TWI804402B - Visual inspection system for in-row object - Google Patents

Abstract

The present disclosure provides a visual inspection system for an in-row object. The in-row object includes at least two bottle bodies and an elastic connecting element. A front lateral wall of one of the at least two bottle bodies spatially corresponding to a rear lateral wall of the other are connected through the elastic connecting element. The visual inspection system includes a bending module and a detection module. The bending module drives the in-row object, so that at least two bottle bodies are bent relative to the elastic connecting component to form a bending angle. The detection module is spatially corresponding to the at least two bottle bodies. When the at least two bottle bodies are bent by the bending module to form the bending angle, the detection module is allowed to detect the front lateral wall and the rear lateral wall of the at least two bottle bodies adjacent to the elastic connecting element.

Description

Visual Inspection System for Rows of Objects

This case is about a visual inspection system, especially a visual inspection system for continuous objects, which is used to solve the problem that the side wall defects in the continuous objects cannot be detected, and at the same time improve the detection efficiency of the visual inspection system.

Generally speaking, liquids such as artificial tears, saline solution, or trace medicines are usually packaged in row-by-row packaging in consideration of the single use amount and the convenience of storage. A plurality of bottles, for example, are made of light-transmitting plastic material, and each bottle contains a small amount of liquid solution, and the bottles are connected to each other to form a row of packaging. However, when this type of product is filled with a liquid solution, there may be abnormalities such as foreign objects in the bottle, abnormal liquid volume, or discoloration of the solution. Therefore, abnormal detection must be carried out manually or with the assistance of visual inspection equipment. In addition, the same is true for product abnormalities such as black spots on the outer bottle, white heads on the bottle cap, rough edges on the bottle body, or water seepage from the twisted cap.

Although, with the assistance of visual inspection equipment, it is helpful to improve the speed of inspection. However, when traditional visual inspection instruments perform anomaly detection, they use image sampling and analysis. Effective image sampling analysis cannot be performed for some areas of consecutive objects, such as the close contact between two adjacent bottles. In other words, when defects exist in the dead corners of image sampling, traditional visual inspection instruments cannot detect them, or may cause misjudgments. In the end, human assistance is still required to solve the problem, which is time-consuming and labor-intensive.

In view of this, it is really necessary to provide a visual inspection system for a row of objects. The bending module operates the corresponding angle of the row of objects relative to the detection module to effectively detect defects that occur on the side walls of the row of objects and further improve visual inspection. The detection performance of the system to solve the lack of conventional technology.

The purpose of this case is to provide a visual inspection system for detecting a row of objects. Since two adjacent bottles of a row of objects are connected by elastic connectors, the visual inspection system of this case drives the row of objects through a bending module, so that two adjacent bottles form a bending angle to expose the gap between the two bottles Side wall, in order to facilitate the detection module to detect the side wall, solve the problem that the abnormality existing on the side wall between two adjacent bottles cannot be detected, eliminate the need for manual visual inspection, and effectively improve the detection efficiency. Furthermore, when the bending module drives a row of objects so that two adjacent bottles form a bending angle between 150 degrees and 170 degrees, it not only helps the detection module to detect, but also avoids excessive bending And the elastic connector is broken or the bottle is separated.

Another object of the present application is to provide a visual detection system for detecting a row of objects. The bending module that drives a row of objects to form a bending angle between two adjacent bottles can be implemented, for example, through a transmission track. Among them, through the design of the transmission track, it is possible to drive a row of objects to form a convex arc side and face the detection module during transmission, so as to realize the visual detection of the side wall between two adjacent bottles. In addition, when the transmission track is designed as an S-shaped transmission track, the visual inspection of two opposite sides of a row of objects can be completed together with the configuration of the detection module.

Another object of the present application is to provide a visual detection system for detecting a row of objects. The bending module that drives a row of objects to form a bending angle between two adjacent bottles can be realized, for example, by an automated mechanical gripping arm. Among them, through the gripping arm to pick up a row of objects and perform bending operation, upright operation, flat operation, rotation operation or vibration operation, the row of objects can be driven to face the detection module on a convex arc side, realizing two-phase Visual inspection of side walls between adjacent bottles. The gripping arm can further move the gripping row of objects It can be rotated 180 degrees and then reversed to bend. It can be used with the detection module to complete the visual detection of two opposite sides of a row of objects. On the other hand, the visual inspection system can also integrate other inspection items such as bottom surface, level, upright, and post-vibration inspection to realize comprehensive automatic inspection of serial objects and avoid undetected defects that affect product yield.

