CN220574070U - Product appearance defect detection device - Google Patents

Abstract

The utility model discloses a product appearance defect detection device, which includes: an annular conveyor line, which is provided with a plurality of conveyor carriers that can move along the conveyor track; the conveyor carriers are provided with detachably connected loading trays. The loading tray is provided with clamping and positioning parts corresponding to a plurality of inspected products; a visual inspection module is used to visually inspect the inspected products clamped and positioned in the conveyor carrier passing through the annular conveyor line. Identification and detection; a defective product collection component, which is used to pick up and transfer products with defective appearance in the loading tray; a replenishing component, which is used to replenish the empty clamping positioning part of the loading tray after removing the defective products Good products that have been inspected; a transplanting mechanism, which is used to transfer the loading tray between the transport carrier and the material feeding assembly. This equipment can operate continuously and replace manual labor. It has the advantages of high detection efficiency and accurate detection. It can also save the cost of setting up a separate transport tray to refill the empty space of the inspected good products.

Description

A product appearance defect detection device

Technical field

This application relates to the technical field of product detection devices, specifically a product appearance defect detection device.

Background technique

Some high-end products correspond to customers with high consumption levels and high quality requirements. Therefore, it is particularly important to conduct detailed inspection of the appearance of such products before they are sold out of the factory. Currently, for product appearance inspection, the quality inspector and the customer are generally The inspected products are placed together in a dark room, and the products are illuminated by spotlights. The quality inspector inspects the appearance of the products with the naked eye, then picks out the defective products and concentrates them, and puts the products with qualified appearance in another place. This kind of manual visual inspection of appearance quality defects is too inefficient, and the manual labor intensity is high, and there is also the phenomenon of missed inspections; in addition, the level of manual inspection capabilities is limited, and it can handle obvious scratches and dirt, but from a microscopic perspective and the human body It is unable to withstand the strength to detect defects such as lumpy whitishness, strong light stains, orange peel-like surfaces, pitting, corrosion spots, unpolished, lines, and material lines on the appearance of the product. If inspections are missed and products with defective appearance are released, defective products will be put on the market, and these defects will spread in user usage scenarios, causing further conspicuous defects and reducing customer consumption experience.

Therefore, how to improve the efficiency of product appearance defect detection and detection quality are issues that need to be solved urgently.

Utility model content

This utility model mainly aims at the above problems and proposes a product appearance defect detection device, aiming to solve the technical problems in the background technology.

In order to achieve the above purpose, the present invention provides a product appearance defect detection device, which includes: an annular transmission line, the annular transmission line is provided with a plurality of transportation carriers that can move along the transportation track, and the transportation carrier has a built-in device. There is a removably connected loading tray, and the loading tray is provided with clamping and positioning parts corresponding to multiple inspected products;

A visual inspection module, which is used to visually identify and inspect the inspected products clamped and positioned in the conveyor passing through the annular conveyor line;

A defective product collecting component, which is used to pick up and transfer the defective products in the loading tray;

A replenishing component, which is used to replenish the inspected good products in the empty clamping positioning part of the loading tray after removing the defective products;

Transplanting mechanism, the transplanting mechanism is used to transfer the loading tray between the transport carrier and the material feeding assembly.

Further, the visual inspection module includes a first CCD camera, a first auxiliary light source, a second CCD camera, and a second auxiliary light source;

When the inspected product is transported by the conveyor and passes the first CCD camera, the object distance between the inspected product and the lens of the first CCD camera is 370mm~390mm, the depth of field is 7.5mm~9mm, and the first auxiliary light source is directly illuminated The angle between the light and the end face of the product being tested is 60° to 80°;

When the inspected product is transported by the conveyor and passes the second CCD camera, the object distance between the inspected product and the lens of the second CCD camera is 240 mm to 260 mm, the depth of field is 18 mm to 21 mm, and the second auxiliary light source directs light. The angle with the end face of the product being tested is 0°.

Further, the defective product collection assembly includes a material retrieval and turning mechanism, a transfer classification mechanism, and a collection and recovery mechanism; the material retrieval and turning mechanism is used to retrieve the defective products from the loading tray and flip them to the same place as the desired product. The position corresponding to the retrieval of materials by the transfer classification mechanism; the transfer classification mechanism is used to take out and classify the defective products taken out by the retrieval and turning mechanism, and transfer them to the position corresponding to the retrieval of materials by the collection and recovery mechanism; The collection and recovery mechanism is used to transfer and collect the defective products transferred by the transfer classification mechanism to the defective product collection tray.

