CN118425044A

CN118425044A - Flipping device and multi-station visual inspection equipment

Info

Publication number: CN118425044A
Application number: CN202410558698.2A
Authority: CN
Inventors: 李峰; 常卓越; 马孟雨; 邱雨菲; 张武杰
Original assignee: Zhongke Huiyuan Intelligent Equipment Guangdong Co ltd; Casi Vision Technology Luoyang Co Ltd
Current assignee: Zhongke Huiyuan Intelligent Equipment Guangdong Co ltd; Casi Vision Technology Luoyang Co Ltd
Priority date: 2024-05-06
Filing date: 2024-05-06
Publication date: 2024-08-02

Abstract

The present application discloses a flipping device and a multi-station visual inspection device. The flipping device includes a frame; a carrier mechanism, which is located on the frame, and an object to be tested is placed on the carrier mechanism, and the carrier mechanism includes a carrier rotating assembly, and the carrier rotating assembly is used to drive the object to be tested to rotate; a flipping and conveying mechanism, which is arranged at one end of the frame, and the carrier mechanism is configured to move in a direction close to or away from the flipping and conveying mechanism; a handover flipping mechanism, which is arranged on the frame, and the handover flipping mechanism is located below the flipping and conveying mechanism, and the handover flipping mechanism is configured to drive the object to be tested to rotate; wherein, the object to be tested is transferred from the carrier mechanism to the handover flipping mechanism and the flipping and conveying mechanism in sequence, and then returns to the carrier mechanism; or the object to be tested is transferred from the carrier mechanism to the flipping and conveying mechanism in sequence, and then returns to the carrier mechanism, so as to realize the flipping of the object to be tested. Double-sided detection of the object to be tested is realized, and detection accuracy and detection efficiency are improved.

Description

Turning device and multi-station visual detection equipment

Technical Field

The application relates to the technical field of machine vision detection, in particular to a turn-over device and multi-station vision detection equipment.

Background

Along with the progress of technological development and living standard, intelligent equipment gradually becomes one of the necessary articles for people to live. People are increasingly demanding the appearance of intelligent devices while pursuing performance.

In the production process flow of mobile phone cover plates and middle frames, defect detection is an important content of related quality, and the existing detection means are generally divided into manual detection and machine vision detection, wherein the manual detection is carried out by directly reading the reading of a measuring instrument through the measuring instrument (such as a secondary image measuring instrument, a magnifying glass, a film ruler and the like), or by observing the surface of a glass cover plate with naked eyes under auxiliary illumination, so that the appearance defect of glass is evaluated and measured. The manual detection means is influenced by subjective factors of people, so that the defects of high misjudgment rate, unstable detection quality, low detection efficiency and the like exist, the product quality is difficult to ensure, and more importantly, the health risk of reducing the eyesight of a tester exists. The manual detection method consumes a great deal of manpower and has high cost in mass production.

At present, when the cover plate and middle frame machine vision detection equipment needs to turn over an object to be detected, the mechanical hand is mainly adopted, the structure is complex, the maintenance time is long, too many mechanical hands are needed when a large amount of objects to be detected are detected simultaneously, the occupied area is large, meanwhile, the economic cost is also increased, the detection method mainly adopted by the existing vision detection equipment is a separate detection method, the detection efficiency is reduced, the equipment length is increased, the occupied area of the equipment is increased, and the use cost of the equipment is high.

Disclosure of Invention

The present application aims to solve at least one of the technical problems existing in the prior art or related art.

In view of the above, the application provides a turn-over device and a multi-station visual detection device, wherein the turn-over device can turn-over and detect an object to be detected, so that double-sided detection of the object to be detected is realized, the detection accuracy is improved, a mechanical arm is not required to turn over, the structure is simple, the maintenance time is reduced, the detection efficiency is improved, and the detection cost is reduced.

Specifically, the method comprises the following technical scheme:

an embodiment of a first aspect of the present application provides a turn-over device, a shaped battery including: the turn-over device comprises: a frame; and

The carrier mechanism is positioned on the frame, an object to be measured is placed on the carrier mechanism, the carrier mechanism comprises a carrier rotating assembly, and the carrier rotating assembly is used for driving the object to be measured to rotate;

The overturning and conveying mechanism is arranged at one end of the rack, and the carrying platform mechanism is configured to move in a direction approaching or separating from the overturning and conveying mechanism;

The handover turnover mechanism is arranged on the frame, is positioned below the turnover conveying mechanism and is configured to drive the object to be tested to rotate;

The object to be tested is sequentially transferred to the handover turnover mechanism and the turnover conveying mechanism by the carrier mechanism and then returned to the carrier mechanism; or the object to be measured is sequentially transferred to the overturning and conveying mechanism and the handover overturning mechanism by the carrying platform mechanism and then returned to the carrying platform mechanism, so that the overturning of the object to be measured is realized.

Optionally, the turn-over device further includes:

The X motion assembly is arranged on the frame, and the carrying platform mechanism is arranged on the X motion assembly in a sliding manner.

Optionally, the X motion assembly includes:

The guide rail bottom plate is fixedly arranged on the frame, the guide rail bottom plate is arranged along the directions of the carrying platform mechanism and the overturning and conveying mechanism, and a fifth linear guide rail is arranged on the guide rail bottom plate;

the first lead screw module is fixedly arranged on the frame and is arranged along the directions of the carrying platform mechanism and the overturning and conveying mechanism;

And the sliding plate is connected to the fifth linear guide rail and the first screw rod module in a sliding manner, and the carrying platform mechanism is fixedly connected with the sliding plate.

Optionally, the stage mechanism includes:

The rotary bottom plate is connected with the X motion assembly;

the rotary support plate is arranged at one end of the rotary bottom plate, and a first belt seat bearing is arranged at one end of the rotary support plate, which is far away from the rotary bottom plate;

The speed reducer assembly is arranged at the other end of the rotary bottom plate, the speed reducer assembly and the rotary support plate are arranged oppositely, the carrier rotating assembly is arranged at one end, far away from the rotary bottom plate, of the speed reducer assembly, and the speed reducer assembly drives the carrier rotating assembly to rotate.

Optionally, the speed reducer unit includes:

the fixed bracket is fixed on the rotary bottom plate and is arranged opposite to the rotary support plate;

The motor comprises a fixed support, a rotary support plate, a first servo motor, a speed reducer and a transition flange, wherein the casing of the first servo motor is arranged between the fixed support and the rotary support plate, an output shaft of the first servo motor penetrates through the fixed support, the speed reducer is arranged on the output shaft, and the transition flange is arranged on one side of the speed reducer, which is away from the fixed support.

Optionally, the stage rotation assembly includes:

the second installation bottom plate is arranged at one end, far away from the rotary bottom plate, of the fixed bracket and is fixedly connected with the transition flange through the turning arm;

The overturning supporting plate is arranged at one end of the second mounting bottom plate;

And the flange shaft sequentially penetrates through the overturning supporting plate, the rotary supporting plate and the first belt seat bearing.

Optionally, the stage rotation assembly further comprises:

The commutator is arranged on one side, deviating from the rotary bottom plate, of the second mounting bottom plate, and comprises a mounting rotating shaft and a power shaft, wherein the power shaft and the second mounting bottom plate are arranged in the same direction, and the mounting rotating shaft extends towards the direction deviating from the second mounting bottom plate;

the second servo motor is fixed on the second mounting bottom plate through a motor mounting plate, the second servo motor and the commutator are arranged on the same side, and a first driving wheel is arranged on an output shaft of the second servo motor;

The first rotating shaft is arranged on the second mounting bottom plate through a second belt seat bearing, a first driven wheel is arranged on the first rotating shaft and connected with the first driving wheel through a first synchronous belt, a third driving wheel is further arranged on the first rotating shaft, a third driven wheel is arranged on the end portion of the power shaft, and the third driven wheel is connected with the third driving wheel through a third synchronous belt.

Optionally, the turnover handling mechanism includes:

The connecting mounting plate is fixed on the frame through a second support column, and an avoidance hole is formed in the hinged mounting plate;

The second X-direction conveying assembly is arranged on one side of the delivery mounting plate, facing the rack, and moves back and forth between the carrying platform mechanism and the delivery turnover mechanism;

The second Z-direction conveying assembly is arranged on the second X-direction conveying assembly and used for reciprocating between the delivery mounting plate and the frame.

Optionally, the second X-direction handling assembly includes:

The second X-direction linear driving device is arranged on one side, facing the rack, of the connecting mounting plate, and one end, far away from the connecting mounting plate, of the second X-direction linear driving device is fixedly connected with the second guide plate;

And the ninth linear guide rail is arranged on one side of the connecting mounting plate, which faces the frame, and the second guide plate is fixedly connected with the sliding block of the ninth linear guide rail through a second sliding block connecting block.

Optionally, the second Z-direction handling assembly includes:

The second Z-direction linear driving device penetrates through the handover mounting plate and the second guide plate, a screw rod of the second Z-direction linear driving device is sequentially connected with a third floating connector and a second connector mounting seat, and the second connector mounting seat is fixedly connected with a second carrying flat plate;

the third sucker seat is arranged on one side of the second carrying flat plate, which is away from the second guide plate, and a plurality of suckers are arranged on one side of the third sucker seat, which is away from the second guide plate;

The second guide shaft penetrates through the handover mounting plate and the second guide plate in sequence, one end of the second guide shaft is fixedly connected with the second carrying flat plate, the second guide shaft is connected with the second guide plate through a second linear bearing, and a second stop block is arranged at one end, far away from the carrying flat plate, of the second guide shaft.

Optionally, the handover tilting mechanism includes:

The pair of flat plates are fixed on the frame, an eighth linear guide rail is arranged on one side of the flat plates, which is away from the frame, and the linear guide rail is arranged along the connection direction of the carrying platform mechanism and the handover turnover mechanism;

The first overturning vertical plate and the second overturning vertical plate are respectively connected to the eighth linear guide rail in a sliding manner through a base plate, one end of the first overturning vertical plate, which is far away from the flat plate, is provided with a driving rotating shaft, one end of the second overturning vertical plate, which is far away from the flat plate, is provided with a second rotating shaft, and the driving rotating shaft is provided with a second driven wheel;

The third servo motor penetrates through the first overturning vertical plate, an output shaft of the third servo motor is connected with a second driving wheel, and the second driving wheel is connected with the second driven wheel through the second synchronous belt;

The turnover plate, the both ends of turnover plate respectively with initiative pivot with the second pivot is connected, the turnover plate deviates from be equipped with the fourth sucking disc seat on the one side of frame.

Optionally, the handover tilting mechanism further includes:

the two ends of the connecting long plate are respectively connected with the first overturning vertical plate and the second overturning vertical plate;

The sliding table cylinder is arranged on the frame and fixedly connected with the connecting long plate through a push plate.