In order to achieve the aforementioned purpose, this case provides a visual inspection system for detecting a row of objects, wherein the row of objects includes at least two bottles and an elastic connector, and the front side wall of one of the at least two bottles is spatially relative to the The rear side wall of the other is connected by elastic connectors. The visual inspection system includes a bending module and a detection module. The bending module drives a row of objects so that at least two bottles are bent relative to the elastic connector to form a bending angle. The detection module is spatially relative to the at least two bottles, and when the bending module drives at least two bottles in a row to form a bending angle, the detection module detects the front side wall and the rear side wall of the adjacent elastic connector.

In one embodiment, the row of objects includes a front end, a rear end, a first side and a second side, the front end and the rear end are opposite to each other, the first side and the second side are opposite to each other, and the first side and the second side are connected at Between the front end and the rear end, when the bending module drives at least two bottles to form a bending angle, the first side and the second side form a convex arc side and a concave arc side respectively, and the detection module faces the convex arc side.

In one embodiment, the bending module is a transmission track, including at least one convex arc section, and the detection module is spatially arranged relative to the convex arc section, so that when the front end of a row of objects enters at least one convex arc section, The first side or the second side forms a convex arc side.

In one embodiment, the bending module is an S-shaped transmission track, which includes two convex arc segments connected in sequence. When the front end of a row of objects enters the S-shaped transmission track, the first side and the second side sequentially form convex arcs. The arc side is used for the detection module to detect the front side wall and the rear side wall on a row of objects.

In one embodiment, the bending module is a gripping arm. When gripping a row of objects, the bending operation is performed so that the first side or the second side forms a convex side and faces the detection module.

In one embodiment, the gripping arm further includes standing operation, lying operation, rotating operation or oscillating operation.

In one embodiment, the bending angle ranges from 150 degrees to 170 degrees.

In one embodiment, at least two bottles are made of a light-transmitting material, and are assembled and filled with a liquid.

In one embodiment, at least two bottle bodies and the elastic connecting piece are made of a plastic material and integrally formed.

In one embodiment, the horizontal cross-section of each bottle body is a rectangle or a square.

1: row of objects

2, 2a, 2b, 2c, 2d: visual inspection system

10a, 10b, 10c, 10d, 10e, 10f, 10g, 10h: bottle body

11a, 11b, 11c, 11d, 11e, 11f, 11g, 11h: front side wall

12a, 12b, 12c, 12d, 12e, 12f, 12g, 12h: rear side wall

13: row of objects

14: First side

15: Second side

30: Transmission track

3: Automatic robotic arm

3a: Rotary vibration device

301, 302: linear transmission track

30a, 30b: gripping arm

D, D1, D2, D3, D4, D5, D6, D7, D8, D9: detection module

L: liquid

S: light source

θ: Bending angle

X, Y, Z: axes

Fig. 1 is a three-dimensional structure diagram showing the row of objects in the embodiment of the present case.

Fig. 2 is a top view showing the relative detection module relationship of a row of objects in the embodiment of the present case.

Fig. 3A and Fig. 3B show the visual detection system of the row of objects in the first embodiment of the present case.

Fig. 4A and Fig. 4B are examples of continuous object detection performed by the visual inspection system of the first embodiment of the present case.

Fig. 5 shows the visual detection system of the row of objects in the second embodiment of the present case.

Figure 6A shows the visual inspection system of the third embodiment of the present case.

Figure 6B shows the visual inspection system of the fourth embodiment of the present case.

Figure 7 shows that the visual inspection system of this case detects the bottom surface of a row of objects.

Fig. 8 shows the visual inspection system of this case to detect the level of objects in a row.

Figures 9A to 9C show that the visual inspection system of this case performs upright detection and post-vibration detection of a row of objects.

Fig. 10A to Fig. 10I disclose the visual detection system of the fifth embodiment of this case.

