CN208140607U - Two-sided visual detection robot - Google Patents

Abstract

The utility model discloses two-sided visual detection robot, includes at least turnover device, and can place and fix LED pieces and driving LED pieces overturning, the turnover device can be such that the area to be tested of at least one side of LED pieces thereon appears；Image collecting device is movably set to the top of the turnover device, carries out Image Acquisition with the leakage area to be tested to the LED pieces on the turnover device；Control device is connect with the turnover device and image collecting device.This programme deft design, structure is simple, by overturning the acquisition for enabling two tested surfaces of LED pieces to be respectively aligned to camera lens realization image, so as to carry out the two-sided defect automatic detection of LED pieces using Visual identification technology, detection process is small by manual intervention, it solves the problems, such as that missing inspection and detection accuracy are low, while Machine Vision Detection speed and accuracy is much higher than human eye detection speed and accuracy, effectively realizes detection accuracy and efficient unification.

Description

Two-sided visual detection robot

Technical field

The utility model relates to visual detection equipment, especially two-sided visual detection robot.

Background technique

LED is also known as light emitting diode, is one kind of semiconductor diode, electric energy can be converted to luminous energy, light-emitting diodes Pipe is made of as general-purpose diode a PN junction, it may have unilateral conduction, when electric plus forward direction to light emitting diode After pressure, be injected into the hole in the area N from the area P and be injected into the electronics in the area P by the area N, near the PN junction in a few micrometers respectively with the area N The hole-recombination of electronics and the area P generates the fluorescence of spontaneous radiation.

Due to the electric light high conversion efficiency of LED, environmentally protective, the service life is long（Up to 100,000 hours）, operating voltage it is low（3V is left It is right）, repeatedly switch the lossless service life, it is small in size, fever less, brightness it is high, it is sturdy and durable, be easy to dim, color multiplicity, light beam concentration Stablize, start the advantages that no-delay, is widely used in each field.

Wherein LED pieces are that multiple LED lamp beads are integrated the product to be formed, and after the completion of generation, are needed to LED Lamp piece is detected, and confirms whether each of which LED lamp bead is problematic, and existing LED pieces detection is mainly by manually carrying out, manually Operation, not only low efficiency, but also detection accuracy does not ensure, while the case where be also easy to appear missing inspection, artificial detection with instantly The main trend of intelligence production is away from each other, and has improved space.

Utility model content

The purpose of this utility model is exactly to provide a kind of two-sided vision to solve the above-mentioned problems in the prior art Detect robot.

The purpose of this utility model is achieved through the following technical solutions：

Two-sided visual detection robot, includes at least

Turnover device, can place and fix LED pieces and driving LED pieces overturning, the turnover device can make thereon The area to be tested of at least one side of LED pieces appears；

Image collecting device is movably set to the top of the turnover device, to the LED on the turnover device The leakage area to be tested of lamp piece carries out Image Acquisition；

Control device is connect with the turnover device and image collecting device, controls the turnover device and Image Acquisition Device work, and defect analysis is carried out according to the image of image acquisition device.

Preferably, in the two-sided visual detection robot, the turnover device includes that a pair of contour and gap is adjustable Support plate, two support plates cooperatively form a hollow out placing groove, are provided in each support plate and consolidate LED pieces The clamping device being scheduled in the placing groove, two support plates are rotationally set up in rack by two coaxial shafts On, wherein a shaft connects motor.

Preferably, in the two-sided visual detection robot, the long side inner wall of the hollow out placing groove include inclined-plane and Fore-and-aft plane, and its hatch frame small with the big rear end in front end.

Preferably, in the two-sided visual detection robot, the turnover device is two, each turnover device and one Image collecting device is corresponding.

It preferably, further include feeding device comprising grab LED pieces in the two-sided visual detection robot Clamping jaw, the clamping jaw are set in the mobile device for driving it to be vertically moved and moved horizontally and rotated.