Further, the transport carrier includes an accommodation tank that roughly corresponds to the volume of the loading tray, an elastic resistor is provided on the inner wall of the accommodation tank, and a limiting cover is provided at one end away from the elastic resistor; The clamping and positioning part is a stepped through hole provided on the loading tray corresponding to the outline of the product to be inspected.

Further, the replenishing assembly includes a first mechanical arm, a rotating platform, and multiple sets of transfer carriers provided on the rotating platform, and the loading tray is detachably connected to the transfer carriers; the first mechanical arm The power output end is equipped with a material retrieval piece.

Further, the material retrieval and turning mechanism includes a frame, a driving motor, and a vacuum clamping group; the power output end of the driving motor is rotationally connected to the frame, and the vacuum clamping group is installed on the power output of the driving motor. end; the number of vacuum suction heads of the vacuum clamping and suction group corresponds to the number of clamping and positioning parts of the loading tray.

Further, the transfer classification mechanism includes a second mechanical arm, a third mechanical arm, a first linear module, a second linear module, and a first classified material connected to the power output end of the first linear module. tray, and a second sorting tray connected to the output end of the second linear module; the power output ends of the second robotic arm and the third robotic arm are both equipped with vacuum suction heads.

Further, the collection and recovery mechanism includes a fourth mechanical arm, a lifting and lowering defective product collection tray module, and a collection rack; the power output end of the fourth mechanical arm is provided with a defective product vacuum suction head group, a collection tray suction The first group; the collecting rack is provided with multiple collecting areas that can hold and position the defective product collecting trays.

Further, the transplanting mechanism includes a third linear module, a first finger cylinder, and a second finger cylinder. The power output ends of the first finger cylinder and the second finger cylinder are equipped with clamp blocks; the first finger The cylinder and the second finger cylinder are connected to the power output end of the third linear module through a lifting cylinder; the first finger cylinder is also provided with a good quality suction head set.

Compared with the existing technology, the product appearance defect detection device provided by the utility model can operate continuously, replace manual labor, have the advantages of high detection efficiency and accurate detection, and can also save the need for additional empty spaces on the transport tray. The cost of the inspected good product establishment step.

Description of the drawings

Figure 1 is a schematic structural diagram of a product appearance defect detection device of the present application.

Figure 2 is a schematic structural diagram of a product appearance defect detection device according to the present application with the cover removed.

Figure 3 is a schematic structural diagram of some components of a product appearance defect detection device of the present application.

Figure 4 is a schematic structural diagram of a visual inspection module of a product appearance defect inspection device of the present application.

Figure 5 is a schematic structural diagram of some components of a product appearance defect detection device of the present application.

Figure 6 is a schematic structural diagram of the material picking and turning mechanism of a product appearance defect detection device of the present application.

Figure 7 is a schematic structural diagram of a conveyor carrier of a product appearance defect detection device according to the present application.

Figure 8 is a schematic structural diagram of the filling component and transplanting mechanism of a product appearance defect detection device of the present application.

Figure 9 is a schematic structural diagram of a defective product collection component of a product appearance defect detection device according to the present application.

Figure 10 is a schematic structural diagram of the fourth robotic arm of a product appearance defect detection device of the present application.

Reference signs shown in the figure: 1. Ring conveyor line; 2. Transport carrier; 210. Loading tray; 211. Clamping and positioning part; 220. Accommodating groove; 230. Elastic resisting member; 240. Limiting cover board; 3. Visual inspection module; 310. The first CCD camera; 320. The first auxiliary light source; 330. The second CCD camera; 340. The second auxiliary light source; 4. Defective product collection component; 410. Retrieval and flipping Mechanism; 411, frame; 412, drive motor; 413, vacuum clamping group; 420, transfer classification mechanism; 421, second robotic arm; 422, third robotic arm; 423, first linear module; 424, The second linear module; 425. The first classification material tray; 426. The second classification material tray; 430. Collection and recovery mechanism; 431. The fourth mechanical arm; 432. Lifting and lowering defective product collection tray module; 433. Collection Material rack; 4331, material collecting area; 434, defective product vacuum suction head group; 435, material collecting plate suction head group; 5. Material replenishment component; 510, first mechanical arm; 511, material picking piece; 520, rotating platform ; 530. Transfer carrier; 6. Transplanting mechanism; 610. Third linear module; 620. First finger cylinder; 621. Good quality suction head set; 630. Second finger cylinder; 640. Clamp; 650. Lifting Cylinder; 660, empty loading tray recovery place.