An embodiment of the second aspect of the present application provides a multi-station visual inspection apparatus, including:

a turn-over device as described above;

the positioning mechanism is arranged on the frame and is positioned at one side of the carrying platform mechanism, which is away from the handover turnover mechanism;

The feeding and discharging conveying mechanism is arranged at one end, far away from the overturning and conveying mechanism, of the frame, and is positioned above the positioning mechanism;

The visual detection mechanism is arranged on the frame, is positioned between the loading and unloading carrying mechanism and the overturning carrying mechanism, and is also positioned above the carrying platform mechanism to detect an object to be detected;

The loading and unloading carrying mechanism carries the object to be detected on the positioning mechanism to the carrying table mechanism, then the visual detection mechanism detects the object to be detected on the carrying table mechanism, the detected object to be detected moves back to the positioning mechanism through the loading and unloading carrying mechanism, and subsequent processes are carried out on the object to be detected.

Optionally, the positioning mechanism includes:

The upright post is fixedly connected with the frame, one end of the upright post, which is far away from the frame, is provided with a linear module and a third linear guide rail, and the third linear guide rail is arranged along the length direction of the frame;

the positioning carrier assembly is arranged on the linear module and the third linear guide rail, and is provided with a long-side positioning assembly and a short-side positioning assembly, and the object to be detected is positioned through the long-side positioning assembly and the short-side positioning assembly.

Optionally, the positioning stage assembly includes:

The positioning bottom plate is arranged on the linear module and the third linear guide rail;

The first mounting bottom plate is arranged on the positioning bottom plate through a transverse adjusting plate, and first vertical plates are arranged at two ends of the first mounting bottom plate in the length direction;

The positioning reference plates are arranged at one ends of the pair of first vertical plates, which are far away from the first mounting bottom plate, and one sides of the positioning reference plates, which are far away from the first vertical plates, are provided with mounting grooves, and positioning support plates are arranged in the mounting grooves;

the long-side positioning block is arranged on one side of the long side of the positioning reference plate, and the position of the long-side positioning block corresponds to the positioning support plate;

the short-side positioning block is arranged on the positioning reference plate and corresponds to one short side of the positioning support plate.

Optionally, the long-side positioning assembly includes:

The X-direction push rod is arranged opposite to the long-side positioning block, one side of the X-direction push rod facing the long-side positioning block is provided with an X-direction positioning block, and the X-direction positioning block is arranged corresponding to the long-short positioning block;

The first linear guide rail is arranged on the first mounting bottom plate, a first guide rail connecting plate is arranged on the first linear guide rail, and one end of the first guide rail connecting plate is connected with the X-direction push rod;

The second cylinder is arranged on the first mounting bottom plate, a floating joint is arranged at the extending end of the second cylinder, and the floating joint is connected with the X-direction push rod through a cylinder connecting piece.

Optionally, the short side positioning assembly includes:

the second linear guide rail is arranged on the first mounting bottom plate, and a second guide rail connecting plate is arranged on one side, away from the first mounting bottom plate, of the second linear guide rail;

The first air cylinder is arranged on the first mounting bottom plate, one end of the first air cylinder is connected with a first floating joint, the other end of the first floating joint is connected with an air cylinder pushing block, and one end of the air cylinder, which is far away from the first floating joint, is connected with the supporting plate;

the short-side locating piece is arranged on the supporting plate and is opposite to the short-side locating piece.

Optionally, the short-side positioning member includes:

The second vertical plate is arranged on the supporting plate, and a sliding rail is arranged at one end, far away from the supporting plate, of the second vertical plate;

the side plate is fixed at one end of the second vertical plate, the slide rail connecting block is fixedly connected with the slide rail, and a compression spring is arranged between the slide rail and the side plate;

The positioning block connecting piece is connected with the sliding rail connecting block, the positioning hole connecting piece extends towards the long-side positioning assembly, a Y-direction positioning block is arranged on the positioning block connecting piece, and the Y-direction positioning block extends towards the short-side positioning block.

Optionally, the positioning mechanism further includes a waiting component, where the waiting component includes:

the support plate is arranged on the side edge of the first mounting bottom plate, corresponds to the positioning support plate in position and is positioned above the positioning bottom plate;

The adapter plate is arranged at one end, away from the first mounting plate, of the support plate, the adapter plate is positioned at one end, away from the positioning bottom plate, of the support plate, a sucker mounting block is arranged on one side, away from the positioning bottom plate, of the adapter plate, and a first sucker seat is arranged on one side, away from the adapter plate, of the sucker mounting block.

Optionally, the loading and unloading handling mechanism includes:

the feeding mounting plate is fixed on the frame through the first support column and is positioned above the positioning mechanism;

The first X-direction conveying assembly is arranged on one side of the feeding mounting plate, facing the rack, and moves back and forth between the positioning mechanism and the carrying platform mechanism;

the first Z-direction carrying assembly is arranged on the first X-direction carrying assembly and is used for reciprocating between the feeding mounting plate and the frame.

Optionally, the first X-direction handling assembly includes:

the first X-direction linear driving device is arranged on one side, facing the rack, of the feeding mounting plate, and one end, far away from the feeding mounting plate, of the first X-direction linear driving device is fixedly connected with the first guide plate;

the fourth linear guide rail is arranged on one side, facing the frame, of the feeding mounting plate, and the first guide plate is fixedly connected with the sliding block of the fourth linear guide rail through a first sliding block connecting block.

Optionally, the first Z-direction handling assembly includes:

The first Z-direction linear driving device penetrates through the feeding mounting plate and the first guide plate, and a screw rod of the first Z-direction linear driving device is sequentially connected with a second floating joint and a first joint mounting seat which are fixedly connected with a first carrying flat plate;

The first sucker mounting plate is arranged on one side, away from the first machine head mounting seat, of the first carrying flat plate, and the first sucker mounting plate is arranged along the direction of the positioning mechanism and the direction of the carrying platform mechanism;

The second sucker seat is arranged on one side, away from the first carrying flat plate, of the first sucker mounting plate, second sucker seats are arranged at two ends of the first sucker mounting plate, a second sucker is arranged below the second sucker seat, which is close to one side of the positioning mechanism, and a first sucker is arranged below the second sucker seat, which is close to one side of the carrier mechanism;

The first guide shaft penetrates through the feeding mounting plate and the first guide plate in sequence, one end of the first guide shaft is fixedly connected with the first carrying flat plate, the first guide shaft is connected with the first guide plate through a first linear bearing, and a first stop block is arranged at one end, far away from the carrying flat plate, of the first guide shaft.

Optionally, the visual detection mechanism includes:

The X-axis module assembly is arranged on the frame through a Z-axis upright post;

The Z-axis module assembly is arranged on the X-axis module assembly, and the Z-axis module assembly can move on the X-axis module assembly along the directions of a pair of Z-axis upright posts;

the detection assembly is arranged on the Z-axis module assembly and is used for moving towards or away from the machine frame direction.

Optionally, the X-axis module assembly includes:

the X-axis module bottom plate is arranged between the pair of Z-axis stand columns;

The X-axis linear module is arranged on one side of the bottom plate of the X-axis module;

The sixth linear guide rail is arranged on one side, away from the X-axis linear module, of the X-axis module bottom plate, and the Z-axis module assembly is arranged on the sixth linear guide rail and the X-axis linear module.

Optionally, the Z-axis module assembly includes:

The Z-axis module bottom plate is arranged on the sliding block of the sixth linear guide rail and is connected with the X-axis linear module through the module adapter plate;

the second lead screw module is arranged on the Z-axis module bottom plate and extends towards the machine frame;

the seventh linear guide rail is arranged on the Z-axis module bottom plate through a guide rail bottom plate, and the detection assembly is arranged on the seventh linear guide rail and the second screw rod module.

Optionally, the detection assembly includes:

the camera assembly mounting plate is arranged on the seventh linear guide rail and the second screw rod module;

the camera assembly is arranged on the camera assembly mounting plate, and a camera of the camera assembly faces one side of the rack.

The turnover device comprises a carrying platform mechanism, a turnover carrying mechanism and a handover turnover mechanism, wherein the carrying platform mechanism, the turnover carrying mechanism and the handover turnover mechanism are arranged on a rack, an object to be tested is placed on the carrying platform mechanism, the carrying platform mechanism comprises a carrying platform rotating assembly and can drive the object to be tested to rotate towards one side of the handover turnover mechanism, the turnover carrying mechanism is arranged at one end of the rack, the handover turnover mechanism is positioned below the turnover carrying mechanism, the handover turnover mechanism is also used for driving the object to be tested to rotate towards one side of the carrying platform mechanism, the object to be tested faces upwards on the carrying platform mechanism, the face B faces downwards, the rotation of the carrying platform rotating assembly drives the object to be tested to the handover turnover mechanism, the handover turnover mechanism rotates towards the carrying platform mechanism, the face A of the object to be tested is simultaneously transferred from the carrying platform mechanism to the handover turnover mechanism, the handover turnover mechanism and the carrying platform mechanism are righted, namely, the handover turnover mechanism and the handover turnover mechanism rotate towards one side of the carrying platform mechanism are carried forward, and the face B of the object to be tested is transferred towards the handover turnover mechanism, and the carrying platform is carried back towards the carrying platform, and the object to be tested is carried towards the transfer mechanism. The turnover conveying mechanism is used for conveying the object to be detected to the carrying platform mechanism, and the object to be detected is conveyed to the carrying platform mechanism.

The foregoing description is only an overview of the present application, and is intended to be implemented in accordance with the teachings of the present application in order that the same may be more clearly understood and to make the same and other objects, features and advantages of the present application more readily apparent.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic diagram of a multi-station visual inspection apparatus according to one embodiment of the application;

FIG. 2 is a schematic view of an X motion assembly according to one embodiment of the application;

FIG. 3 is a schematic view of a stage mechanism according to one embodiment of the application;

FIG. 4 is a schematic view of a stage rotation assembly according to one embodiment of the application;

FIG. 5 is a schematic view of a roll-over handling mechanism according to one embodiment of the application;

FIG. 6 is a schematic diagram of a handover flipping mechanism according to one embodiment of the application;

FIG. 7 is a schematic view of a positioning mechanism according to one embodiment of the application;

FIG. 8 is a schematic view of a positioning stage assembly and a waiting assembly according to one embodiment of the application;

FIG. 9 is a schematic view of a long side positioning assembly according to one embodiment of the application;

FIG. 10 is a schematic view of a short side positioning assembly according to one embodiment of the application;

FIG. 11 is a schematic diagram of a loading and unloading handling mechanism according to an embodiment of the present application;

FIG. 12 is a schematic diagram of a visual inspection mechanism according to one embodiment of the application;

FIG. 13 is a schematic diagram of an X-axis module assembly and a Z-axis module assembly according to one embodiment of the application;

FIG. 14 is a schematic diagram of the connection of a Z-axis module assembly according to one embodiment of the application;

FIG. 15 is a schematic diagram of a detection assembly according to one embodiment of the application.