Preferably, in the two-sided visual detection robot, the clamping jaw includes that width is less than the LED pieces width And length is greater than the loading plate of the length of the LED pieces, and the vacuum for fixing LED pieces is provided on the loading plate and is inhaled Attached hole and the guiding device for limiting and being oriented to for LED pieces.

Preferably, in the two-sided visual detection robot, the mobile device includes longitudinal moving device and setting It is described to move horizontally dress in being provided with horizontally moving device on rotating mechanism on the longitudinal moving device, the rotating mechanism It sets including fast translation device and accurate translation device.

Preferably, further include at least one LED pieces magazine in the two-sided visual detection robot, have more A supporting layer with difference in height.

Preferably, the two-sided visual detection robot further includes the labelling apparatus connecting with the control device, can The defective locations in LED pieces are marked according to the testing result of the control device.

It preferably, further include reserved station in the two-sided visual detection robot, the reserved station includes a use In the multiaxis mobile mechanism placing the supporting table of LED pieces and being positioned above.

The advantages of technical solutions of the utility model, is mainly reflected in：

This programme deft design, structure is simple, so that two tested surfaces of LED pieces is respectively aligned to camera lens by overturning It realizes the acquisition of image, so as to carry out the two-sided defect automatic detection of LED pieces using Visual identification technology, detected Journey is small by manual intervention, solves the problems, such as that missing inspection and detection accuracy are low, while Machine Vision Detection speed and accuracy is significantly Higher than human eye detection speed and accuracy, detection accuracy and efficient unification are effectively realized.

By the design to turnover device, two-sided Image Acquisition can be realized on a station, can also be divided to two Station realizes the acquisition of image, and by keeping the gap between support plate adjustable, can effectively adapt to various sizes of LED light The testing requirements of piece, the scope of application is wider, and application flexibility is more preferably.

It is fixed by the way of pressing, can not only guarantee fixed fixing, while can adequately avoid making to clamp Plate or sheet article deform, advantageously ensure that it is subsequent processing or detection precision.

The setting of hollow out placing groove ensure that the placement of LED pieces and the leakage requirement in region to be measured in turnover device, together When feeding end design and groove sidewall design it is dynamic convenient for being accurately and rapidly placed into LED pieces on turnover device, be conducive to Improve whole precision and efficiency of detecting.

In conjunction with special feeding device, effectively realize feeding, transfer, blanking full process automatization, while using electricity The move mode twice that cylinder and cylinder combine, effectively realizes the unification of mobile accuracy and speed.

Feeding device special simultaneously can make the LED pieces keep formation state in moving process, will not make it It deforms, to ensure that the effect of Image Acquisition, advantageously ensures that visual identity precision.

Binding marker device can carry out the label of problem point automatically according to visual identity result, be subsequent problem The excision of point is laid a good foundation, and improves the degree of automation, while advantageously ensuring that the accuracy of excision.

The control of label ink amount is when being effectively guaranteed label, be both avoided that because prepared Chinese ink amount it is very few caused by Marks Illegible Chu Problem, and be avoided that because prepared Chinese ink amount excessively overflows the problem for causing LED pieces dirty, improve the effect of label.

The setting of reserved station, without the allomeric function for enriching equipment, while can save mark when there is cutting operation The corresponding construction for remembering device, is conducive to simplifying for equipment.

Detailed description of the invention

Fig. 1 is the top view of the utility model；

Fig. 2 is the perspective view of the utility model；

Fig. 3 is the enlarged drawing of a-quadrant in Fig. 2;

Fig. 4 is the perspective view of loading plate in the utility model；

Fig. 5 is the perspective view of feeding device in the utility model；

Fig. 6 is the enlarged drawing of B area in Fig. 5.

Specific embodiment

The purpose of this utility model, advantage and feature will carry out figure by the non-limitative illustration of preferred embodiment below Show and explains.These embodiments are only the prominent examples using technical solutions of the utility model, all to take equivalent replacement or wait Effect transformation and formed technical solution, all fall within the requires of the utility model protection within the scope of.