Detailed ways

Please refer to Figures 1-10. This embodiment provides a product appearance defect detection device, including:

Annular conveyor line 1. The annular conveyor line 1 is provided with a plurality of conveyor carriers 2 that can move along the conveyor track. The conveyor carrier 2 is provided with a detachably connected loading tray 210. The loading tray 210 is provided with Clamping and positioning parts 211 corresponding to multiple inspected products;

Visual inspection module 3. The visual inspection module 3 is used to visually identify and inspect the inspected products clamped and positioned in the conveyor 2 passing on the annular conveyor line 1;

The defective product collection assembly 4 is used to pick up and transfer products with poor appearance in the loading tray 210;

Replenishing component 5, the replenishing component 5 is used to replenish the inspected good products in the empty clamping positioning part 211 of the loading tray 210 after removing the defective products;

Transplanting mechanism 6 . The transplanting mechanism 6 is used to transfer the loading tray 210 between the transport carrier 2 and the material feeding assembly 5 .

The transport carrier 2 extends outside the track of the annular conveyor line 1 to prevent the annular conveyor line 1 from blocking the loading tray 210 and affecting the image collection, analysis and comparison of the visual inspection module 3. When the visual inspection module 3 detects a defect in the appearance of the product in the loading tray 210, the conveyor 2 moves along the conveying track of the annular conveyor line 1 to the defective product collection assembly 4, and the defective product collection assembly 4 only loads the defective product. The products with poor appearance in the tray 210 are picked up and transferred, while the products with qualified appearance remain in the clamping and positioning part 211 of the loading tray 210. The quantity of the clamping and positioning part 211 of the loading tray 210 is quantitative, because the products or product parts are processed The qualified products from the appearance inspection are sent to the next process for packaging or assembly. The quantity and spacing of the incoming materials must also be regular. Therefore, after the defective products are taken out from the clamping and positioning portion 211 of the loading tray 210, a space will be left. The replenishing component 5 will replenish the inspected good products in the empty clamping positioning part 211 of the loading tray 210 after removing the defective products; the replenishing component 5 is located on the peripheral side of the annular conveyor line 1, then the transplanting mechanism 6 will appear The loading tray 210 of the empty clamping and positioning part 211 is taken out from the transport carrier 2 and placed at the replenishing assembly 5. After the replacement of qualified products is completed, the transplanting mechanism 6 moves the loading tray 210 back to the circular conveyor line 1. In the conveyor 2, the annular conveyor line 1 is used for continuous circulation transmission, and the testing products are loaded, loaded, and unloaded using the same annular conveyor line 1, thereby saving costs.

This automated appearance inspection equipment can operate continuously and replace manual labor. It has the advantages of high inspection efficiency and accurate inspection. It can also save the cost of setting up a separate mechanism to refill the empty space of the transport tray for inspected good products.

Please refer to Figures 3 and 4, the visual detection module 3 includes a first CCD camera 310, a first auxiliary light source 320, a second CCD camera 330, and a second auxiliary light source 340;

When the inspected product is transported by the conveyor 2 and passes the first CCD camera 310, the object distance between the inspected product and the lens of the first CCD camera 310 is 370mm~390mm, and the depth of field is 7.5mm~9mm. The angle between the direct light of the auxiliary light source 320 and the end face of the product under test is 60° to 80°;

When the inspected product is transported by the transport vehicle 2 and passes the second CCD camera 330, the object distance between the inspected product and the lens of the second CCD camera 330 is 240mm~260mm, and the depth of field is 18mm~21mm. The angle between the direct light from the light source 340 and the end face of the product under test is 0°.