The correspondence between the reference numerals and the component names in fig. 1 to 15 is:

1a frame, 2 a positioning mechanism, 21a positioning stage assembly, 211 a positioning base plate, 212 a transverse adjusting plate, 213 a first mounting base plate, 214 a first vertical plate, 215 a positioning reference plate, 216 a short side positioning block, 217 a long side positioning block, 218 a positioning support plate, 22 a long side positioning assembly, 221 a first linear guide rail, 222 a cylinder connector, 223X a push rod, 224X a positioning block, 225 a first guide rail connecting plate, 23 a short side positioning assembly, 231 a first cylinder, 232 a first floating joint, 233 a cylinder push block, 234 a second guide rail connecting plate, 235 a second linear guide rail, 236 support plates, 237 second vertical plates, 238 side plates, 239 slide rail connecting blocks, 2310 positioning block connecting pieces, 2311Y-direction positioning blocks, 24 material waiting components, 241 support plates, 242 adapter plates, 243 sucker mounting blocks, 244 first sucker seats, 25 linear modules, 26 guide rail cushion blocks, 27 third linear guide rails, 28 upright posts, 3 material loading and unloading conveying mechanisms, 31 first support posts, 32 material loading mounting plates, 33 first X-direction conveying components, 331 first X-direction linear driving devices, 332 first guide plates, 333 fourth linear guide rails, 334 first slide block connecting blocks, 34 first Z-direction conveying components, 341 first chuck mounting plate, 342 second chuck base, 343 second floating joint, 344 first joint mounting base, 345 first transfer plate, 346 first linear bearing, 347 first guide shaft, 348 first stopper, 349 first Z-direction linear drive, 3410 first chuck, 3411 second chuck, 4X motion assembly, 41 first lead screw module, 42 fifth linear guide, 43 guide rail base plate, 44 slide plate, 5 stage mechanism, 51 swivel base plate, 52 swivel support plate, 53 first belt base bearing, 54 speed reducer assembly, 541 first servo motor, 542 fixed bracket, 543 speed reducer, 544 transitional flange, 55 carrier rotating component, 551 turnover supporting plate, 552 flange shaft, 553 reverser, 554 coupling, 555 first synchronous belt, 556 second belt seat bearing, 557 second servo motor, 558 motor mounting plate, 559 power shaft, 5510 sucker supporting seat, 5511 second sucker mounting plate, 5512 turnover arm, 5513 first rotating shaft, 5514 second mounting base plate, 5515 first driving wheel, 5516 first driven wheel, 5517 third driving wheel, 5518 third driven wheel, 5519 third synchronous belt, 6 visual detection mechanism, 61Z axis column, 62X axis module assembly, 621X axis module base plate, 622 sixth linear guide, 623X axis linear module, 624 module adapter plate, 63Z axis module assembly, 631Z axis module base plate, 632 second lead screw module, 633 seventh linear guide, 634 guide pad, 64 detection assembly, 641 camera assembly mounting plate, 642 camera assembly, 7 flip-over handling mechanism, 71 second support, 72 transfer mounting plate, 73 second X-direction handling assembly, 731 second X-direction linear drive, 732 second guide plate, 733 ninth linear guide, 734 second slider connection block, 74 second Z-direction conveying component, 741 third sucker seat, 742 third floating joint, 743 second joint mounting seat, 744 second conveying flat plate, 745 second linear bearing, 746 second guide shaft, 747 second stop block, 748 second Z-direction linear driving device, 8 handover turning mechanism, 81 flat plate, 82 eighth linear guide rail, 83 backing plate, 84 first turning upright plate, 85 fixed bearing ring, 86 second rotating shaft, 87 fourth sucker seat, 88 turning plate, 89 second driven wheel, 810 second synchronous belt, 811 second driving wheel, 812 third servo motor, 813 connection long plate, 814 push pedal, 815 slip table cylinder, 816 second upset riser.

Detailed Description

The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.

Before describing embodiments of the present application in further detail, the terms of orientation, such as "upper", "lower", "side", used in the examples of the present application are not intended to limit the scope of the present application.

In order to make the technical scheme and advantages of the present application more apparent, embodiments of the present application will be described in further detail with reference to the accompanying drawings.

Example 1

FIG. 1 is a schematic diagram of a multi-station visual inspection apparatus according to one embodiment of the application; FIG. 2 is a schematic view of an X motion assembly according to one embodiment of the application; FIG. 3 is a schematic view of a stage mechanism according to one embodiment of the application; FIG. 4 is a schematic view of a stage rotation assembly according to one embodiment of the application; FIG. 5 is a schematic view of a roll-over handling mechanism according to one embodiment of the application; fig. 6 is a schematic diagram of a handover flipping mechanism according to an embodiment of the application.

As shown in fig. 1 to 6, one embodiment of the present application provides a turn-over device including: a frame 1; and

The carrier mechanism 5 is positioned on the frame 1, an object to be measured is placed on the carrier mechanism 5, the carrier mechanism 5 comprises a carrier rotating assembly 55, and the carrier rotating assembly 55 is used for driving the object to be measured to rotate;

A turnover conveying mechanism 7 provided at one end of the frame 1, the stage mechanism 5 being disposed so as to move in a direction approaching or separating from the turnover conveying mechanism 7;

the transfer turnover mechanism 8 is arranged on the frame 1, the transfer turnover mechanism 8 is positioned below the turnover conveying mechanism 7, and the transfer turnover mechanism 8 is configured to drive an object to be tested to rotate;

the object to be measured is sequentially transferred to the cross overturning mechanism 8 and the overturning and carrying mechanism 7 by the carrying platform mechanism 5 and then returns to the carrying platform mechanism 5; or the object to be measured is sequentially transferred to the overturning and conveying mechanism 7 and the handover overturning mechanism 8 by the carrying platform mechanism 5 and then returns to the carrying platform mechanism 5 to realize the overturning of the object to be measured.

It should be noted that, the turn-over device includes a carrying platform mechanism 5, a turn-over carrying mechanism 7 and a handover turning mechanism 8 which are disposed on the frame 1, the carrying platform mechanism 5 is disposed with an object to be tested, the carrying platform mechanism 5 includes a carrying platform rotating assembly 55, which can drive the object to be tested to rotate toward the handover turning mechanism 8, the turn-over carrying mechanism 7 is disposed at one end of the frame 1, the handover turning mechanism 8 is disposed below the turn-over carrying mechanism 7, the handover turning mechanism 8 is also used to drive the object to be tested to rotate toward the carrying platform mechanism 5, the object to be tested is disposed with the surface A facing upward and the surface B facing downward on the carrying platform mechanism 5, the object to be tested is driven to turn over toward the handover turning mechanism 8by the rotation of the carrying platform rotating assembly 55, and the handover turning mechanism 8 rotates and faces the carrying platform mechanism 5, at this moment the surface A of the object to be tested faces toward the handover turning mechanism 8, the object to be measured is transferred from the carrying platform mechanism 5 to the transferring turnover mechanism 8, and the transferring turnover mechanism 8 and the carrying platform mechanism 5 are aligned, namely, the transferring turnover mechanism 8 rotates towards the turnover conveying mechanism 7, so that the B surface of the object to be measured faces the turnover conveying mechanism 7, at the moment, the turnover conveying mechanism 7 takes away the object to be measured on the transferring turnover conveying mechanism 8, the B surface of the object to be measured on the turnover conveying mechanism 7 faces the turnover conveying mechanism 7, the A surface of the object to be measured on the carrying platform mechanism 5 faces the carrying platform mechanism 5, the B surface of the object to be measured faces the turnover conveying mechanism 7, namely, the A surface of the object to be measured faces downwards, the B surface of the object to be measured faces upwards, the turnover device of the application has the advantages of simple structure, convenient operation, reduced maintenance time and improved detection efficiency, and the detection cost is reduced.

It can be understood that the above-mentioned turning of the object to be tested is transferred back to the carrier assembly through the turning and transporting mechanism 7 after the turning and connection. The overturning and conveying mechanism 7 can absorb the object to be measured on the carrying platform mechanism 5, then place the object to be measured on the handover and overturning mechanism 8, and the handover and overturning mechanism 8 transmits the object to be measured to the carrying platform mechanism 5, so that the overturning of the object to be measured can be realized, the overturning of the object to be measured is performed in the sequence of carrying before overturning and handover, the working principle is basically similar to that of the overturning mode, and no specific statement is made.

The following specific descriptions of the stage mechanism 5, the inverting and conveying mechanism 7, and the transfer and inverting mechanism 8 will be explained by taking the case of transferring the transfer and inverting mechanism to the stage assembly again.

In one possible embodiment, as shown in fig. 2, the turnover device further includes an X-motion assembly 4 disposed on the frame 1, and the stage mechanism 5 is slidably disposed on the X-motion assembly 4.

Wherein, through the setting of X motion subassembly 4, can realize that carrier mechanism 5 moves towards upset transport mechanism 7 and the direction of keeping away from upset transport mechanism 7. Specifically, the X motion assembly 4 can enable the carrying platform mechanism 5 to move to the lower side of the overturning and carrying mechanism 7 with the object to be detected, so that the overturning and carrying mechanism 7 is convenient to take away the object to be detected on the carrying platform mechanism 5, the subsequent overturning and detecting of the object to be detected is convenient, and after the overturning and detecting is finished, the X motion assembly 4 can also enable the carrying platform mechanism 5 to move in the direction away from the overturning and carrying mechanism 7, so that the object to be detected after double-sided detection can be conveniently moved to the next procedure.

Optionally, the X motion assembly 4 is disposed on the frame 1 through a guide rail bottom plate 43, the guide rail bottom plate 43 is generally disposed along the direction of the stage mechanism 5 and the turnover conveying mechanism 7, that is, along the length direction of the frame 1, a fifth linear guide 42 is disposed on the guide rail bottom plate 43, meanwhile, a first screw module 41 is further disposed on the frame 1, the direction of the first screw module 41 is consistent with that of the guide rail bottom plate 43, meanwhile, a sliding plate 44 is disposed on the first screw module 41 and the fifth linear guide 42, the sliding plate 44 is connected with the screw of the first screw module 41 through a nut, the sliding plate 44 is connected with the fifth linear guide 42 through a sliding block, and the stage mechanism 5 is fixedly disposed on the sliding plate 44.

Wherein, can set up a first lead screw module 41 and a fifth linear guide 42, also can set up a first lead screw module 41 and two fifth linear guide 42, two fifth linear guide 42 are located first lead screw module 41 both sides this moment, and two fifth linear guide 42 set up for first lead screw module 41 symmetry, and such setting up mode can improve the gliding stationarity of slide 44, and then guarantees the stability that carrier mechanism 5 moved, improves the stability and the reliability of whole turn-over device work.