In the description of scheme, it should be noted that term " center ", "upper", "lower", "left", "right", "front", "rear", The orientation or positional relationship of the instructions such as "vertical", "horizontal", "inner", "outside" is to be based on the orientation or positional relationship shown in the drawings, It is merely for convenience of description and simplification description, rather than the device or element of indication or suggestion meaning there must be specific side Position is constructed and operated in a specific orientation, therefore should not be understood as limiting the present invention.In addition, term " first ", " second ", " third " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance.Also, in retouching for scheme It is proximal end by the direction of proximal operator using operator as reference, the direction far from operator is distal end in stating.

The two-sided visual detection robot disclosed with reference to the accompanying drawing to the utility model is illustrated, as shown in Fig. 1, It includes at least substrate 20, is arranged on the substrate 20

LED pieces 10 and driving LED pieces overturning, the turnover device 1 can be placed and be fixed to an at least turnover device 1 The area to be tested of at least one side of LED pieces 10 thereon can be made to appear；

An at least image collecting device 2 is movably set to the top of the turnover device 1, to fill to the overturning The leakage area to be tested for setting the LED pieces 10 on 1 carries out Image Acquisition；

The defective locations in LED pieces 10 can be marked in labelling apparatus 3；

Control device 4 is connect with the turnover device 1, image collecting device 2 and labelling apparatus 3, controls the overturning Device 1, image collecting device 2 and labelling apparatus 3 work, and the picture analyzing LED light acquired according to described image acquisition device 2 Whether the respective face of piece is defective.

When work, the turnover device 1 is fixed by LED pieces 10 disposed thereon, at this point, described image acquisition device 2 The image of the LED pieces 10 on turnover device 1 is acquired, on one side after the completion of Image Acquisition, the turnover device 1 makes the LED light After piece 10 overturns 180 °, the Image Acquisition of another side can be carried out on the turnover device 1, it can also be by the LED pieces after overturning It is moved on another turnover device 1 and carries out Image Acquisition, the two sides image transmission for the LED pieces 10 that image collecting device 2 acquires The analysis that defect point is carried out to the control device 4, when any point in the image of two sides breaks down, the control device 4 It controls the labelling apparatus 3 position of defect is marked, otherwise carries out blanking.

From the point of view of specific, as shown in attached drawing 2- attached drawing 4, the turnover device 1 includes a pair of adjustable support in contour and gap Plate 11, each support plate 11 include main body 111, the first convex block 112 and the second convex block 113, first convex block 112 and the Two convex blocks 113 are located at the top surface of the main body 111 and their gap and form a notch 114, the width of first convex block 112 Less than the width of the main body 111, the inner sidewall of first convex block 112 by top-to-bottom be followed successively by inclined-plane 1121 and with institute The vertical plane 1122 in the top surface 1111 of main body 111 is stated, the inner sidewall 1112 of the plane 1122 and the main body 111 keeps one Fixed gap, and the front end of first convex block 112 is right-angled trapezium inclined-plane 1123, the generally L of the second convex block 113 Shape comprising the block 1131 and elongate body 1132 of end, the width phase of the width of the block 1131 and the main body 111 Together, the shape of the elongate body 1132, the global shape of width and first convex block 112 and of same size, difference is it Length is greater than the length of first convex block 112, so that two support plates 11 cooperatively form a hollow out placing groove 12, and And the long side inner wall of the hollow out placing groove 12 includes inclined-plane and fore-and-aft plane, and its opening knot small with the big rear end in front end Structure.

As shown in Fig. 3, it is provided in each support plate 11 and LED pieces 10 is fixed in the placing groove 12 Clamping device 13, the clamping device 13 are preferably two pressing plates 131 that can be moved longitudinally, and two pressing plates 131 are distinguished In the notch 114 of a support plate 11, and their opposite end faces are concordant with the opposite end face of support plate 11 respectively, two institutes The telescopic cylinder 132 that the connection of pressing plate 131 drives their synchronizing movings is stated, two telescopic cylinders 132 are individually fixed in a support plate At 11 outer end face, therefore when clamping, the pressing plate 131 applies the non-detection region of the upper or lower surface of the LED pieces 10 Plus-pressure is realized and is fixed.