The second auxiliary light source 340 is arranged adjacent to the transport carrier 2 and is located between the second CCD camera 330 and the transport carrier 2; the second auxiliary light source 340 is preferably annular in structure and emits light that does not radiate to the second auxiliary light source 340 and the product under test. Parallel rays.

The product appearance defects detected by the first CCD camera 310 and the first auxiliary light source 320 are: scratches, dirt, white lumps, strong light dirt, etc.; the second CCD camera 330 and the second auxiliary light source 340 detect corresponding defects. Product appearance defects include: scratches, orange peel, pitted corrosion points, lack of polishing, lines, texture, dirt, etc.

In some embodiments, the second CCD camera 330 and the second auxiliary light source 340 are jointly installed on an X-direction linear module, and their positions can be adjusted together.

Please refer to Figures 2-6. The defective product collecting assembly 4 includes a material picking and turning mechanism 410, a transfer classification mechanism 420, and a collecting and recycling mechanism 430; the material picking and turning mechanism 410 is used to collect the materials in the loading tray 210. The defective products with appearance are picked up and turned over to the position corresponding to the picking up by the transfer sorting mechanism 420; the transfer sorting mechanism 420 is used to take out and sort the bad products taken out by the picking up and turning mechanism 410, and transfer them to the place corresponding to the pick-up position. The collection and recycling mechanism 430 picks up the corresponding position of the material; the collection and recycling mechanism 430 is used to transfer and collect the defective products transferred by the transfer classification mechanism 420 to the defective product collection tray.

Please refer to Figures 5 and 7. The transport carrier 2 includes a receiving groove 220 that roughly corresponds to the volume of the loading tray 210. An elastic resistor 230 is provided on the inner wall of the accommodating groove 220, away from the elastic resistor. One end of 230 is provided with a limiting cover 240; the clamping and positioning portion 211 is a stepped through hole provided in the loading tray 210 corresponding to the outline of the product to be inspected.

The elastic resisting member 230 can be a spring plunger in some embodiments; the stepped through hole can support the outer edge of the inspected product without affecting the visual camera's ability to collect the appearance image of the inspected product through the through hole. The limiting cover 240 cooperates with the elastic resisting member 230 to hold the loading tray 210 built into the receiving groove 220 for positioning; the holding groove 220 is slightly larger than the loading tray 210 in the length direction, and is compensated by the elastic resisting member 230 With the slack in the length direction, the loading tray 210 can be manually loaded into the clamping and accommodating slot 220 from the end of the clamping and accommodating slot 220 where the elastic resistor 230 is provided, without removing the limiting cover 240 .

Please refer to Figures 2 and 8. The material feeding assembly 5 includes a first mechanical arm 510, a rotating platform 520, and multiple sets of transfer carriers 530 provided on the rotating platform 520. The loading tray 210 and the intermediate transfer carrier The tool 530 is detachably connected; the power output end of the first mechanical arm 510 is provided with a material pickup part 511.

The first robotic arm 510 may be a multi-axis robotic arm. The structure of the transfer carrier 530 is generally consistent with the structure of the transport carrier 2 . It also has a receiving groove 220 that roughly corresponds to the volume of the loading tray 210 , and does not include a corresponding one to the annular transmission line 1 . The pulley block is directly connected to the rotating platform 520; the first mechanical arm 510 is used to move according to the deployment command of the host computer, and cooperates with the material picking part 511 to mutually regulate the inspected good products loaded in multiple loading trays 210, so that different loading trays 210 can sequentially The empty clamping positioning part 211 is obtained and filled up, and then the transplanting mechanism 6 transports it back to the transport carrier 2 on the circular conveyor line 1. Subsequently, it is convenient for direct blanking at the good product blanking station of the circular conveyor line 1, and There is no need to set up an independent feeding mechanism and conveying mechanism, which increases equipment costs and space occupation. In some embodiments, the material picking part 511 may be a vacuum suction head.

Please refer to Figures 6 and 5. The material picking and turning mechanism 410 includes a frame 411, a drive motor 412, and a vacuum suction group 413; the power output end of the drive motor 412 is rotationally connected to the frame 411, and the vacuum The clamping and suction group 413 is installed at the power output end of the driving motor 412; the number of vacuum suction heads of the vacuum clamping group 413 corresponds to the number of clamping and positioning parts 211 of the loading tray 210.