In general, the first screw module 41 and the fifth linear guide 42 are disposed in parallel, so that stability and parallelism of movement of the carrying table mechanism 5 can be ensured, and reliability of the carrying table mechanism 5 and the overturning and conveying mechanism 7 for transferring an object to be measured can be ensured.

In one possible embodiment, as shown in fig. 3, the stage mechanism 5 includes a swing floor 51, a swing support plate 52, a speed reducer assembly 54, and a stage rotation assembly 55. The carrying platform mechanism 5 is fixedly connected with the sliding plate 44 of the X motion assembly 4 through the rotary bottom plate 51, so that the movement of the sliding plate 44 on the X motion assembly 4 drives the carrying platform mechanism 5 to move towards or away from the overturning and conveying mechanism 7. The swing support plate 52 is vertically fixed at one end of the swing bottom plate 51 in the length direction, a first belt seat bearing 53 is provided on the through hole of the swing support plate 52, and the first belt seat bearing 53 is located at one end of the swing support plate 52 away from the swing bottom plate 51. The speed reducer assembly 54 is disposed on the swing floor 51 through a fixing bracket 542, and is located at an end of the fixing bracket 542 away from the swing floor 51, and the stage rotating assembly 55 is fixedly connected with the speed reducer assembly 54, and rotation of the speed reducer assembly 54 drives rotation of the stage rotating assembly 55, that is, enables rotation of the stage rotating assembly 55 between directions toward the delivery and turnover mechanism 8 and the turnover and conveyance mechanism 7, that is, between directions toward the left side and the upper side as shown in fig. 1.

The speed reducer assembly 54 further includes a first servo motor 541, an output shaft of the first servo motor 541 passes through a through hole of the fixed bracket 542 and is fixedly connected with the fixed bracket 542, the first servo motor 541 is located at one end of the fixed bracket 542 away from the rotating bottom plate 51, an output shaft of the first servo motor 541 axially extends away from one side of the rotating support plate 52 and the fixed bracket 542, and a speed reducer 543 and a transition flange 544 are further sequentially arranged on the output shaft of the first servo motor 541. The speed reducer assembly 54 is fixedly connected with the carrier rotating assembly 55 through the transition flange 544, and the transition flange 544 and the carrier rotating assembly 55 are sequentially driven to rotate through the rotation of the first servo motor 541, so that an object to be tested on the carrier rotating assembly 55 can rotate in the directions of the handover turnover mechanism 8 and the turnover conveying mechanism 7, and the turnover of the object to be tested on the turnover device is facilitated.

On the other hand, the first servomotor 541 with smaller power can be selected by using the speed reducer 543 by providing the speed reducer 543 on the first servomotor 541, so that the structure of the stage mechanism 5 can be simplified, the mechanism of the stage mechanism 5 can be more compact, and the floor area of the stage mechanism 5 can be reduced; on the other hand, the speed reducer 543 can increase torque so that the first servomotor 541, which uses less power, can also move a larger load. It can be seen that the speed reducer 543 is generally applied to occasions with low speed requirements but high loads.

Optionally, as shown in fig. 4, the carrier rotating assembly 55 includes a second mounting base plate 5514, a turnover arm 5512, a turnover support plate 551, a flange shaft 552, and the like, where the turnover arm 5512 and the turnover support plate 551 are disposed on a side of the second mounting base plate 5514 facing the rotation base plate 51, the turnover arm 5512 is fixedly connected with the transition flange 544, and the turnover support plate 551 is connected with the rotation support plate 52 and the first belt seat bearing 53 through the flange shaft 552, so that the rotation of the first servo motor 541 drives the carrier rotating assembly 55 to rotate, thereby realizing the function of the turnover device, and simultaneously, when detecting an object to be detected, the first servo motor 541 drives the carrier rotating assembly 55 to rotate, so as to drive the object to be detected on the carrier rotating assembly 55 to rotate together, thereby realizing multi-angle detection of the object to be detected by the visual detection mechanism 6, and improving the accuracy and reliability of the detection.

It should be noted that, the side of the second mounting base plate 5514 facing away from the rotating base plate 51 is provided with a commutator 553, the commutator 553 includes a power shaft 559 and a mounting rotating shaft, the power shaft 559 and the mounting rotating shaft are vertically arranged, the power shaft 559 extends along the length direction of the second mounting base plate 5514, and the mounting rotating shaft extends towards the direction facing away from the rotating base plate 51. The second servo motor 557 is arranged on the same side as the commutator 553, a first driving wheel 5515 is arranged on an output shaft of the second servo motor 557, a first rotating shaft 5513 is also arranged on the same side as the commutator 553, a first driven wheel 5516 is arranged on the first rotating shaft 5513, and the first driving wheel 5515 and the first driven wheel 5516 are connected through a first synchronous belt 555. Meanwhile, a third driving wheel 5517 is further arranged on the first rotating shaft 5513, a third driven wheel 5518 is arranged on a power shaft 559 of the reverser 553, and the third driving wheel 5517 is connected with the third driven wheel 5518 through a third synchronous belt 5519.

Specifically, the rotation of the second servo motor 557 drives the rotation of the first shaft 5513, the rotation of the first shaft 5513 drives the rotation of the power shaft 559, and the rotation of the power shaft 559 realizes the rotation of the installation shaft through the arrangement of the commutator 553. The second sucker mounting plate 5511 and the sucker support seat 5510 are sequentially arranged on the mounting rotating shaft, the sucker support seat 5510 is fixedly connected with the mounting rotating shaft through a rotary joint, and the rotary joint is communicated with an external air pipe so that the sucker adsorbs an object to be detected. The output shaft of the second servo motor 557 is driven to transmit power to the installation rotating shafts of the commutators 553, so that the object to be detected is driven to do autorotation motion around the installation rotating shafts, and under the action that the commutators 553 drive the sucking discs to autorotate and the first servo motor 541 drives the second installation base plate 5514 to rotate, the object to be detected is enabled to rotate in multiple degrees of freedom, and the reliability of detection of the object to be detected is improved.

It will be appreciated that one or more commutators 553 may be disposed on the second mounting base 5514, and the number of commutators 553 is the same as that of the objects to be tested, and some commutators 553 are generally disposed more to increase the number of single tests of the objects to be tested. When there are a plurality of commutators 553, in order to reduce the number of the third driving wheels 5517 and the third driven wheels 5518, the power shafts 559 of two adjacent commutators 553 may be disposed opposite to each other and connected through a coupling 554, so as to realize that one third driving wheel 5517 and one third driven wheel 5518 can drive the power shafts of two commutators 553 to rotate, thereby reducing the number of the third driving wheels 5517 and the third driven wheels 5518. In this embodiment, four commutators 553 are taken as an example for specific illustration. The four commutators 553 are fixed on the length direction of the second mounting base plate 5514, the power shafts 559 of the adjacent commutators 553 are oppositely arranged and are connected through a coupler 554, at this time, the second servo motor 557 is arranged at the middle position of the second mounting base plate 5514, and the third driving wheel 5517 is arranged at the end position of the first rotating shaft 5513, so that the power of the second servo motor 557 is conveniently transmitted to the power shafts 559 of the commutators 553. The multi-degree-of-freedom rotation of the object to be detected on the installation rotating shaft is realized, the reliability of the detection of the object to be detected is improved, namely, after the detection of the object to be detected is realized through the carrying table mechanism 5, the object to be detected is carried to turn over and then is continuously detected, the double-sided detection of the object to be detected is further realized, the detection efficiency and the detection comprehensiveness of the object to be detected are improved, and the yield of unqualified products is reduced.

In one possible embodiment, as shown in fig. 5, the reverse conveyance mechanism 7 includes a cross-over mounting plate 72, a second X-direction conveyance assembly 73, and a second Z-direction conveyance assembly 74. The second support post 71 is disposed on the frame 1, the second X-direction conveying assembly 73 is fixed on a side of the second support post 71 facing the frame 1, the second Z-direction conveying assembly 74 is disposed perpendicular to the second X-direction conveying assembly 73, the second X-direction conveying assembly 73 can reciprocate on the second support post 72, that is, reciprocate between the stage mechanism 5 and the transfer turning mechanism 7, and the second Z-direction conveying assembly 74 reciprocates between the second support post 72 and the frame 1. The object to be measured on the carrier rotating assembly 55 is driven to turn towards the direction of the cross turning mechanism 8 by rotating the carrier rotating assembly 55, meanwhile, the cross turning mechanism 8 rotates and faces the carrier mechanism 5, the object to be measured on the carrier mechanism 5 is transferred to the cross turning mechanism 8, the carrier mechanism 5 and the cross turning mechanism 8 are aligned, the direction of the cross turning mechanism 7 is rotated, the second Z-direction carrying assembly 73 moves towards the direction of the cross turning mechanism 8 to an aligned position, the second Z-direction carrying assembly 74 extends towards the direction of the frame 1 (the cross turning mechanism 8), the object to be measured on the cross turning mechanism 8 is transferred to the turning carrying mechanism 7, then the second Z-direction carrying assembly 74 is retracted, namely moves towards the direction far away from the frame 1, and meanwhile, the second Z-direction carrying assembly 73 moves towards the direction of the carrier mechanism 5 until the turning carrying mechanism 7 is aligned with the carrier mechanism 5, at the moment, the second Z-direction carrying assembly 74 extends towards the direction of the frame 1 (the carrier mechanism 5), the object to be measured on the turning mechanism 7 is transferred to the carrier mechanism 5, and the surface of the object to be measured is improved.

Optionally, the second X-direction linear driving device 731 in the second X-direction conveying assembly 73 is disposed across the delivering mounting plate 72, and the second X-direction linear driving device 731 is fixed on a side of the delivering mounting plate 72 facing the frame 1, one end of the second X-direction linear driving device 731, which is far away from the delivering mounting plate 72, is fixedly connected with the second guide plate 732, a ninth linear guide 733 is disposed on a side of the delivering mounting plate 72 facing the second guide plate 732, the second guide plate 732 is fixedly connected with a slider of the ninth linear guide 733 through a second slider connecting block 734, and the slider of the ninth linear guide 733 is driven to move along the direction of the ninth linear guide 733 through the second X-direction linear driving device 731, that is, the second guide plate 732 on the ninth linear guide 733 is driven to reciprocate between the delivering and overturning mechanism 7 and the carrying platform mechanism 5, so as to realize the transfer and overturning of the object to be measured.

The second X-direction linear driving device 731 is a linear module with a screw-nut structure commonly used in the industry, the linear module is driven by a servo motor (not shown), the servo motor drives the screw to rotate, the screw-nut structure converts rotation into linear motion, a nut of the module is connected with the second guide plate 732, the second guide plate 732 is connected with a slide block of the ninth linear guide 733 through the second slide block connecting block 734, and at this time, the servo motor can drive the linear module and the slide block to reciprocate along the direction of the ninth linear guide 733.

