 and enters the second lens 421, and the reflected light at the right part of the front of the product is reflected by the first prism 44 and enters the third lens 431.
By the arrangement of the first prism 44, the reflected light beams of the product can be divided into light beams in different directions and respectively enter different cameras, so that images of different directions of the product are acquired to detect the appearance conditions of different parts of the product.
When the left-right direction detecting device 4 is used for collecting an image of a product, the product is transported to the lower side of the second camera 42, so that the product is right-side up, light rays are emitted to the product front side by the second light source 45, the light rays reflected back by the product are split through the prism, reflected light rays at the left side part of the product front side are reflected through the first prism 44 to form one beam of split light rays and enter the second lens 421, the left side image of the product front side is obtained through the second lens 421, reflected light rays at the right side part of the product front side are reflected through the first prism 44 to form the other beam of split light rays and enter the third lens 431, and the right side image of the product front side is obtained through the third lens 431.
In one embodiment, the visual inspection system further includes a first glass stage 7, where the first glass stage 7 is connected to the workbench 2, and as shown in fig. 3 and 17, the back vision inspection device 5 includes a fourth frame 51, a fourth camera 52 is connected to a lower portion of the fourth frame 51, a fourth lens 521 is disposed on an upper portion of the fourth camera 52, the fourth lens 521 is disposed vertically, a fourth light source 53 is connected to an upper portion of the fourth frame 51, and the fourth lens 521 is located below the first glass stage 7.
The first glass carrier 7 is used for placing a product, and since the first glass carrier 7 is a transparent carrier, the first lens 321 can directly collect an image on the back of the product through the transparent carrier.
The back vision detecting device 5 mainly detects the appearance of the whole back of the product, for example, detects the appearance of the size, the position of parts, whether pits, welding defects, color differences and the like of the product, when the back vision detecting device 5 is used for collecting the back image of the product, the product is transported to the first glass carrying table 7 above the fourth camera 52, the front of the product faces upwards, the fourth light source 53 emits light to the direction of the first glass carrying table 7, and the reflected light enters the fourth lens 521 to obtain the back image of the product.
In one embodiment, the visual inspection system further includes a second glass stage 8, as shown in fig. 18 and 3, the front-rear direction detection device 6 includes a fifth frame 61, a fifth camera 62, a sixth camera 63 and a second prism 64 are connected to the fifth frame 61, a fifth lens 621 is disposed on the fifth camera 62, a sixth lens 631 is disposed on the sixth camera 63, the fifth lens 621 is disposed vertically, the sixth lens 631 is disposed horizontally, the fifth lens 621 is located below the second glass stage 8, a fifth light source 65 is further connected to the fifth frame 61, the fifth light source 65 is located above the second prism 64, the second prism 64 is located between the fifth lens 621 and the sixth lens 631, the second prism 64 is used for dividing the reflected light beam of the product into beams in different directions, one beam enters the fifth lens 621, and the other beam enters the sixth lens 631. That is, the reflected light at the front portion of the back of the product is reflected by the second prism 64 and enters the sixth lens 631, and the reflected light at the rear portion of the back of the product is reflected by the second prism 64 and enters the fifth lens 621.
Through the arrangement of the second prism 64, the reflected light beams of the product can be divided into light beams in different directions and respectively enter different cameras, so that images in different directions of the product are acquired, and the appearance conditions of different parts of the product are detected.
The second glass carrier 8 is used for placing a product, and since the second glass carrier 8 is a transparent carrier, the fifth lens 621 can acquire an image of the back of the product through the transparent carrier.
When the front-rear direction detecting device 6 is used for collecting the image of the product, the product is placed on the second glass carrying platform 8, so that the front side of the product faces upwards, the fifth light source 65 emits light to the back surface of the second glass carrying platform 8, the reflected light beam passes through the prism to be split, the reflected light beam at the front side part of the back surface of the product is reflected by the second prism 64 to form one beam of split and enter the sixth lens 631, the front side image of the back surface of the product is obtained by the sixth lens 631, the reflected light beam at the back side part of the back surface of the product is reflected by the second prism 64 to form the other beam of split and enter the fifth lens 621, and the back side image of the back surface of the product is obtained by the fifth lens 621.
In one embodiment, the visual inspection system further comprises a positioning jig 9 and a transplanting device 10, wherein the positioning jig 9 is used for positioning a product, and the transplanting device is used for moving the product positioned by the positioning jig 9 to the front visual inspection device 3, the left-right direction inspection device 4, the back visual inspection device 5 or the front-back direction inspection device 6.