Some typical embodiments embodying the features and advantages of this case will be described in detail in the description of the latter paragraph. It should be understood that this case can have various changes in different aspects without departing from the scope of this case, and the descriptions and drawings therein are used as illustrations in nature rather than limiting this case. For example, if the following content of this disclosure describes that a first microstructure is disposed on or above a second microstructure, it means that it includes that the above-mentioned first microstructure is in direct contact with the above-mentioned second microstructure. The embodiment of the present invention also includes an embodiment in which additional microstructures can be arranged between the first microstructure and the second microstructure so that the first microstructure and the second microstructure may not be in direct contact . In addition, different embodiments in the present disclosure may use repeated reference symbols and/or labels. These repetitions are for the purpose of simplification and clarity, and are not intended to limit the relationship between various embodiments and/or the described appearance structures. Furthermore, in order to facilitate the description of the relationship between one component or microcomponent and another (plural) component or (plural) microcomponent in the drawings, space-related terms may be used, such as "front", "rear", "upper" , "down", "left", "right" and similar terms. Spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. The device may be otherwise positioned (eg, rotated 90 degrees or at other orientations) and the description of the spatially relative terminology used be interpreted accordingly. Also, when a component is referred to as being "connected" or "coupled" to another component, it can be directly connected or coupled to the other component or intervening components may be present. Notwithstanding that the numerical ranges and parameters setting forth the broad scope of the disclosure are approximations, the numerical values set forth in the specific examples are reported as precisely as possible. In addition, it can be understood that although terms such as "first", "second", and "third" may be used in the claims to describe different components, these components should not be limited by these terms , these components correspondingly described in the embodiments are represented by different component symbols. These terms are used to distinguish between different groups of pieces. For example, a first component may be called a second component, and similarly, a second component may also be called a first component without departing from the scope of the embodiments. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items. Except in operating/working examples, or unless expressly stated otherwise, all numerical ranges, amounts, values and percentages disclosed herein (such as those of angles, time durations, temperatures, operating conditions, ratios of quantities, and the like) etc.) should be understood to be modified by the term "about" or "substantially" in all embodiments. Accordingly, unless indicated to the contrary, the numerical parameters set forth in this disclosure and in the appended claims are approximations that may vary if desired. For example, each numerical parameter should at least be construed in light of the number of stated significant digits and by applying ordinary rounding principles. Ranges can be expressed herein as from one endpoint to the other or as between two endpoints. All ranges disclosed herein include endpoints unless otherwise specified.

Fig. 1 is a three-dimensional structure diagram showing the row of objects in the embodiment of the present case. Fig. 2 is a top view showing the relative detection module relationship of a row of objects in the embodiment of the present case. Fig. 3A and Fig. 3B show the visual detection system of the row of objects in the first embodiment of the present case. Fig. 4A and Fig. 4B are examples of continuous object detection performed by the visual inspection system of the first embodiment of the present case. In this embodiment, the visual inspection system 2 is configured to inspect a row of objects 1 . The row of objects 1 includes a plurality of bottles 10a, 10b, 10c, 10d, 10e, 10f, 10g, 10h, and every two adjacent bottles 10a, 10b, 10c, 10d, 10e, 10f, 10g, 10h pass through an elastic The connectors 13 are connected to form an integrated row of objects 1 . The bottle bodies 10 a , 10 b , 10 c , 10 d , 10 e , 10 f , 10 g , 10 h and the elastic connector 13 are made of, for example, a plastic material and integrally formed. In this embodiment, the horizontal cross section of each bottle body 10a, 10b, 10c, 10d, 10e, 10f, 10g, 10h is a rectangle or a square, including front side walls 11a, 11b, 11c, 11d, 11e, 11f, 11g, 11h and corresponding rear side walls 12a, 12b, 12c, 12d, 12e, 12f, 12g, 12h. In this embodiment, the front side wall 11a of the bottle body 10a forms, for example, the front end of the row of objects 1, and the rear side wall 12h of the bottle body 10h forms, for example, the front end of the row of objects 1. The rear end of the row object 1, the front end and the rear end are opposite to each other. Furthermore, the row of objects 1 includes a first side 14 and a second side 15 opposite to each other. Wherein the first side 14 and the second side 15 are connected between the front end and the rear end. It should be noted that in this embodiment, the number of bottles 10a, 10b, 10c, 10d, 10e, 10f, 10g, and 10h is taken as an example, but this case is not limited thereto. In other embodiments, at least two adjacent ones of the bottles 10a, 10b, 10c, 10d, 10e, 10f, 10g, and 10h, for example, the front side wall 11b of the bottle body 10b is spatially relative to the rear side wall of the other bottle body 10a 12a, and connected by elastic connector 13.