It can be appreciated that at least one ninth linear guide rail 733 is disposed on the handover mounting plate 72, in order to ensure the stability and reliability of the movement of the second guide plate 732, two ninth linear guide rails 7 are generally disposed, and the two ninth linear guide rails 733 are symmetrically disposed with respect to the second X-direction linear driving device 731, so that the stability and reliability of the movement of the second guide plate 732 on the ninth linear guide rail 733 can be ensured, and further the stability and reliability of the object to be measured during the transfer can be ensured.

Optionally, a second Z-directional linear driving device 748 in the second Z-directional conveying assembly 74 is vertically installed on the second guide plate 732 through a relief hole on the cross mounting plate 72, a screw rod of the second Z-directional linear driving device 748 passes through a through hole on the second guide plate 732 to be connected with the third floating connector 742, and the third floating connector 742 is fixedly connected with the second conveying flat plate 744 through the second connector seat 743, so that the second conveying flat plate 744 is located below the second guide plate 732. The plurality of suckers are fixed on one side of the second carrying flat plate 744, which is far away from the second guide plate 732, through the third sucker bases 741, the number of the third sucker bases 741 is the same as that of the commutators 553, and when the overturning and carrying mechanism 7 corresponds to the carrying platform mechanism 5, the positions of the third sucker bases 741 correspond to those of the commutators 553, the second linear bearings 745 are arranged in the through holes on the second guide plate 732, the second guide shaft 746 sequentially passes through the handover mounting plate 72 and the second linear bearings 745 to be fixedly connected with the second carrying flat plate 744, and a second stop block 747 is arranged on one end of the second guide shaft 746, which is far away from the second carrying flat plate 744. Through the above arrangement, when the second Z-direction linear driving device 748 extends, the second carrying flat plate 744 and the third sucker seat 741 thereon are driven to move towards the direction of the carrying table mechanism 5 or the handover turnover mechanism 8 by extending the screw rod, so as to realize the transfer of the object to be measured.

It is to be understood that, in order to ensure the reliability and stability of the movement of the second carrying plate 744, a plurality of second guide shafts 746 may be provided, the plurality of second guide shafts 746 are symmetrically distributed on two sides of the second Z-direction linear driving device 748, in this embodiment, four second guide shafts 746 are adopted, and the four second guide shafts 746 are symmetrically disposed on two sides of the second Z-direction linear driving device 748, where the second Z-direction linear driving device 748 is usually an electric telescopic rod, a pneumatic telescopic rod or a hydraulic rod, and can implement the extending function of the screw rod. The transfer mounting plate 72 is also provided with a relief hole that facilitates movement of the second guide shaft 746 along with the second X-direction transport assembly 73 on the transfer mounting plate 72. The object to be measured on the carrying platform mechanism 5 is firstly transferred to the handover turnover mechanism 8 through the relative rotation of the carrying platform mechanism 5 and the handover turnover mechanism 8, then the object to be measured on the handover turnover mechanism 8 can be transferred to the handover carrying platform mechanism 5 through the arrangement of the turnover carrying mechanism 7, and the turnover of the object to be measured on the carrying platform mechanism 5 is realized through the three times of turnover of the object to be measured.

In one possible real-time manner, as shown in fig. 6, the handover turning mechanism 8 is provided on the frame 1 through a pair of flat plates 81, eighth linear guides 82 are provided on the flat plates 81, a first turning upright 84 is provided on one of the eighth linear guides 82 through a pad 83, and a second turning upright 816 is provided on the other eighth linear guide 82 through a pad 83. The third servo motor 812 is fixedly mounted on the first turning upright plate 84, and the output shaft of the third servo motor 812 axially extends away from the directions of the first turning upright plate 84 and the second turning upright plate 816, and the output shaft of the third servo motor 812 is fixedly connected with the second driving wheel 811. The first turning vertical plate 84 is provided with a driving rotating shaft at one end far away from the flat plate 81, a second driven wheel 89 is arranged on the driving rotating shaft, and the second driving wheel 89 is connected with a second driving wheel 811 through a second synchronous belt 810. The second rotating shaft 86 is disposed at one end of the second turning upright 816 away from the flat plate 81, the second rotating shaft 86 is disposed opposite to the driving rotating shaft, and the second rotating shaft 86 passes through the second turning upright 816 and is connected with the fixed bearing ring 85. The two ends of the turnover plate 88 are fixedly connected with the driving rotating shaft and the second rotating shaft 86 respectively, and the second driving wheel 811 and the second driven wheel 89 are sequentially driven to rotate through the rotation of the third servo motor 812, and the second driven wheel 89 drives the driving rotating shaft and the turnover plate 88 to rotate, so that the turnover plate 88 can rotate back and forth towards the direction of the carrying platform mechanism 5 and the turnover conveying mechanism 7.

Optionally, a fourth sucker seat 87 is disposed on a side of the turnover plate 88 facing the turnover carrying mechanism 7, and a sucker is disposed on the fourth sucker seat 87, and is used for adsorbing an object to be tested. When the object to be measured on the carrying platform mechanism 5 is transferred to the handover turning mechanism 8, the sucking disc on the carrying platform mechanism 5 is not ventilated (namely, air is cut off), and the sucking disc on the handover turning mechanism 8 is inflated, so that the object to be measured is transferred to the handover turning mechanism 8 from the carrying platform mechanism 5; similarly, when the object to be measured on the handover turnover mechanism 8 is transferred to the turnover conveying mechanism 7, the suction cup on the handover turnover mechanism 8 is not ventilated any more, and the suction cup on the turnover conveying mechanism 7 is ventilated, so that the object to be measured is transferred to the turnover conveying mechanism 7 from the handover turnover mechanism 8; further, when the object to be measured on the turnover carrying mechanism 7 is transferred to the carrier mechanism 5, the suction cup on the turnover carrying mechanism 7 is not ventilated any more, and the suction cup on the carrier mechanism 5 is ventilated, so that the object to be measured is transferred to the carrier mechanism 5 by the turnover carrying mechanism 7. The number of the fourth chuck bases 87 is the same as the number of the commutators 553 of the carrier mechanism 5, and when the transfer overturning mechanism 8 and the carrier mechanism 5 rotate to the relative positions, the positions of the fourth chuck bases 87 correspond to the positions of the commutators 553, so that the object to be measured can be conveniently transferred.

In one possible embodiment, the interface turnover mechanism 8 further includes a connection plate 813 and a skid cylinder 815. The two ends of the connection long plate 813 are fixedly connected with the first turnover vertical plate 84 and the second turnover vertical plate 816 respectively, the connection long plate 813 is located between the turnover plate 88 and the flat plate 81, the sliding table cylinder 815 can be directly fixed on the frame 1 or fixedly connected with the frame 1 through the flat plate 81, and the extending end of the sliding table cylinder 815 is fixedly connected with the connection long plate 813 through the push plate 814. The movement of the handover turnover mechanism 8 on the eighth linear guide rail 82 is realized through the work of the sliding table cylinder 815, so that the distance between the handover turnover mechanism 8 and the carrier mechanism 5 can be adjusted, and the object to be measured is conveniently transferred from the handover turnover mechanism 8 to the carrier mechanism 5.

It will be appreciated that in order to ensure the smoothness of the movement of the interface turnover mechanism 8 on the eighth linear guide 82, the slide cylinder 815 is typically located at the middle position of the link plate 813.

Specifically, the sequence of the object to be measured firstly turning over, handing over and then carrying is as follows: after the detection of the surface A of the object to be detected on the carrying platform mechanism 5 is finished, the surface A of the object to be detected on the carrying platform mechanism 5 moves towards the direction of the delivering turnover mechanism 8 through the X motion assembly 4, meanwhile, the carrying platform rotation assembly 55 of the carrying platform mechanism 5 rotates towards the direction of the delivering turnover mechanism 8, the turnover plate 88 of the delivering turnover mechanism 8 rotates towards the carrying platform mechanism 5 until the fourth sucker seat 87 corresponds to the second sucker mounting plate 5511, the sliding platform cylinder 815 drives the delivering turnover mechanism 8 to move towards the direction of the carrying platform mechanism 5, the surface A of the object to be detected on the delivering turnover mechanism 8 faces towards the carrying platform mechanism 8, the surface B of the object to be detected faces towards the direction of the carrying platform mechanism, the turnover plate 88 and the carrying platform rotation assembly 55 return to the upward direction, and meanwhile, the sliding platform cylinder 815 withdraws, the surface B of the object to be detected faces upwards, namely faces towards the direction of the turnover conveying mechanism; the second Z-direction carrying assembly 74 extends toward the direction of the transfer and turnover mechanism 8 until the object to be measured on the turnover plate 88 is adsorbed onto the turnover and turnover mechanism, the second Z-direction carrying assembly 74 is retracted, at this time, the a face of the object to be measured faces the direction of the frame 1, the B face of the object to be measured faces the turnover and conveyance mechanism 7, at this time, the second X-direction carrying assembly 73 of the turnover and conveyance mechanism 7 moves toward the direction of the stage mechanism 5, the third suction cup seat 741 stops moving after corresponding to the second suction cup mounting plate 5511, the second Z-direction carrying assembly 74 extends toward the direction of the stage mechanism 5 until the object to be measured on the third suction cup seat 741 is transferred onto the stage mechanism 5, the second Z-direction carrying assembly 74 is retracted, at this time, the a face of the object to be measured faces the stage mechanism 5, the B face of the turnover and conveyance mechanism 7, the stage mechanism 5 and the object to be measured thereon are driven by the X-direction moving assembly 4 to the direction of the stage mechanism 5, the detection of the B face of the object to be measured is carried into the next process by continuing the stage mechanism 5 moving in the direction away from the transfer and turnover mechanism 8. The multi-pose detection of the object to be detected can be realized through the turn-over of the turn-over device and the arrangement of the reverser 553 on the carrying platform mechanism 5, so that the full-angle detection is realized, and the detection efficiency of the object to be detected is improved.