Further, a positioning jig 9 may be provided below the front vision detecting device 3.
As shown in fig. 5, a plurality of positioning jigs 9 are provided on the table 2 to facilitate positioning before moving the product to each inspection device.
In one embodiment, as shown in fig. 6 to 14, the positioning jig 9 includes a supporting frame 91, a jig plate 92 is connected to the supporting frame 91, a supporting plate 93 is connected to an upper portion of the jig plate 92, a first through hole 931 is provided in a middle portion of the supporting plate 93, a sliding through hole 921 is provided in the jig plate 92, the first through hole 931 is located above the sliding through hole 921, the first through hole 931 is communicated with the sliding through hole 921, a first positioning block 932 is provided on the supporting plate 93, a first movable block 94 and a second movable block 95 are slidably provided in the sliding through hole 921, a sliding direction of the first movable block 94 is defined as a first direction, a sliding direction of the second movable block 95 is positioned as a second direction, the first direction is perpendicular to the second direction, the first movable block 94 passes through the first through hole 931 and is disposed opposite to the first positioning block 921, and a second positioning block 96 is further connected to an upper portion of the jig plate 92, and the second positioning block 96 and the second positioning block 95 are disposed opposite to each other.
The second direction corresponds to the front-back side direction of the product, and the first direction corresponds to the left-right side direction of the product.
When the positioning jig 9 is used for positioning a product, the outside of the product is clamped between the second positioning block 96 and the second movable block 95, so that the outside of the product is limited, and the inside of the product is clamped by the first positioning block 932 and the first movable block 94, so that the inside positioning of the product is realized.
In one embodiment, the positioning jig 9 further includes a driving plate 97, a first sliding plate 98 and a second sliding plate 99, the first movable block 94 is connected with the first sliding plate 98, the second movable block 95 is connected with the second sliding plate 99, the driving plate 97 is slidably connected to the bottom of the jig plate 92, the driving plate 97 is driven by an air cylinder 923, the driving plate 97 includes a first driving part 971 and a second driving part 972, the first driving part 971 abuts against the first sliding plate 98 to drive the first sliding plate 98 to slide along the first direction, a first inclined surface 9721 is arranged on the second driving part 972, a second inclined surface 991 is arranged on the second sliding plate 99, and the first inclined surface 9721 abuts against the second inclined surface 991 to drive the second sliding plate 99 to slide along the second direction; the first sliding plate 98 is further connected to the jig plate 92 through a first spring 922, and the second sliding plate 99 is further connected to the jig plate 92 through a second spring 923, so that the first sliding plate 98 and the second sliding plate 99 are reset through the first spring 922 and the second spring 923 respectively.
Since the second driving part 972 and the second sliding plate 99 are abutted by the inclined surfaces, the driving plate 97 and the second sliding plate 99 can move in mutually perpendicular directions under the action of the inclined surfaces.
The following specifically describes the positioning and clamping principle of the positioning jig 9 by taking the product of the vibration motor 11 for a mobile phone as an example:
wherein the vibration motor 11 comprises a body part 111, the middle part of the body part 111 is provided with a cavity 1111, and both sides of the body part 111 are welded with spring elements 112;
when the vibration motor 11 needs to be positioned, the vibration motor 11 is placed on the supporting plate 93, and the first positioning block 932 on the supporting plate 93 passes through the hole cavity 1111 of the vibration motor 11, and at the same time, the first movable block 94 also passes through the hole cavity 1111 of the vibration motor 11, and the outside of the body 111 is located between the second positioning block 96 and the second movable block 95; then the first movable block 94 is driven to slide in the forward direction (the direction far from the first positioning block 932) in the first direction, and meanwhile, the second movable block 95 is driven to slide in the forward direction (the direction close to the second positioning block 96) in the second direction until the first positioning block 932 and the first movable block 94 are respectively clung to two sides of the inner wall of the cavity, so that the internal positioning of the vibration motor 11 is realized, and the body part 111 is clamped between the second positioning block 96 and the second movable block 95, so that the external limiting of the vibration motor 11 is realized, namely, the positioning jig 9 realizes the limiting of the integral motor through the internal positioning and the external limiting, so that the vibration motor 11 is adjusted to the required direction; when the vibration motor 11 is adjusted to a required direction, the vibration motor 11 can be loosened, at this time, the vibration motor 11 can be loosened by only making the first movable block 94 slide reversely along the first direction and making the second movable block 95 slide reversely along the second direction, and then the vibration motor 11 can be moved to a corresponding detection device by using the transplanting device for detection;
wherein the movement of the first movable block 94 and the second movable block 95 are interlocked with each other.