Certainly, in other embodiments, the clamping device 13 is also possible to apply to the opposite two sides of LED pieces 10 Stressed pressing plate and the cylinder for driving it to move horizontally or other actuating units etc., or can be using the knot such as vacuum suction Structure.

Two support plates 11 are assembled integrally by connecting plate 17, and they can by two coaxial shafts 14 It is rotationally set up in rack 15, wherein a shaft 14 connects motor 16, certainly, in other embodiments, two supports Plate 11 can not also be linked into an integrated entity by connecting plate 17, at this point, the shaft 14 that they are connected is separately connected a motor 16.

In addition, the connecting plate 17 can connect at the both ends of the support plate 11, the support plate 11 also can connect Bottom, when the connecting plate 17 is connected to the both ends of the support plate 11, the connecting plate 17 will not be to the one of LED pieces A detection faces generation is blocked, therefore can realize the image of 10 two detection faces of LED pieces on a turnover device 1 Acquisition；Certainly, as shown in attached drawing 2, attached drawing 3, when the connecting plate 17 is connected to the bottom of the support plate 11, also, due to The size difference of LED pieces 10 or other plate class parts, thus be additionally provided on the connecting plate 17 for the branch The waist-shaped hole 171 that fagging 11 connects, by adjusting support plate 11 in the position of waist-shaped hole 171, so as to adjust described in two Gap between support plate 11 can be used to the LED pieces 10 or plate class part of other sizes.

Also, it as shown in Fig. 3, is provided on the connecting plate 17 and controls the branch with two cooperations of proximity sensor 18 The trigger member 19 of 11 flip angle of fagging, the trigger member 19 is located at a corner position of the connecting plate 17, described in two Proximity sensor 18 is set to the two sides in rack 15 and being located at the shaft, and position is matched with trigger member 19 respectively, works as institute State that connecting plate 17 is when in a horizontal state, the trigger member 19 is located in the induction region of a proximity sensor 18, when described When trigger member 19 triggers another proximity sensor, the connecting plate 17 rotates 180 °；Certainly in other embodiments, described to connect Closely sensor 18 is also possible to multiple, to realize more rotational angles；And motor can also be controlled by software programming Turnning circle to realize the control of rotational angle.

Since the connecting plate 171 is connected to the bottom of the support plate 11, after 180 ° of rotation, LED pieces 10 Another side can be blocked by the connecting plate 171, can not directly carry out Image Acquisition, therefore, at this time can not pass through one overturning Device 1 realizes the Image Acquisition of two tested surfaces automatically, in preferred embodiment, as shown in attached drawing 1, attached drawing 2, is clapped using two The Image Acquisition that station carries out a face of LED pieces 10 respectively is taken the photograph, i.e., the described turnover device 1 is two, each turnover device 1 It is corresponding with an image collecting device 2, one of a turnover device 1 and the cooperation progress LED pieces 10 of image collecting device 2 The Image Acquisition in face.

Meanwhile in order to adapt to the Image Acquisition needs of different sizes, different zones, make in described image acquisition device 2 Image capture device 21 and light source 22 are removable, specifically from the point of view of, as shown in Fig. 3, described image acquires equipment 21 and light source 22 It is separately fixed on a mounting plate 23, the mounting plate 23 is fixed on the sliding block of the first electric cylinders 24, and first electric cylinders 24 are driven Move the mounting plate 23 along longitudinal direction（Z-direction）It moves back and forth, first electric cylinders 24 are installed on the second electricity by mounting rack 25 On the sliding block of cylinder 26, second electric cylinders 26 drive the mounting rack 25 to move back and forth along the y axis, and second electric cylinders 26 are logical It crosses bracket 27 to be slidably disposed on guiding trestle 28, the third electricity that the connection of bracket 27 drives it to move along the x axis Cylinder 29, so that described image acquisition equipment 21 and light source 22 can be moved along tri- axis direction of XYZ.Certainly, described image acquires equipment 21 and light source 22 can also be moved using other moving structures, such as six-joint robot is known technology, no longer herein It repeats.