The sequence of carrying and then turning the object to be measured is as follows: after the detection of the surface A of the object to be detected on the carrying platform mechanism 5 is finished, the surface A moves towards the overturning and conveying mechanism 7 through the X movement assembly 4, meanwhile, the second X-direction conveying assembly 73 of the overturning and conveying mechanism 7 moves towards the carrying platform mechanism 5, the third sucker seat 741 and the second sucker mounting plate 5511 are correspondingly moved and stopped, the second Z-direction conveying assembly 74 extends towards the carrying platform mechanism 5 until the object to be detected on the carrying platform mechanism 5 is adsorbed onto the overturning and conveying mechanism 7, the surface B of the object to be detected faces towards the frame 1, and the second Z-direction conveying assembly 74 is retracted; the second X-direction carrying assembly 73 moves towards the direction of the handover turning mechanism 8, meanwhile, the sliding table cylinder 815 extends out, so that the third sucker seat 741 and the fourth sucker seat 87 stop moving after being aligned, the second Z-direction carrying assembly 72 extends towards the direction of the handover turning mechanism 8 until the object to be detected on the handover turning mechanism 7 is adsorbed onto the handover turning mechanism 8, at the moment, the a face of the object to be detected faces the handover turning mechanism 7, and the second Z-direction carrying assembly 74 retracts; the overturning plate 88 of the handover overturning mechanism 8 rotates towards the carrying platform mechanism 5, meanwhile, the carrying platform rotating assembly 55 of the carrying platform mechanism 5 rotates towards the handover overturning mechanism 8 until the fourth sucker seat 87 corresponds to the second sucker mounting plate 5511, the sliding platform cylinder 815 drives the handover overturning mechanism 8 to move towards the carrying platform mechanism 5, the object to be detected on the handover overturning mechanism 8 is adsorbed to the carrying platform mechanism 5, the overturning plate 88 and the carrying platform rotating assembly 55 are reset, namely return to the upward direction, meanwhile, the sliding platform cylinder 815 withdraws, the B surface of the object to be detected faces upwards at the moment, the carrying platform mechanism 5 and the object to be detected on the carrying platform mechanism 5 are driven by the X moving assembly 4 to move to the lower part of the visual detection mechanism 6 for detection of the B surface of the object to be detected, then the carrying platform mechanism 5 continues to move towards the direction far away from the handover overturning mechanism 8, and the object to be detected is brought into the next procedure. The multi-pose detection of the object to be detected can be realized through the turn-over of the turn-over device and the arrangement of the reverser 553 on the carrying platform mechanism 5, so that the full-angle detection is realized, and the detection efficiency of the object to be detected is improved.

Example 2

FIG. 1 is a schematic diagram of a multi-station visual inspection apparatus according to one embodiment of the application; FIG. 7 is a schematic view of a positioning mechanism according to one embodiment of the application; FIG. 8 is a schematic view of a positioning stage assembly and a waiting assembly according to one embodiment of the application; FIG. 9 is a schematic view of a long side positioning assembly according to one embodiment of the application; FIG. 10 is a schematic view of a short side positioning assembly according to one embodiment of the application; FIG. 11 is a schematic diagram of a loading and unloading handling mechanism according to an embodiment of the present application; FIG. 12 is a schematic diagram of a visual inspection mechanism according to one embodiment of the application; FIG. 13 is a schematic diagram of an X-axis module assembly and a Z-axis module assembly according to one embodiment of the application; FIG. 14 is a schematic diagram of the connection of a Z-axis module assembly according to one embodiment of the application; FIG. 15 is a schematic diagram of a detection assembly according to one embodiment of the application.

As shown in fig. 1, 7 to 15, another embodiment of the present application provides a multi-station vision inspection apparatus including:

The turn-over device of example 1;

The positioning mechanism 2 is arranged on the frame 1, and the positioning mechanism 2 is positioned at one side of the carrying platform mechanism 5 away from the handover turnover mechanism 7;

the feeding and discharging conveying mechanism 3 is arranged at one end of the frame 1 far away from the overturning and conveying mechanism 7, and the feeding and discharging conveying mechanism 3 is positioned above the positioning mechanism 2;

The visual detection mechanism 6 is arranged on the frame 1, the visual detection mechanism 6 is positioned between the feeding and discharging conveying mechanism 3 and the overturning conveying mechanism 7, and the visual detection mechanism 6 is also positioned above the carrying table mechanism 5 and used for detecting an object to be detected;

Wherein, go up unloading transport mechanism 6 transport the object that awaits measuring on positioning mechanism 2 to on the carrier mechanism 5, then detect the object that awaits measuring on the carrier mechanism 5 through visual detection mechanism 6, the object that awaits measuring after the detection moves back positioning mechanism 2 through last unloading transport mechanism 3, carries out the subsequent handling to the object that awaits measuring.

The multi-station visual detection device comprises a frame 1 and a detection runner arranged on the frame 1, wherein the detection runner comprises a positioning mechanism 2, an upper and lower conveying mechanism 3, a turn-over device and a visual detection mechanism 6. Positioning mechanism 2 passes through stand 28 and frame 1 fixed connection, and turn over device is located one side of positioning mechanism 2, goes up unloading transport mechanism 3 and fixes on frame 1 through first pillar 31, and goes up unloading transport mechanism 3 and be located positioning mechanism 2's top, and visual detection mechanism 6 passes through Z axle stand 61 to be fixed on frame 1, and visual detection mechanism 6 is located between unloading transport mechanism 3 and turn over transport mechanism 7 of turn over device, and the loading platform mechanism 5 of turn over device is close to positioning mechanism 1 setting.

Specifically, the object to be measured is counted into the positioning mechanism 2 after being fed by the previous procedure, the positioning mechanism 2 accurately positions the object to be measured, the positioning mechanism 2 moves the object to be measured to the lower part of the upper and lower conveying mechanisms 3, the object to be measured on the positioning mechanism 2 is adsorbed to the upper and lower conveying mechanisms 3, the upper and lower conveying mechanisms 3 move towards the direction of the carrying table mechanism 5, the object to be measured on the upper and lower conveying mechanisms 3 is transferred to the carrying table mechanism 5, the carrying table mechanism 5 moves to the lower part of the visual detection mechanism 6, the A face of the object to be measured is detected, then the object to be measured is turned over by the turning device, the object to be measured returns to the carrying table mechanism 5 again, at this time, the B face of the object to be measured is upwards detected by the visual detection mechanism 6, after the detection is completed, the carrying table mechanism 5 and the upper and lower conveying mechanisms 3 move towards each other until suckers of the two are aligned, the object to be measured detected on the carrying table mechanism 5 is transferred to the upper and lower conveying mechanisms 3 again, the upper and lower conveying mechanisms 3 move towards the positioning mechanism 2, the object to the position 24 is transferred to the direction of the carrying table mechanism again, and the object to be measured is far from the feeding mechanism 24, and the discharging direction of the object to be measured is far from the subsequent to the positioning mechanism is realized, and the discharging device is completed after the object to be turned over. Each mechanism can move towards each other or away from each other, the whole area of the detection flow channel can be reduced, the multi-station visual detection equipment is compact in structure, the detection time of an object to be detected can be effectively reduced, the detection of the object to be detected at a plurality of angles can be simultaneously completed on one detection flow channel, the cost of the detection equipment is effectively reduced, and the economical efficiency of the equipment is improved; the multi-station simultaneous detection can effectively improve the detection efficiency, and the discharging and the detection of the object to be detected can be performed simultaneously, so that the detection efficiency of the device is further improved.

It can be understood that the number of the detecting channels can be one or more, each detecting channel is the same, the plurality of detecting channels are arranged to be convenient for detecting more objects to be detected at the same time, but the plurality of detecting channels can increase the occupied area of the multi-station visual detecting device, so that the detecting channels are selected according to the requirement and are not described in detail.

In one possible embodiment, as shown in fig. 7, the positioning mechanism 2 is fixedly connected to the frame 1 through a column 28, and the positioning mechanism 2 includes a positioning stage assembly 21, a long-side positioning assembly 22, and a short-side positioning assembly 23. The upright post 28 is provided with a linear module 25 and a third linear guide 27, wherein the third linear guide 27 is arranged on the guide rail cushion block 26, the linear module 25 and the third linear guide 27 are arranged along the direction of the turnover carrying mechanism 7 and the carrying platform mechanism 5, namely along the length direction of the frame 1, the third linear guide 27 and the linear module 25 are arranged in a sliding manner to position the carrying platform assembly 21, in the embodiment, the linear module 25 and the third linear guide 27 are arranged in parallel, so that the carrying platform assembly 21 can be conveniently and stably moved on the horizontal direction, and the carrying platform assembly 21 can be conveniently and stably moved towards or away from the direction of the feeding and discharging carrying mechanism 3. The long-side positioning assembly 22 and the short-side positioning assembly 23 are arranged on the positioning carrier assembly 21, and it can be understood that the long-side positioning assembly 22, the short-side positioning assembly 23 and the partial positioning carrier assembly 21 can be enclosed into an accommodating space for accommodating an object to be detected, and the object to be detected can be accurately positioned through the arrangement of the long-side positioning assembly 22 and the short-side positioning assembly 23, so that the object to be detected can stably stay on the positioning carrier assembly 21 along with the movement of the positioning mechanism 2, and cannot fall off in the movement process, and the working reliability of the multi-station visual detection equipment is ensured.

Optionally, as shown in fig. 8, the positioning base 211 in the positioning stage assembly 21 is slidably connected to the linear module 25 and the third linear guide rail 27, and the positioning stage assembly 21 further includes a first mounting base 213, a first vertical plate 214, a positioning reference plate 215, and the like. The first installation bottom plate 213 is installed on one side of the positioning bottom plate 211, which is away from the upright post 28, through the transverse adjusting plate 212, the first vertical plate 214 is installed on one side of the first installation bottom plate 213, which is away from the positioning bottom plate 211, a pair of first vertical plates 214 are located at two ends of the first installation bottom plate 213 in the length direction, a positioning reference plate 215 is fixedly installed at one end of the pair of first vertical plates 214, which is away from the first installation bottom plate 213, a groove is formed in the positioning reference plate 215, positioning support plates 218 are installed in the groove, the number of the grooves is related to the number of objects to be detected, which need to be detected, in this embodiment, four detection positions are provided in the turn-over device, and then four grooves and four positioning support plates 218 are correspondingly provided in the positioning mechanism 2. The long-side positioning block 217 is disposed on a long side of the positioning support plate 218, and the short-side positioning block 216 is disposed on a short side of the positioning support plate 218, so that the positioning support plate 218, the long-side positioning block 217 and the short-side positioning block 216 form a preliminary accommodating space for accommodating an object to be measured. The clamping of the object to be detected is realized through the matching of the long-side positioning assembly 22 and the short-side positioning assembly 23, the object to be detected falls off in the moving process of the positioning carrier assembly 21, and the working reliability of the multi-station visual detection equipment is ensured.