When the vibration motor 11 needs to be loosened, the cylinder 923 drives the driving plate 97 to integrally move reversely in the first direction, at this time, the first driving part 971 drives the first sliding plate 98 to move, so that the first sliding plate 98 drives the first movable block 94 to move reversely in the first direction together, and meanwhile, under the action of the inclined plane, when the driving plate 97 integrally moves reversely in the first direction, the second sliding plate 99 slides reversely in the second direction because the second driving part 972 and the second sliding plate 99 are abutted through the inclined plane (the first inclined plane 9721 and the second inclined plane 991 are abutted), and the second sliding plate 99 drives the second movable block 95 to move reversely in the second direction together by the second sliding plate 99, so that the vibration motor 11 is loosened; in the above process, the first spring 922 and the second spring 923 are in a stretched state;
when the vibration motor 11 needs to be positioned, the cylinder 923 drives the driving plate 97 to move forward along the first direction for a certain distance, at this time, the first spring 922 and the second spring 923 retract, under the action of the restoring force of the first spring 922, the first sliding plate 98 drives the first movable block 94 to move forward along the first direction together, and under the action of the restoring force of the second spring 923, the second sliding plate 99 drives the second movable block 95 to move forward along the second direction, so that the clamping and positioning of the vibration motor 11 are realized.
In one embodiment, first slip plate 98 is coupled to jig plate 92 by first rail assembly 924 and second slip plate 99 is coupled to jig plate 92 by second rail assembly 925.
Further, the driving plate 97 is connected to the jig plate 92 through a third rail assembly 926.
The first rail assembly 924, the second rail assembly 925 and the third rail assembly 926 include a rail body 9241 and a sliding body 9242, the sliding body 9242 is slidably connected to the rail body 9241, the rail body 9241 is fixed to the bottom of the jig plate 92, and each sliding body 9242 is fixed to the corresponding first sliding plate 98, second sliding plate 99 and driving plate 97.
Through the arrangement of the guide rail assembly, the sliding stability and the reliability can be better ensured.
In one embodiment, a photoelectric sensor may also be provided on the jig plate 92 to detect whether the product position on the positioning jig 9 is in place.
In one embodiment, the transplanting device 10 may be disposed on the workbench 2 at a plurality of stations, for example, the transplanting device 10 may be disposed at a front detection station and a back detection station of the product, so as to enable the product to move between different positions of the front detection station or between different positions of the back detection station; a transplanting device 10 may also be provided between the front and rear inspection stations to facilitate lateral movement of the product between the front and rear inspection stations.
In one embodiment, the transplanting device 10 comprises a transferring frame 101, and a vacuum chuck 102 is slidably connected to the transferring frame 101 to adsorb products.
Further, the transplanting device 10 may adopt a structure as shown in fig. 19: a vacuum chuck 102 is slidably provided in the transfer frame 101.
The transplanting device 10 may also adopt a structure as shown in fig. 20: two vacuum chucks 102 are slidably provided on the transfer frame 101 to simultaneously chuck different products.
The transplanting devices 10 with different structures can be arranged on the workbench 2 according to the requirements.
In one embodiment, the first camera 32, the second camera 42, the third camera 43, the fourth camera 52, the fifth camera 62 and the sixth camera 63 each use a CCD camera, for example, a CCD area array camera may be used, and the corresponding first lens 321, second lens 421, third lens 431, fourth lens 521, fifth lens 621 and sixth lens 631 each use a zoom telecentric lens.
The embodiment also discloses a detection method of the visual detection system, which comprises the following steps:
step 1), acquiring a front image of a product by using a first camera 32 of a front vision detection device 3, transmitting the front image to an industrial personal computer, and detecting the appearance of the front of the product by the industrial personal computer according to the front image of the product;
when the industrial personal computer performs appearance detection, the collected front image of the product is compared with the front image of the reference image to judge whether appearance defects exist or not; wherein the reference image is an image of a good product.
The appearance defects can be defects such as product size, part position in the product, surface pits, welding defects, chromatic aberration and the like.