Based on the detection status of the visual inspection module 3, the host computer controls multiple vacuum suction heads in the vacuum clamping group 413. The vacuum suction heads corresponding to the defective products work to adsorb and clamp the defective products, while the vacuum suction heads corresponding to the good products do not. work, the good products continue to remain in the loading tray 210; then the driving motor 412 drives the vacuum clamping group 413 to rotate to a position that avoids the transport carrier 2 and facilitates the transfer classification mechanism 420 to pick up materials. After the transfer sorting mechanism 420 completes picking up materials and the next group of conveying carriers 2 corresponds to the incoming materials, the drive motor 412 drives the vacuum clamping group 413 to return.

Please refer to Figures 2 and 9. The transfer classification mechanism 420 includes a second mechanical arm 421, a third mechanical arm 422, a first linear module 423, a second linear module 424, and the first linear module. The first classification material tray 425 connected to the power output end of group 423, the second classification material tray 426 connected to the output end of the second linear module 424; the power output ends of the second mechanical arm 421 and the third mechanical arm 422 All are equipped with vacuum suction heads.

In appearance defects, depending on the appearance defects, corresponding classification and recycling are required. The second robotic arm 421 and the third robotic arm 422 can be multi-axis robotic arms, which cooperate with the first linear module 423 and the second linear module. The first classification material tray 425 and the second classification material tray 426 on the 424 move flexibly. According to the control of the host computer, they carry vacuum suction heads to absorb one defective product from the vacuum suction group 413 at a time, and place the corresponding first classification In the material tray 425 or the second classification material tray 426. The first classification material tray 425 and the second classification material tray 426 have a plurality of regularly arranged storage slots. The first linear module 423 and the second linear module 424 respectively drive the first sorting tray 425 and the second sorting tray 426 to move horizontally between the material picking and turning mechanism 410 and the lifting and lowering defective product collecting tray module 432 .

Please refer to Figure 2, Figure 9, and Figure 10. The collection and recovery mechanism 430 includes a fourth mechanical arm 431, a lifting and lowering defective product collecting tray module 432, and a collecting rack 433; the power output end of the fourth mechanical arm 431 There is a defective product vacuum suction head group 434 and a collection tray suction head group 435; the collection rack 433 is provided with a plurality of collection areas 4331 that can hold and position the defective product collection tray.

The lifting and lowering defective product collection tray module 432 is a lifting platform structure. The defective product vacuum suction head group 434 corresponds to the storage slots in the first classification material tray 425 and the second classification material tray 426, and can absorb multiple defective products at one time. The four robotic arms 431 are driven to place the defective products in the defective product collection tray. When the defective product collection tray is full of defective products, the collection tray suction head group 435 is also started to absorb the entire defective product collection tray. The fourth machine The arm 431 is driven to place the materials in the collection area 4331 of the collection rack 433 for layered stacking.

The lifting and lowering defective product collecting tray module 432 drives the next empty defective product collecting tray to rise and fill the position.

Please refer to Figures 2, 9, and 10. The transplanting mechanism 6 includes a third linear module 610, a first finger cylinder 620, and a second finger cylinder 630. The first finger cylinder 620, and the second finger cylinder 630 The power output end is equipped with a clamp block 640; the first finger cylinder 620 and the second finger cylinder 630 are connected to the power output end of the third linear module 610 through the lifting cylinder 650; the first finger cylinder 620 also Equipped with 621 high-quality suction tips.

The second finger cylinder 630 is only provided with an adaptable clamping block 640, which is used to clamp the prepared empty loading tray 210 in the transfer carrier 530, and transport it to the empty loading tray 210 as the third linear module 610 is driven. The loading tray recovery station 660 performs centralized recovery.

The first finger cylinder 620 is also provided with a good product suction head set 621 for the clamping block 640 of the first finger cylinder 620 to clamp the loading tray 210 full of good products, and the third linear module 610 drives and transports it back to the ring conveyor line 1 When conveying the carrier 2, the good products in the clamping and positioning part 211 are adsorbed and positioned to prevent falling and displacement during the conveying process and improve stability.