In one possible embodiment, as shown in fig. 9, the long side positioning assembly 22 includes a second cylinder, a first linear guide 221, an X-directional push rod 223, and the like. Wherein, second cylinder and first linear guide 221 set up on first mounting plate 213, be equipped with the floating joint on the end that stretches out of second cylinder, the end that stretches out of second cylinder is through floating joint and cylinder connecting piece 222 fixed connection, the one end and the X of second cylinder are kept away from to cylinder connecting piece 222 are to push rod 223 fixed connection, usually the second cylinder sets up the intermediate position at first mounting plate 213 and X to push rod 223 to guarantee the stationarity that X to push rod 223 removed, guarantee X to push rod 223 and long limit locating piece 217 cooperation, realize the clamp positioning to the object that awaits measuring. The X-direction push rod 223 is connected to the first linear guide 221 via a first guide connecting plate 225. The side of the X-direction push rod 223 facing the long side positioning block 217 is provided with an X-direction positioning block 224, and the position of the X-direction positioning block 224 corresponds to the position of the long side positioning block 217. The X-direction push rod 223 is driven to move in the direction towards the long-side positioning block 217 and the direction far away from the long-side positioning block 217 by the extension and retraction of the second cylinder, and the stability of the movement of the X-direction push rod 223 is ensured by the connection of the X-direction push rod 223 and the first linear guide rail 221, so that the positioning of one side direction (X direction) of an object to be detected is realized.

It can be appreciated that a second cylinder and two first linear guide rails 221 may be disposed, where the two first linear guide rails 221 are symmetrically disposed relative to the second cylinder, and generally, the two first linear guide rails 221 and the second cylinder are disposed in parallel, so that stability of movement of the push rod 223 in the X direction can be ensured, so that the push rod 223 in the X direction is convenient to cooperate with the plurality of long-side positioning blocks 217, so as to implement clamping and positioning of an object to be tested, and avoid the situation that after part of the object to be tested is clamped due to the inclination of the offset of movement of the push rod 223, another part of the object to be tested cannot be clamped. Four first linear guide rails 221 may be disposed symmetrically on two sides of the second cylinder, so as to further ensure parallelism between the X-directional push rod 223 and the long-side positioning block 217, and improve reliability of positioning and clamping the object to be measured.

In one possible embodiment, as shown in fig. 10, the short side positioning assembly 23 includes a first cylinder 231, a second linear guide 235, a short side positioning member, and the like. Wherein, first cylinder 231 and second linear guide 235 also set up on first mounting plate 213, the extension end of first cylinder 231 is through first floating joint 232 and cylinder ejector pad 233 fixed connection, fixed mounting has backup pad 236 on the cylinder ejector pad 233, backup pad 236 and first mounting plate 213 parallel arrangement, second guide connection board 234 slides and sets up on second linear guide 235, one side and backup pad 236 fixed connection that second guide connection board 234 deviates from second linear guide 235, the minor face setting piece sets up on one side that backup pad 236 deviates from second guide connection board 234, the minor face setting piece is relative with minor face locating piece 216. The short-side positioning piece moves on the second linear guide rail 235 and is matched with the short-side positioning block 216 to realize the positioning of the other side direction (Y direction) of the object to be detected.

It should be noted that, because the short side positioning block 216 and the short side positioning piece, and the X-direction positioning block 224 and the long side positioning block 217 on the long side positioning assembly 22 together realize positioning and clamping in two directions of the object to be measured, the extending direction of the extending end of the first air cylinder 231 is perpendicular to the extending direction of the extending end of the second air cylinder, that is, the moving direction of the supporting plate 236 on the second linear guide 235 is perpendicular to the moving direction of the X-direction push rod 223 on the first linear guide 221, so that two opposite positioning and clamping of the object to be measured can be ensured.

It can be appreciated that, since the short-side positioning assembly 23 is disposed opposite to the short-side positioning block 216, the middle position of the support plate 236, which is located in the middle of the first mounting base 213, is offset to a certain extent, so that the first air cylinder 231 and the second air cylinder, and the first linear guide rail 221 and the second linear guide rail 235 on the first mounting base 213 can avoid interference, thereby improving the working feasibility of positioning the stage assembly 21.

Alternatively, as shown in fig. 10, the short side positioning member includes a second riser 237, a side plate 238, a positioning block connection 2310, and the like. Wherein, the second riser 237 is vertical to be fixed on backup pad 236, can set up the recess on the backup pad 236, the recess is used for holding second riser 237, second riser 237 extends to deviating from first mounting plate 213 direction, be equipped with the slide rail on the second riser 237, a pair of curb plate 238 is fixed to be set up on second riser 237, slide rail connecting block 239 sets up between a pair of curb plate 238, slide rail connecting block 239 and slide rail sliding connection, install the spring between slide rail connecting block 239 and the curb plate 238 that is close to minor face locating piece 216 one side, the spring is extension spring. Meanwhile, a positioning block connecting piece 2310 is arranged on the slide rail connecting piece 239, the positioning block connecting piece 2310 is arranged opposite to the short side positioning block 216, and a Y-direction positioning block 2311 is arranged on one side, facing the short side positioning block 216, of the positioning block connecting piece 2310. It should be noted that, an extension spring may be disposed between the X-direction positioning block 224 and the X-direction push rod 223, and through the arrangement of the spring between the slide rail connecting block 239 and the side plate 238 and the spring between the X-direction positioning block 224 and the X-direction push rod 223, a certain elastic margin is provided in the Y-direction positioning and the X-direction positioning directions of the object to be measured, so that the loading and unloading carrying mechanism 3 is convenient to adsorb and remove the object to be measured on the positioning carrier assembly 21, and the situation that after two sides (X-direction and Y-direction) of the object to be measured are all clamped, the object to be measured on the positioning carrier assembly 21 cannot be adsorbed on the loading and unloading carrying mechanism 3 is avoided, so that the feasibility of removing the object to be measured from the positioning carrier assembly 21 is improved. It can be understood that the flexible force is generated in the X direction and the Y direction of the clamping of the object to be tested through the arrangement of the springs, so that on one hand, the damage to the object to be tested caused by overlarge action force of the two cylinders can be avoided; on the other hand, the phenomenon that the object to be detected is not clamped due to the fact that the object to be detected is inclined due to errors generated in machining of the machining part can be avoided, and therefore the working reliability of the positioning mechanism is guaranteed.

Note that, the positions of the Y-direction positioning blocks 2311 in the short-side positioning members are set corresponding to the short-side positioning blocks 216, which are four in this embodiment. The supporting plate 236 and the Y-direction positioning block 2311 on the supporting plate are sequentially driven to move towards the short-side positioning block 216 by the extension of the first air cylinder 231, so that Y-direction positioning of an object to be detected is realized; similarly, the support plate 236 and the Y-direction positioning block 2311 on the support plate are sequentially driven to move in a direction away from the short-side positioning block 216 through the retraction of the first air cylinder 231, so that the next group of objects to be detected are placed, then the next group of objects to be detected are positioned and clamped through the extension of the first air cylinder 231, and the next group of objects to be detected can be placed on the positioning carrier assembly 21 simultaneously when the objects to be detected on the carrier mechanism 5 are detected, and the detection efficiency of the objects to be detected is improved.

In one possible embodiment, as shown in fig. 8, a waiting assembly 24 may be provided on the positioning mechanism 2, where the waiting assembly 24 includes a support plate 241 and an adapter plate 242. Wherein, the supporting plate 241 is fixed on the side edge of the first mounting bottom plate 213, so that the to-be-tested component 24 corresponds to the position of the positioning supporting plate 218, an adapter plate 242 is fixedly arranged at one end of the supporting plate 241 away from the first mounting bottom plate 213, a sucker mounting block 243 and a first sucker seat 244 are sequentially arranged at one side of the adapter plate 242 away from the supporting plate 241, a sucker is arranged on the first sucker seat 244, so as to realize the adsorption of the to-be-tested object after the detection, and the to-be-tested object after the detection is moved towards the direction away from the carrier mechanism 5, so that the to-be-tested object is transferred to the next procedure. And the detected object is moved to the next process, and the double-sided detection of the detected object is performed simultaneously, so that the detection efficiency of the detected object is improved.

It can be understood that the positioning mechanism 2 is provided to accurately position the object to be detected, and the linear module 25 and the third linear guide rail 27 are used to move the object to be detected in the direction toward the feeding and discharging conveying mechanism 3, so that the object to be detected on the positioning carrier assembly 21 is transferred to the feeding and discharging conveying mechanism 3, and the object to be detected is detected; and the to-be-detected object is received by the to-be-detected assembly 24, so that the to-be-detected assembly 24 moves on the linear module 25 and the third linear guide rail 27 in a direction away from the feeding and discharging mechanism 3, and the to-be-detected object enters the subsequent process.

In one possible embodiment, as shown in fig. 11, the loading and unloading handling mechanism 3 includes a loading mounting plate 32, a first X-direction handling assembly 33, and a first Z-direction handling assembly 34. Wherein, the material loading mounting panel 32 is fixed on frame 1 through first pillar 31, and material loading mounting panel 32 is located the top of positioning mechanism 2 and carrier mechanism 5, is convenient for transfer the object that awaits measuring on positioning mechanism 2 to carrier mechanism 5. The feeding mounting plate 32 is provided with the first X-direction carrying assembly 33, can drive an object to be detected to reciprocate between the carrier mechanism 5 and the positioning mechanism 2, meanwhile, the first Z-direction carrying assembly 34 is connected with the first X-direction carrying assembly 33, and can realize that the object to be detected reciprocates between the direction and the direction away from the positioning mechanism 2 (or the carrier mechanism 5), and the object to be detected is transferred between the positioning mechanism 2 and the feeding and discharging carrying mechanism 3 and between the feeding and discharging carrying mechanism 3 and the carrier mechanism 5 through the combined action of the first X-direction carrying assembly 33 and the first Z-direction carrying assembly 34.

Alternatively, as shown in fig. 11, the first X-direction conveying assembly 33 includes a first X-direction linear driving device 331, a fourth linear guide 333, and the like. The first X-direction linear driving device 331 is disposed at one end of the loading mounting plate 32, and one end of the first X-direction linear driving device 331 far away from the loading mounting plate 32 is fixedly connected with the first guide plate 332. The loading mounting plate 32 is provided with a fourth linear guide 333, the fourth linear guide 333 is arranged along the direction of the carrying platform mechanism 5 and the positioning mechanism 2, and a plurality of fourth linear guides 333 are connected with the first guide plate 332 through a first slider connecting block 334 to realize the reciprocating movement of the first guide plate 332 on the fourth linear guide 333. It should be noted that, in this embodiment, four fourth linear guide rails 333 are symmetrically disposed at two sides of the first X-direction linear driving device 331, so as to realize that the loading and unloading conveying mechanism 3 drives the object to be measured to move stably between the carrier mechanism 5 and the positioning mechanism 2.

It can be understood that the first X-direction linear driving device 331 is generally disposed at the middle position of the loading mounting plate 32, so that the stability of pushing the first guide plate 332 can be achieved, the object to be measured on the loading and unloading carrying mechanism 3 can be ensured to stably correspond to the positioning support plate 218 on the positioning mechanism 2, and meanwhile, the object to be measured on the loading and unloading carrying mechanism 3 can be ensured to also correspond to the suction cup support seat 5510 on the carrier mechanism 5, so as to ensure the reliability of transferring the object to be measured.