Step 2), a second camera 42 of the left-right direction detection device 4 is used for collecting a left image of the front surface of the product, a third camera 43 is used for collecting a right image of the front surface of the product, the left image of the front surface of the product and the right image of the front surface of the product are transmitted to an industrial personal computer, and the industrial personal computer performs appearance detection on the left side and the right side of the front surface of the product according to the left image of the front surface of the product and the right image of the front surface of the product;
when the industrial personal computer performs appearance detection, the collected left side image of the front face of the product is compared with the left side image of the front face of the reference image to judge whether appearance defects exist or not; comparing the acquired right image of the front surface of the product with the right image of the front surface of the reference image to judge whether appearance defects exist or not;
step 3), acquiring a back image of the product by using a fourth camera 52 of the back vision detection device 5, transmitting the back image of the product to the industrial personal computer, and detecting the appearance of the back of the product by the industrial personal computer according to the back image of the product;
when the industrial personal computer performs appearance detection, the acquired back image of the product is compared with the back image of the reference image to judge whether appearance defects exist or not;
step 4), acquiring front side images of the back surface of the product by using a fifth camera 62 of the front-back direction detection device 6, acquiring back side images of the back surface of the product by using a sixth camera 63, transmitting the front side images of the back surface of the product and the back side images of the back surface of the product to an industrial personal computer, and carrying out appearance detection on the front side and the back side of the back surface of the product by the industrial personal computer according to the front side images of the back surface of the product and the back side images of the back surface of the product;
when the industrial personal computer performs appearance detection, the collected front side image of the back of the product is compared with the front side image of the back of the reference image to judge whether appearance defects exist or not; comparing the acquired rear side image of the back surface of the product with the rear side image of the back surface of the reference image to judge whether the appearance defect exists or not;
and 5) if any one of the front image of the product, the left image of the front of the product, the right image of the front of the product, the back image of the product, the front image of the back of the product and the back image of the back of the product shows that the product has appearance defects, judging that the product is unqualified, recovering the unqualified product, otherwise, judging that the product is qualified, and moving the qualified product to a blanking station.
It can be understood that before the step 1), the product to be detected is transported to a feeding station, and the product is fed and scanned to scan the code, so that the code is scanned and identified for facilitating subsequent tracking; if the code scanning fails, the product is directly recovered through the recovery equipment, and subsequent detection is not performed any more; if the code scanning is successful, continuing the subsequent detection step; in step 5), if it is determined that the product is not acceptable, the unacceptable product is recovered by another recovery device.
The following specifically describes the operation of the above detection system, taking the product of the vibration motor 11 for a mobile phone as an example:
transporting the vibration motor 11 to a feeding station, carrying out code scanning identification, moving the vibration motor 11 to a positioning jig 9 after the identification is successful, adjusting the azimuth of the vibration motor 11 by the positioning jig 9, namely positioning the vibration motor 11 to a certain set azimuth by the positioning jig 9, and then taking down the vibration motor 11 from the positioning jig 9 and moving the vibration motor 11 to the front vision detection device 3 by using the transplanting device 10 under the condition of keeping the set azimuth;
the front visual detection device 3 collects the front image of the product and transmits the front image to the industrial personal computer, and the industrial personal computer performs appearance detection on the front of the product;
after the detection is finished, the transplanting device 10 is used for moving the vibrating motor 11 to the left-right direction detection device 4 to collect left images of the front face of the product and right images of the front face of the product, and the images are transmitted to the industrial personal computer to detect the appearance conditions such as welding spots, welding positions and the like of the spring elements 112 on the left side and the right side of the front face of the product;
after the detection is finished, the transplanting device 10 is used for moving the vibrating motor 11 to the back detection device to collect the back image of the product and transmitting the back image to the industrial personal computer to perform appearance detection on the back of the product;
after the detection is finished, the transplanting device 10 is used for moving the vibrating motor 11 to the back front and back direction detection device 6 to collect front images of the back of the product and rear images of the back of the product, and the front images and the rear images of the back of the product are transmitted to the industrial personal computer to carry out appearance detection on the front side and the rear side of the back of the product;
after the detection is finished, only the vibration motor 11 with the detection results of all the detection devices being qualified (no appearance defect exists) is regarded as a qualified product, the qualified product is transported to a blanking station to sweep the code and carry out blanking, otherwise, the vibration motor 11 with the detection results being unqualified is regarded as a failure, and the unqualified vibration motor 11 is subjected to code sweeping record and is recovered through recovery equipment at a recovery station 21.
The visual detection system of the embodiment can effectively carry out multi-azimuth appearance detection on the product, thereby better judging whether the product has appearance defects or not and being more beneficial to controlling the whole quality of the product; the detection efficiency is high, and the requirement of high-efficiency production is met.