Also, the irradiating angle of the light source 22 is adjustable, and as shown in Fig. 3, the both ends of the light source 22 offer respectively Two connecting holes（It is not shown in the figure）, circular hole 2101 and arc in the connector 210 on two connecting holes and the mounting plate 23 Hole 2102 matches, and the connecting hole that will be close to center is connect with circular hole 2101, by adjusting another connecting hole in the arc Position in hole 2102, so as to adjust the angle of the light source 22, so as to according to actual needs, adjust illumination item Part.

Further, the labelling apparatus 3 can be the various equipment that can carry out physical markings to defect point, such as label Machine, dispenser put black machine, laser marking machine etc., as shown in Fig. 2, preferably put black machine 31, and when carrying out ink, institute It states each point ink amount of black machine to control in setting value, be configured with specific reference to the size of each LED light, preferred point ink amount is The volume of hemisphere of the diameter between 1-1.5mm.

Meanwhile it is described put black machine 31 and can be moved, can use and above-mentioned driving image capture device 21 and light The source 22 mobile identical structure of equipment or different structures, such as in a preferred embodiment, drive the ink machine of putting along vertical It is slider cylinder 32 to mobile mechanism, other structures realize that horizontal direction is mobile by the second electric cylinders and third electric cylinders with above-mentioned Mechanism.

In addition, as shown in Fig. 2, in order to avoid interfering between each component, the preferably described labelling apparatus 3 is a list Only station, and in the station further include with the matched rack 5 of the labelling apparatus 3, be located at the labelling apparatus 3 Lower section, the supporting table 51 in the rack 5 is close with the structure of support plate 11 in the turnover device 1, and difference is do not have It is no longer horn-like for having notch and opening.

Further, after using above-mentioned station, although can be realized the detection of the middle defect LED of LED pieces 10 and labeled The automation of journey, still, there is still a need for by manually carrying out, manual operation is maximum to be asked for the transfer of LED pieces 10 between stations Topic is, when being moved to another station from a station, due to not turning over LED pieces, the same face is caused to repeat to detect, And LED pieces 10 place the problem of dislocation of not in place and placement direction leads to marked erroneous, therefore in order to avoid manual operation Bring risk, as shown in attached drawing 1, attached drawing 5, the two-sided visual detection robot further includes feeding device 6 comprising crawl The clamping jaw 61 of LED pieces 10, the clamping jaw 61, which is set to, at least to be driven it to be vertically moved and moved horizontally and rotates In mobile device 62, the feeding device 6 runs through the through-hole of 20 center of substrate setting, and the clamping jaw 61 is located at the substrate 20 top.

The clamping jaw 61 can be the various structures for being able to carry out sheet material or the crawl of plate class part, such as various pneumatic clamps Pawl, in preferred embodiment, for the ease of with following LED pieces magazine cooperations, as shown in Fig. 6, the preferably described clamping jaw 61 It is less than 10 width of LED pieces including width, length is greater than the loading plate 611 of the length of the LED pieces 10, the carrying The front end of plate 611 is provided with the baffle 612 of formed hook formation.

The vacuum absorption holes 613 and/or clamping device for fixing LED pieces 10 are provided on the loading plate 611, it is excellent Choosing is that the surface of the loading plate 611 is provided with one group of vacuum absorption holes 613 connecting by air flue with vaccum-pumping equipment Structure, certainly, when using clamping device, the clamping device may include two and be located at the 611 long side two sides of loading plate Briquetting, they are opposite or on mobile cylinders for two briquettings connection drivings, when they are moved toward one another, will be located at institute The LED pieces clamping on loading plate is stated, when counter motion, LED pieces 10 are unclamped.