In this embodiment, the vision detection system 2 includes a bending module and a detection module D. The bending module is, for example, a transmission track 30 , which is assembled to drive the row of objects 1 , so that the bottles 10 a and 10 b bend relative to the elastic connector 13 therebetween to form a bending angle θ. In addition, in this embodiment, the detection module D is, for example, an image capture device or a camera lens, spatially relative to at least two adjacent ones of the bottle bodies 10a, 10b, 10c, 10d, 10e, 10f, 10g, and 10h , such as the bottle body 10a and the bottle body 10b. When the bending module drives the row of objects 1 to form a bending angle θ between the bottle body 10a and the bottle body 10b, the detection module D detects the front side wall 11b and the rear side wall 12a adjacent to the elastic connector 13 .

In this embodiment, the transmission track 30 as the bending module includes at least one convex arc section, and the detection module D is spatially arranged relative to the convex arc section, as shown in FIG. 3A and FIG. 3B . In this embodiment, when the front end of the row of objects 1 (the front side wall 11a of the bottle body 10a) enters at least one convex arc segment, the first side 14 of the row of objects 1 forms a convex arc side facing the detection module D The rear side wall 12a of the bottle body 10a and the front side wall 11b of the bottle body 10b are exposed due to the bending angle θ formed, as shown in FIG. 4A. At this point, the detection module D can observe and inspect the rear side wall 12a of the bottle body 10a and the front side wall 11b of the bottle body 10b to confirm whether there are any defects on the front side wall 11b of the bottle body 10b and the rear side wall 12a of the bottle body 10a exists to flag exceptions. In other words, the visual inspection system 2 of this case drives the row of objects 1 through the bending module, so that, for example, two adjacent bottles 10a and 10b form a bending angle θ to expose the rear side wall 12a and the front side wall 11b, so as to facilitate the inspection of the mold. Group D for side wall inspection It solves the conventional problem of being unable to detect abnormalities on the dead corner of the side wall, eliminates the need for manual visual inspection, and effectively improves the detection efficiency. It should be noted that when the bending module drives at least two adjacent objects 1 in a row, for example, the bottle body 10a and the bottle body 10b to form a bending angle θ, the first side 14 or the second side 15 can be selected to form a convex arc side, Visual inspection with relative inspection module D. In one embodiment, the first side 14 and the second side 15 of the row of objects 1 respectively form a convex arc side and a concave arc side, as shown in FIG. 4A . In another embodiment, the second side 15 and the first side 14 of the row of objects 1 respectively form a convex arc side and a concave arc side, as shown in FIG. 4B. In other embodiments, the first side 14 or the second side 15 of the row of objects 1 is selected to form a convex arc side relative to the design of the conveying track 30 for detection by the detection module D, and this case is not limited thereto.

In this embodiment, the transport track 30 serving as the bending module enables the bent objects 1 to pass through the detection module D sequentially from the bottle body 10a to the bottle body 10h. The detection module D can sequentially detect the rear side wall 12g of the bottle body 10g and the front side wall 11h of the bottle body 10h from the rear side wall 12a of the bottle body 10a and the front side wall 11b of the bottle body 10b. Certainly, the order of detection is only an example, and does not limit the essential technical features of this case. I will describe it here first.

In addition, it is worth noting that in this embodiment, the bending module drives at least two adjacent objects 1 in a row, for example, the bending angle θ generated by the bottle body 10a and the bottle body 10b is between 150 degrees and 170 degrees. , in addition to helping the detection module D to perform detection, at the same time, it can avoid excessive bending to cause the elastic connector 13 to break or the bottle body 10a to be separated from the bottle body 10b.