It is apparent that the above examples are given by way of illustration only and are not limiting of the embodiments. Other variations and modifications of the present invention will be apparent to those of ordinary skill in the art in light of the foregoing description. It is not necessary here nor is it exhaustive of all embodiments. And obvious variations or modifications thereof are contemplated as falling within the scope of the present invention.
Claims (10)
1. A visual inspection system, characterized by: comprising the steps of (a) a step of,
the upper part of the rack is connected with a workbench;
the front visual detection device is connected to the workbench and comprises a first camera, wherein the first camera is used for acquiring front images of products;
the left-right direction detection device is connected to the workbench and comprises a second camera and a third camera, wherein the second camera is used for collecting left images of the front surface of the product, and the third camera is used for collecting right images of the front surface of the product;
the back vision detection device is connected to the workbench and comprises a fourth camera, and the fourth camera is used for collecting back images of products;
the front-back direction detection device is connected to the workbench and comprises a fifth camera and a sixth camera, wherein the fifth camera is used for collecting front side images of the back surface of a product, and the sixth camera is used for collecting back side images of the back surface of the product.
2. The visual inspection system of claim 1, wherein: the front vision detection device comprises a first frame body, the upper portion of the first frame body is connected with a first camera, a first lens is arranged on the lower portion of the first camera, the first lens is arranged vertically, and a first light source is connected to the lower portion of the first frame body.
3. The visual inspection system of claim 1, wherein: the left-right direction detection device comprises a second frame body, a second camera, a third camera and a first prism are connected to the second frame body, the second camera is provided with a second lens, the third camera is provided with a third lens, the second lens is vertically arranged, the third lens is horizontally arranged, a second light source is further connected to the second frame body, the second light source is located below the first prism, the first prism is located between the second lens and the third lens, the first prism is used for dividing reflected light beams of a product into light beams in different directions, one light beam enters the second lens, and the other light beam enters the third lens.
4. The visual inspection system of claim 1, wherein: still include first glass carrier, first glass carrier with the workstation is connected, back vision detection device includes the fourth support body, the lower part of fourth support body is connected with the fourth camera, the upper portion of fourth camera is provided with the fourth camera lens, the fourth camera lens is vertical setting, the upper portion of fourth support body is connected with the fourth light source, the fourth camera lens is located the below of first glass carrier.
5. The visual inspection system of claim 1, wherein: the front-rear direction detection device comprises a first frame body, a first lens, a second lens, a third lens, a fourth lens, a fifth light source, a sixth lens and a fourth lens.
6. The visual inspection system of claim 1, wherein: the positioning jig is used for positioning products, and the transplanting device is used for moving the products positioned by the positioning jig to the front visual detection device, the left-right direction detection device, the back visual detection device or the front-back direction detection device.
7. The visual inspection system of claim 6, wherein: the positioning jig comprises a supporting frame, a jig plate is connected to the supporting frame, a supporting plate is connected to the upper portion of the jig plate, a first through hole is formed in the middle of the supporting plate, a sliding through hole is formed in the jig plate, the first through hole is communicated with the sliding through hole, a first positioning block is arranged on the supporting plate, a first movable block and a second movable block are slidably arranged in the sliding through hole, the sliding direction of the first movable block is defined as a first direction, the sliding direction of the second movable block is positioned as a second direction, the first direction is perpendicular to the second direction, the first movable block penetrates through the first through hole and is opposite to the first positioning block, a second positioning block is further connected to the upper portion of the jig plate, and the second positioning block and the second movable block are oppositely arranged.
8. The visual inspection system of claim 7, wherein: the positioning jig further comprises a driving plate, a first sliding plate and a second sliding plate, wherein the first movable block is connected with the first sliding plate, the second movable block is connected with the second sliding plate, the driving plate is slidably connected to the bottom of the jig plate, the driving plate is driven by a cylinder and comprises a first driving part and a second driving part, the first driving part is propped against the first sliding plate to drive the first sliding plate to slide along the first direction, a first inclined surface is arranged on the second driving part, a second inclined surface is arranged on the second sliding plate, and the first inclined surface is propped against the second inclined surface to drive the second sliding plate to slide along the second direction; the first sliding plate is further connected with the jig plate through a first spring, and the second sliding plate is further connected with the jig plate through a second spring.