As shown in Fig. 5, the mobile device 62 including longitudinal moving device 621 and is set to the longitudinal moving device Rotating mechanism 622 on 621, the longitudinal moving device 621 include pedestal 6211, and two are provided on the pedestal 6211 along vertical To（Z-direction）The guide rail 6212 of extension is slideably provided with support frame 6213, support frame as described above on the guide rail 6212 The rotating mechanism 622 is provided on 6213, the rotating mechanism 622 is preferably rotary cylinder, is also possible to other rotations Structure, horizontally moving device 623 is provided in the rotary shaft of the rotary cylinder, and the horizontally moving device 623 includes quick Translating device and accurate translation device, the accurate translation device are the electric cylinders 6231 for accurately controlling stroke, the quick flat Moving device be set on the sliding block of the electric cylinders 6231 can quick-expansion slider cylinder 6232, the slider cylinder 6232 Sliding block connect the loading plate 611 of the clamping jaw 61.

It why is due in reclaiming process, if only made using the translation mode that electric cylinders 6231 and cylinder 6232 cooperate It is horizontally moved with electric cylinders 6231, although mobile stroke can be accurately controlled, the speed of its early period of movement It is relatively slow, if controlling moving horizontally for clamping jaw only with cylinder 6232, although mobile speed improves, due to gas The stroke of cylinder often can not be adjusted accurately, caused the precision of loading and unloading not control effectively, therefore be bonded to, realized effect The unification of rate and precision.

Further, as shown in Fig. 5, the feeding device 6 further includes on the rotating mechanism 622 for LED The guiding device 614 of lamp piece 10 limit and guiding, as shown in Fig. 6, the guiding device 614 include two and are located at the carrying Guide part 6141 at 611 two long side surfaces of plate, they are set on the rotary cylinder by a bracket 6142 for installing On the mounting plate 624 of horizontally moving device 623, when the loading plate 611 is in retracted mode, two guide parts 6141 Close to the front position of the loading plate 611, the gap of two guide parts 6141 is equal to the width of the flat parts, from And enable to flat parts in loading plate 611 during extending and retracting, the movement of flat parts can be limited, to protect Demonstrate,prove its location accuracy on the loading plate 611.

Further, as shown in Fig. 6, the guiding device 614 further include positioned at 611 bottom of loading plate and with carrying The back-up roller wheel 6142 of the bottom surface fitting of plate 611, the back-up roller wheel 6142 are similarly provided on the bracket 6143, preferably institute Stating back-up roller wheel 6142 is two, they are rotatably positioned in the both ends of the shaft on the bracket 6143, and work as the loading plate 611 be in retracted mode when, the back-up roller wheel 6142 close to the loading plate 611 front position, in the loading plate 611 When Forward or retraction, the back-up roller wheel 6142 rotates under the action of loading plate 611, while to the loading plate 611 Support is provided, avoiding it, deformation occurs.

Further, as shown in Fig. 6, the two-sided visual detection robot further includes at least one LED pieces magazine 7, It keeps certain gap between adjacent supports layer with multiple supporting layers with difference in height, and the gap meets the folder Pawl can pass through, the preferably described LED pieces magazine 7 be it is multiple, different functions is used separately as, for example, part therein 71 can To place LED pieces to be detected, part 72 in addition, which can be placed, finds problematic LED pieces, remaining portion through detection Divide 73 can place the qualified LED pieces 10 of detection.

Further, as shown in Fig. 1, the two-sided visual detection robot further includes reserved station, the reserved work Position includes one for the multiaxis mobile mechanism 9 placing the supporting table 8 of LED pieces and be positioned above, the supporting table 8 with it is described The structure of rack 5 is identical or different, preferably identical, likewise it is preferred that the multiaxis mobile mechanism 9 and the black machine of the driving point The moving structure of 31 movements is identical, repeats no more.