It should be noted that, the first X-direction linear driving device 331 and the second X-direction linear driving device 731 are the same, and are screw nut structure linear modules commonly used in the industry, and the linear modules are driven by a servo motor, the servo motor drives a screw to rotate, and the screw nut structure converts rotation into linear motion, which is not described again.

Alternatively, as shown in fig. 11, the first Z-direction transporting assembly 34 includes a first Z-direction linear driving device 349, a first transporting plate 345, a first guide shaft 347, and the like. The first Z-directional linear driving device 349 passes through the avoidance hole on the loading mounting plate 32 and is vertically mounted on the first guide plate 332, and the screw rod of the first Z-directional linear driving device 349 passes through the through hole on the first guide plate 332 and is sequentially connected with the second floating joint 343 and the first joint mounting seat 344, and the first joint mounting seat 344 is fixedly mounted with the first carrying flat plate 345 on one end far away from the first Z-directional linear driving device 349, so that the first carrying flat plate 345 is positioned below the first guide plate 332. The first carrying flat plate 345 is provided with a first sucker mounting plate 341 on one side facing away from the first Z-direction linear driving device 349, the first sucker mounting plate 341 is arranged along the direction of the carrying platform mechanism 5 and the positioning mechanism 2, two ends of the first sucker mounting plate 341 are provided with second sucker bases 342, a second sucker 3411 is arranged below the second sucker bases 342 close to one side of the positioning mechanism 2, and a first sucker 3410 is arranged below the second sucker bases 342 close to one side of the carrying platform mechanism 5. The first linear bearing 346 is disposed on the first guide plate 332, and the first guide shaft 347 sequentially passes through the loading mounting plate 32 and the first linear bearing 346, and meanwhile, one end of the first guide shaft 347 is fixedly connected with the first carrying flat plate 345, so as to realize the moving stability of the first carrying flat plate 345. The first guide shaft 347 is provided with a first stopper 348 at an end thereof remote from the first carrying plate 345, so that the first guide shaft 347 is prevented from falling off the loading mounting plate 32, and the reliability of the up-and-down movement of the first carrying plate 345 is ensured. The first loading mounting plate 32 is provided with a relief hole for facilitating the X-direction movement of the first Z-direction linear driving device 349 and the first guide shaft 347, that is, the movement in the directions of the stage mechanism 5 and the positioning mechanism 2.

It will be appreciated that the positions of the first suction cup mounting plates 341 correspond to the positions of the positioning support plate 218 and the second suction cup mounting plates 5511, and thus the number is also the same, in this embodiment four first suction cup mounting plates 341 are used. In this embodiment, four first linear bearings 346 are adopted, and four first to linear bearings 346 are symmetrically disposed on two sides of the first Z-direction linear driving device 349, so as to improve the stability of the vertical movement of the object to be tested, that is, ensure the parallelism between the first carrying plate 345 and the frame 1, and ensure the reliability of the adsorption of multiple objects to be tested.

Wherein, through the arrangement of the second sucking disc 3411, the object to be measured on the positioning support plate 218 of the positioning mechanism 2 is transferred to the carrying platform mechanism 5; the inspected object to be inspected is transferred from the stage mechanism 5 to the waiting component 24 of the positioning mechanism 2 by the arrangement of the first suction cup 3410.

In one possible real-time approach, as shown in fig. 12, visual inspection mechanism 6 includes an X-axis module assembly 62, a Z-axis module assembly 63, and an inspection assembly 64. Wherein, X axle module subassembly 62 passes through Z axle stand 61 fixed mounting in frame 1, Z axle module subassembly 63 is connected with X axle module subassembly 62, fixed mounting has detection subassembly 64 on the Z axle module subassembly 63, Z axle module subassembly 63 reciprocating motion between a pair of Z axle stand 61, simultaneously Z axle module subassembly 63 drives detection subassembly 64 and removes in the direction of orientation or keeping away from frame 1, and with the rotation of commutator 553 on the carrier mechanism 5 together, realize the diversified detection of detection subassembly to the object that awaits measuring on the carrier mechanism 5, improve the comprehensiveness that awaits measuring the object detection, reduce the rate of utilization of disqualified products.

Alternatively, as shown in fig. 13 and 14, the X-axis module assembly 62 includes an X-axis module base plate 621, an X-axis linear module 623, a sixth linear guide 622, and the like. Wherein, the X-axis module 62 is installed between a pair of Z-axis columns 61 through the X-axis module bottom plate 621, the X-axis linear module 623 is installed on one side of the X-axis module bottom plate 621 away from the Z-axis module 63, the sixth linear guide 622 is located on one side of the X-axis module bottom plate 621 towards the Z-axis module 63, the sixth linear guide 622 is disposed between the pair of Z-axis columns 61, and the Z-axis module 63 is slidably connected with the sixth linear guide 622 and the X-axis linear module 623, thereby realizing the reciprocating movement of the Z-axis module 63 between the pair of Z-axis columns 61.

It should be noted that, as shown in fig. 13 and 14, the Z-axis module 63 is fixedly connected to the slide block of the sixth linear guide 622 through the Z-axis module bottom plate 631, and meanwhile, the Z-axis module bottom plate 631 is connected to the X-axis linear module 623 through the module adapter plate 624, and the movement of the X-axis linear module 623 drives the movement of the Z-axis module 63 on the sixth linear guide 622. The Z-axis module assembly 63 further includes a second lead screw module 632 and a seventh linear guide 633. The second screw module 632 is disposed on the Z-axis module bottom plate 631, the second screw module 632 reciprocates in a direction toward the frame 1 and away from the frame 1, the seventh linear guide 633 is fixedly mounted on the Z-axis module bottom plate 631 by a guide pad 634, and the detection assembly 64 is slidably disposed on the second screw module 632 and the seventh linear guide 633.

It can be understood that, in this embodiment, two seventh linear guide rails 633 are adopted, and the two seventh linear guide rails 633 are symmetrically disposed on two sides of the second screw module 632, so as to ensure the stability of the movement of the detection assembly 64 on the Z-axis module 63, that is, ensure the parallelism between the detection assembly 64 and the object to be detected, ensure the distance between the detection assembly 64 and each object to be detected to be substantially the same, and improve the reliability of the detection of the object to be detected.

Wherein, the detection component 64 includes a camera component 642 and a camera assembly mounting board 641, the detection component 64 is slidably connected with a seventh linear guide rail 633 and a second screw module 632 through the camera assembly mounting board 641, the camera component 642 is fixed on the camera assembly mounting board 641, the number of the camera components 642 corresponds to the number of the second sucker mounting boards 5511 on the carrier mechanism 5, so as to ensure that each object to be detected has one camera component 642 to detect the object to be detected, and improve the detection efficiency of the object to be detected.

Specifically, the object to be measured enters the positioning support plate 218 of the positioning mechanism 2 after being fed in the previous process, so that the positioning mechanism 2 can accurately position the object to be measured, the object to be measured is driven to move in the direction of the feeding and discharging conveying mechanism 3 through the linear module 25 and the third linear guide rail 27, the object to be measured moves below the second suction cup 3411 on the feeding and discharging conveying mechanism 3, the second suction cup 3411 is controlled to descend through the first Z-direction conveying assembly 34, and the second suction cup 3411 is controlled to drive the object to be measured to ascend after the object to be measured on the positioning support plate 218 is adsorbed. After the first X-direction conveying unit 33 is controlled to move toward the stage mechanism 5 and the second suction cup 3411 is aligned with the second suction cup mounting plate 5511 of the stage mechanism 5, the second suction cup 3411 is controlled to descend, and the object to be measured is transferred onto the stage mechanism 5. The carrier mechanism 5 moves downwards towards the visual detection mechanism 6 through the X movement assembly 4, and the surface A of the object to be detected on the carrier mechanism 5 is comprehensively detected through the cooperation of the visual detection mechanism 6 and the reverser 553. After the detection of the surface a of the object to be detected is completed, the carrier mechanism 5 continues to move towards the direction of the overturning and conveying mechanism 7 through the X-motion assembly 4, and the overturning of the object to be detected is realized through the overturning and conveying mechanism 7 and the handover overturning mechanism 8, which is already stated in the embodiment 1 and is not described herein again. At this time, the B surface of the object to be detected on the carrying platform mechanism 5 faces upwards, the object to be detected is driven to move downwards by the X motion assembly 4, and the B surface of the object to be detected is comprehensively detected by the visual detection mechanism 6. After the B-surface detection of the object to be detected is completed, the carrier assembly 8 moves on the X-motion assembly 4 towards the direction of the feeding and discharging conveying mechanism 3, the object to be detected is aligned with the first suction cup 3410, the first suction cup 3410 is controlled to descend through the first Z-direction conveying assembly 34, and the first suction cup 3410 is controlled to ascend after the detected object to be detected is adsorbed. The first X-direction carrying assembly 33 of the loading and unloading carrying mechanism 3 drives the object to be tested to move towards the direction of the positioning mechanism 2 until the first suction disc 3410 is aligned with the first suction disc seat 244 of the material waiting assembly 24, the first suction disc 3410 is controlled to descend, the object to be tested on the first suction disc 3410 is transferred onto the material waiting assembly 24, and finally, the linear module 25 and the third linear guide rail 27 of the positioning mechanism 2 drive the object to be tested to move towards a direction away from the loading and unloading carrying mechanism 3, so that the discharging of the object to be tested is realized, and the detected object to be tested is subjected to the operation of the subsequent procedure.

In the present disclosure, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. The term "plurality" refers to two or more, unless explicitly defined otherwise.

Other embodiments of the application will be apparent to those skilled in the art from consideration of the specification and practice of the application disclosed herein. This application is intended to cover any variations, uses, or adaptations of the application following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the application pertains. The specification and examples are to be regarded in an illustrative manner only.

The foregoing is only illustrative of the present application and is not to be construed as limiting thereof, but rather as various modifications, equivalent arrangements, improvements, etc., within the spirit and principles of the present application.

Claims

1. A turn-down device, comprising: a frame; and

2. The flip-up device of claim 1, wherein the flip-up device further comprises:

3. The flip-up device of claim 2, wherein the X-motion assembly comprises:

4. The turn-up device of claim 2, wherein the stage mechanism comprises:

The rotary bottom plate is connected with the X motion assembly;

5. The turn-up device of claim 4, wherein the speed reducer assembly comprises:

6. The flipping unit of claim 5, wherein the table rotation assembly comprises:

7. The flipping device of claim 6, wherein the stage rotation assembly further comprises:

8. The turn-up device of claim 1, wherein the turn-up handling mechanism comprises:

9. The flip-top device of claim 8, wherein the second X-direction handling assembly comprises:

10. A multi-station visual inspection apparatus, comprising:

the turn-over device according to any one of claims 1 to 9;