9. The visual inspection system of claim 8, wherein: the first sliding plate is connected with the jig plate through a first guide rail assembly, and the second sliding plate is connected with the jig plate through a second guide rail assembly.
10. A method of detecting a visual detection system according to any one of claims 1 to 9, wherein: the method comprises the following steps:
step 1), acquiring a front image of a product by using a first camera of a front vision detection device, transmitting the front image to an industrial personal computer, and detecting the appearance of the product according to the front image of the product by the industrial personal computer;
step 2), a second camera of the left-right direction detection device is used for collecting a left image of the front face of the product, a third camera is used for collecting a right image of the front face of the product, the left image of the front face of the product and the right image of the front face of the product are transmitted to an industrial personal computer, and the industrial personal computer performs appearance detection according to the left image of the front face of the product and the right image of the front face of the product;
step 3), acquiring a back image of the product by using a fourth camera of the back vision detection device, transmitting the back image of the product to an industrial personal computer, and carrying out appearance detection by the industrial personal computer according to the back image of the product;
step 4), a fifth camera of the front-rear direction detection device is utilized to collect front side images of the back surface of the product, a sixth camera is utilized to collect rear side images of the back surface of the product, the front side images of the back surface of the product and the rear side images of the back surface of the product are transmitted to an industrial personal computer, and the industrial personal computer performs appearance detection according to the front side images of the back surface of the product and the rear side images of the back surface of the product;
and 5) if any one of the front image of the product, the left image of the front of the product, the right image of the front of the product, the back image of the product, the front image of the back of the product and the back image of the back of the product shows that the product has appearance defects, judging that the product is unqualified, recovering the unqualified product, otherwise, judging that the product is qualified, and moving the qualified product to a blanking station.
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| CN202311352545.4A CN117368209A (en) | 2023-10-18 | 2023-10-18 | Visual detection system and detection method |
| PCT/CN2023/141744 WO2025081653A1 (en) | 2023-10-18 | 2023-12-26 | Visual inspection system and inspection method |
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| CN119804461A (en) * | 2024-12-30 | 2025-04-11 | 苏州威达智科技股份有限公司 | A method for quickly detecting the appearance of six sides of a product |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JPH06273339A (en) * | 1993-03-19 | 1994-09-30 | N T T Data Tsushin Kk | Appearance inspection device |
| CN103822656B (en) * | 2014-02-19 | 2017-11-14 | 浙江田中精机股份有限公司 | A kind of optical detection unit in electronic coil test machine |
| CN109115261B (en) * | 2017-06-26 | 2021-09-17 | 深圳回收宝科技有限公司 | Terminal detection device and terminal recovery equipment |
| CN108413873A (en) * | 2018-04-17 | 2018-08-17 | 华南理工大学 | A kind of online dimensional measurement of phone housing and surface defects detection system and method |
| CN109239100B (en) * | 2018-10-24 | 2024-04-02 | 东莞市乐琪光电科技有限公司 | Lithium battery surface detection equipment |
| CN211247425U (en) * | 2019-11-12 | 2020-08-14 | 东声(苏州)智能科技有限公司 | Mobile phone shell surface defect machine vision detection equipment |
| CN211928098U (en) * | 2020-01-17 | 2020-11-13 | 东莞信柏结构陶瓷股份有限公司 | Circuit board positioning detection tool |
| CN111872507A (en) * | 2020-07-13 | 2020-11-03 | 义乌聚龙自动化科技有限公司 | A rotating fixture device of a chip welding machine |
| CN215466258U (en) * | 2021-01-08 | 2022-01-11 | 深圳市欣旺达电气技术有限公司 | Lithium battery detection equipment |
| WO2022151040A1 (en) * | 2021-01-13 | 2022-07-21 | 苏州天准科技股份有限公司 | Measurement device for measuring battery |
| CN216622191U (en) * | 2021-09-17 | 2022-05-27 | 东声(苏州)智能科技有限公司 | Lithium battery appearance defect detection system based on machine vision |
| CN116359233B (en) * | 2023-06-02 | 2023-10-03 | 东声(苏州)智能科技有限公司 | Square battery appearance defect detection method and device, storage medium and electronic equipment |
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| CN119804461A (en) * | 2024-12-30 | 2025-04-11 | 苏州威达智科技股份有限公司 | A method for quickly detecting the appearance of six sides of a product |
| CN119804461B (en) * | 2024-12-30 | 2025-10-24 | 苏州威达智科技股份有限公司 | A method for quickly detecting the appearance of six sides of a product |
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