Why station is reserved in setting, be because after detection marks defect point, need by the LED of defective locations from Lamp on piece is cut off, therefore at reserved station, device for excising can be arranged in multiaxis mobile mechanism 9（It is not shown in the figure）It will lack Sunken LED is handled；Also, when being provided directly with device for excising at the reserved station, it may be omitted with the mark Remember device 3, is directly cut off from LED pieces by the defect LED that control device control device for excising will test out；Certainly, Other structures can also be set in multiaxis mobile mechanism 9 to realize corresponding function, such as carry out the cleaning of LED pieces, patch The operations such as mark；

Also, as shown in Fig. 1, multiple stations are distributed according to processing sequence in regular hexagon, so as to make equipment knot Structure is more compact.

Finally, the electrical equipments such as each electric cylinders, cylinder, vaccum-pumping equipment, motor open in the operational process of whole equipment Stop and the switching of working condition can be controlled by the signal combination software programming of various sensors, preferably through various biographies Sensor（It is not shown in the figure）In conjunction with PLC control system（Control device）It controls, is known technology, repeats no more herein.

When above-mentioned two-sided visual detection robot works, process is substantially as follows：

S1, by LED pieces just facing towards image collecting device carry out direct picture acquisition and be sent to control device into Row defect analysis；

S2, turnover device drive LED pieces to overturn 180 °, so that its reverse side is carried out verso images towards image collecting device and adopt Collect and be sent to control device and carries out defect analysis；

S3, turnover device driving LED pieces overturn 180 ° again, when control device analysis LED pieces have problem, Labelling apparatus point ink at problem is controlled, blanking is otherwise carried out.

Specifically：

S11, the mobile device 62 in the feeding device 6 drive the loading plate 611 to extend into one layer of LED in magazine 7 Lamp piece 10（At this point, LED pieces 10 is face-up）Lower section, and baffle 612 is made to be located at the fronts of the LED pieces 10, so After loading plate 611 is moved up contact with the LED pieces 10, the LED pieces 10 are fixed on by vacuum absorption holes described On loading plate 611, the mobile device 62 drives the loading plate 611 to recall to will take out from magazine 7 with LED pieces, Mobile device 62 drive the loading plate 611 rotate and with 1 location matches of a turnover device, then drive the loading plate 611 Extension makes LED pieces 10 be moved to the top of the hollow out placing groove 12, and the clamping jaw 61 releases the fixation to LED pieces 10, The loading plate 611 falls the bottom for making the LED pieces 10 drop into the hollow out placing groove, and the support plate 611 retracts, At this time the LED pieces 10 just facing towards image collecting device 2 corresponding with the turnover device.

S12, the starting of described image acquisition device acquire the LED pieces direct picture on turnover device and are sent to control Device carries out image analysis, and the process of image analysis herein can be known various analysis methods, is known technology no longer superfluous It states.

S21, the telescopic cylinder when the LED pieces 10 are located in the hollow out placing groove 12, on the turnover device 1 132 two pressing plates 131 of driving move down the marginal position for being pressed in the LED pieces 10（Non-detection region）It is fixed, After described image acquisition device 2 acquires positive image, the motor 16 of the turnover device 1 starts, and keeps the support plate 11 whole Body rotation, thus LED pieces 10 are fixed and stop after driving it to overturn 180 °, at this time the reverse side of the LED pieces 10 upward, Face down.

S22, the feeding device 6 is according to the process of S21 step by the LED pieces 10 after overturning from current turnover device It removes and is moved on another turnover device 1 on 1, at this time the reverse side direction image corresponding with the turnover device 1 of LED pieces 10 Acquisition device 2.

S23, described image acquisition device 2 are actuated for 10 verso images of LED pieces and are acquired and be sent to control dress Set carry out image analysis.

S31, the turnover device 1 that the LED pieces 10 are currently located takes according to S3 step to be fixed LED pieces and overturns 180 °, make the face-up of the LED pieces 10.