Claims (9)

1. A product appearance defect detection device, characterized by comprising:

the annular conveying line is provided with a plurality of conveying carriers capable of moving along a conveying track, a loading disc which is detachably connected is arranged in the conveying carriers, and the loading disc is provided with clamping and positioning parts corresponding to a plurality of detected products;

the visual detection module is used for carrying out visual identification detection on the detected products which pass through the annular conveying line and are positioned in the conveying carrier by clamping;

the defective product receiving assembly is used for taking and transferring defective products in the loading tray;

the material supplementing assembly is used for supplementing the inspected good products to the empty clamping and positioning part of the loading tray after the bad products are taken away;

and the transplanting mechanism is used for transferring the loading disc between the conveying carrier and the material supplementing assembly.

2. The device for detecting product appearance defects according to claim 1, wherein the visual detection module comprises a first CCD camera, a first auxiliary light source, a second CCD camera and a second auxiliary light source;

when the detected product is conveyed through the first CCD camera by the conveying carrier, the object distance between the detected product and the lens of the first CCD camera is 370-390 mm, the depth of field is 7.5-9 mm, and the included angle between the direct light of the first auxiliary light source and the end face of the detected product is 60-80 degrees;

when the detected product is conveyed by the conveying carrier and passes through the second CCD camera, the object distance between the detected product and the lens of the second CCD camera is 240-260 mm, the depth of field is 18-21 mm, and the included angle between the direct light of the second auxiliary light source and the end face of the detected product is 0 degree.

3. The product appearance defect detection device according to claim 1, wherein the defective product receiving component comprises a material taking and overturning mechanism, a transit sorting mechanism and a collection and recovery mechanism; the material taking and overturning mechanism is used for taking the products with bad appearance in the loading tray and overturning the products to a position corresponding to the material taking of the transfer sorting mechanism; the transfer sorting mechanism is used for taking out and sorting defective products taken out by the material taking turnover mechanism and transferring the defective products to a position corresponding to the material taking of the collection and recovery mechanism; the collection and recovery mechanism is used for conveying and collecting the defective products conveyed by the transfer and classification mechanism to the defective product receiving tray.

4. The product appearance defect detection device according to claim 1, wherein the conveying carrier comprises a containing groove approximately corresponding to the volume of the loading disc, an elastic supporting piece is arranged on the inner wall of the containing groove, and a limit cover plate is arranged at one end far away from the elastic supporting piece; the clamping and positioning part is a stepped through hole which is arranged on the loading disc and corresponds to the outline of the detected product.

5. The product appearance defect detection device according to claim 1, wherein the material supplementing assembly comprises a first mechanical arm, a rotary platform and a plurality of groups of transfer carriers arranged on the rotary platform, and the loading disc is detachably connected with the transfer carriers; and the power output end of the first mechanical arm is provided with a material taking part.

6. A product appearance defect detection device in accordance with claim 3, wherein said material taking and turning mechanism comprises a frame, a driving motor, and a vacuum chuck; the power output end of the driving motor is rotationally connected with the frame, and the vacuum clamping and sucking set is arranged at the power output end of the driving motor; the number of the vacuum suction heads of the vacuum clamping group corresponds to the number of the clamping and positioning parts of the loading disc.

7. The product appearance defect detection device according to claim 3, wherein the transit classification mechanism comprises a second mechanical arm, a third mechanical arm, a first linear module, a second linear module, a first classification tray connected with the power output end of the first linear module, and a second classification tray connected with the output end of the second linear module; and the power output ends of the second mechanical arm and the third mechanical arm are respectively provided with a vacuum suction head.

8. The product appearance defect detection device according to claim 3, wherein the collection and recovery mechanism comprises a fourth mechanical arm, a lifting defective product receiving tray module and a receiving rack; the power output end of the fourth mechanical arm is provided with a defective vacuum suction head group and a receiving tray suction head group; the material receiving frame is provided with a plurality of material receiving areas capable of clamping and positioning the defective material receiving tray.

9. The product appearance defect detection device according to claim 1, wherein the transplanting mechanism comprises a third linear module, a first finger cylinder and a second finger cylinder, and clamping blocks are arranged at power output ends of the first finger cylinder and the second finger cylinder; the first finger cylinder and the second finger cylinder are connected with the power output end of the third linear module through lifting cylinders; the first finger cylinder is also provided with a good product suction head group.