S32, the image that the control device 4 analyzes two sides is confirmed whether problematic point, when no problem point, executes S33 Step executes S34 step when problematic

LED pieces in S32 step are moved to according to the process of S11 step and are used to place by S33, the feeding device 6 In one layer of the magazine 7 of qualified product.

LED pieces in S32 step are moved to the placement according to the process of S11 step by S34, the feeding device 6 In the supporting table 51 of frame 5.

S35, the control device 4 control the ink machine 31 of putting and fill corresponding ink at corresponding problem.

LED pieces 10 in S35 step are moved to according to the process of S11 step and are used to put by S36, the feeding device 6 It sets in the magazine of defective product or moves again to the production of placement problem after carrying out problem excision on being placed into the reserved station In the magazine of product.

Still there are many embodiment, all technologies formed using equivalents or equivalent transformation for the utility model Scheme is all fallen within the protection scope of the utility model.

Claims (10)

1. two-sided visual detection robot, it is characterised in that：Including

An at least turnover device（1）, can place and fix LED pieces（10）And driving LED pieces overturning, the turnover device （1）It can make LED pieces thereon（10）The area to be tested of at least one side appear；

Image collecting device（2）, it is set to the turnover device（1）Top, to the turnover device（1）On LED light Piece（10）Area to be tested carry out Image Acquisition；

Control device（4）, with the turnover device（1）And image collecting device（2）Connection.

2. two-sided visual detection robot according to claim 1, it is characterised in that：The turnover device（1）Including one To the adjustable support plate in contour and gap（11）, two support plates（11）Cooperatively form a hollow out placing groove（12）, each The support plate（11）On be provided with LED pieces（10）It is fixed on the hollow out placing groove（12）In clamping device（13）, Two support plates（11）Pass through two coaxial shafts（14）Rotationally it is set up in rack（15）On, an at least shaft （14）Connect motor（16）.

3. two-sided visual detection robot according to claim 2, it is characterised in that：The hollow out placing groove（12）Length Side inner wall includes inclined-plane and fore-and-aft plane, and its hatch frame small with the big rear end in front end.

4. two-sided visual detection robot according to claim 1 to 3, it is characterised in that：The turnover device（1） It is two, each turnover device（1）With an image collecting device（2）It is corresponding.

5. two-sided visual detection robot according to claim 1 to 3, it is characterised in that：It further include feeding device （6）Comprising crawl LED pieces（10）Clamping jaw（61）, the clamping jaw（61）Be set to driving its carry out longitudinal movement and The mobile device for moving horizontally and rotating（62）On.

6. two-sided visual detection robot according to claim 5, it is characterised in that：The clamping jaw（61）It is small including width In the LED pieces（10）Width and length are greater than the LED pieces（10）The loading plate of length（611）, the loading plate （611）On be provided with for fixing LED pieces（10）Vacuum absorption holes（613）Be used for LED pieces（10）Limit and guiding Guiding device（614）.

7. two-sided visual detection robot according to claim 5, it is characterised in that：The mobile device（62）Including vertical To mobile device（621）And it is set to the longitudinal moving device（621）On rotating mechanism（622）, the rotating mechanism （622）On be provided with horizontally moving device（623）, the horizontally moving device（623）It is including fast translation device and accurately flat Moving device.

8. two-sided visual detection robot according to claim 1 to 3, it is characterised in that：It further include at least one use In the magazine for placing LED pieces（7）, with multiple supporting layers with difference in height.

9. two-sided visual detection robot according to claim 1 to 3, it is characterised in that：Further include and the control Device（4）The labelling apparatus of connection（3）, can be according to the control device（4）Testing result to LED pieces（10）On defect Position is marked.

10. two-sided visual detection robot according to claim 1 to 3, it is characterised in that：It further include reserved station, The reserved station includes one for placing the supporting table of LED pieces（8）And the multiaxis mobile mechanism being positioned above（9）.