Fig. 5 shows the visual detection system of the row of objects in the second embodiment of the present case. In this embodiment, the visual inspection system 2a is similar to the visual inspection system 2 shown in FIG. 1 to FIG. 4B, and the same component numbers represent the same components, structures and functions, which will not be repeated here. In this embodiment, the bending module of the visual inspection system 2 a is, for example, an S-shaped transmission track 30 , which includes two convex arc segments connected in sequence, respectively corresponding to the inspection module D2 and the inspection module D3 . At the front end of the row of objects 1 (the front side wall 11a of the bottle body 10a) When entering the S-shaped transmission track 30, the first side 14 first forms a convex arc for detection by the detection module D2, and then the second side 15 forms a convex arc for detection by the detection module D3. When the transmission track 30 is designed as an S shape, the visual inspection of the two opposite sides of the row of objects 1, namely the first side 14 and the second side 15, can be completed together with the configuration of the detection modules D2 and D3. 14 and the second side 15 clearly distinguish whether each front side wall 11a, 11b, 11c, 11d, 11e, 11f, 11g, 11h and each rear side wall 12a, 12b, 12c, 12d, 12e, 12f, 12g, 12h have Abnormalities exist and help to integrate the visual inspection system 2a into the automated production line to improve inspection efficiency. In this embodiment, the bottles 10a, 10b, 10c, 10d, 10e, 10f, 10g, and 10h are made of a light-transmitting material, for example, and each detection module D2, D3 is correspondingly provided with a light source S, spatially Relative to the detection modules D2 and D3. During detection, the light source S is emitted from the concave arc side of the row of objects 1 to the convex arc side, and is received by the corresponding detection modules D2 and D3, thereby enhancing the analytical capabilities of the detection modules D2 and D3. Of course, this case is not limited to this. In addition, in this embodiment, the front and rear sections of the S-shaped transmission track 30 can cooperate with the detection module D1 and the detection module D4 to perform visual inspection of the first side 14 and the second side 15 when the row of objects 1 is not bent. The detection further provides comparison of visual detection results from different angles, and strengthens the ability of the visual detection system 2a to detect abnormalities. Of course, this case is not limited to this.

Figure 6A shows the visual inspection system of the third embodiment of the present case. In this embodiment, the visual inspection system 2b is similar to the visual inspection system 2 shown in FIG. 1 to FIG. 4B, and the same component numbers represent the same components, structures and functions, which will not be repeated here. In this embodiment, the bending module of the visual inspection system 2b is realized by, for example, the clamping arm 30a. After the clamping arm 30a clamps, for example, the bottle heads of the bottle bodies 10a, 10b, 10c, 10d, 10e, 10f, 10g, and 10h, a bending operation is performed so that the first side 14 of the row of objects 1 forms a convex arc side surface To the detection module D. In this embodiment, the detection module D can, for example, be displaced relative to the row of objects 1 to sequentially detect from the rear side wall 12a of the bottle body 10a and the front side wall 11b of the bottle body 10b. In other embodiments, the visual inspection system 2b includes, for example, a plurality of inspection modules D, which are relatively bent to the rows of objects 1, To perform visual inspection on each front sidewall 11a, 11b, 11c, 11d, 11e, 11f, 11g, 11h and each rear sidewall 12a, 12b, 12c, 12d, 12e, 12f, 12g, 12h at the same time.

Figure 6B shows the visual inspection system of the fourth embodiment of the present case. In this embodiment, the visual inspection system 2c is similar to the visual inspection system 2b shown in FIG. 6A , and the same component numbers represent the same components, structures and functions, which will not be repeated here. In this embodiment, the bending module of the visual inspection system 2c is also realized by, for example, the clamping arm 30a. The clamping arm 30a clamps the bottle heads of the bottle bodies 10a, 10b, 10c, 10d, 10e, 10f, 10g, and 10h and performs a bending operation, and then performs a rotating operation on the clamping arm 30a to form the row of objects 1 The first side 14 of the convex arc side faces the detection module D and produces a displacement, so that the detection module D is directly relative to at least two of the bottle bodies 10a, 10b, 10c, 10d, 10e, 10f, 10g, and 10h in space. Or, for example, the bottle body 10d and the bottle body 10e, and detect the front side wall 11e and the rear side wall 12d adjacent to the elastic connecting member 13 . This case is not limited to the detection quantity and sequence of the front sidewalls 11a, 11b, 11c, 11d, 11e, 11f, 11g, 11h and the rear sidewalls 12a, 12b, 12c, 12d, 12e, 12f, 12g, 12h. In other embodiments, the gripping arm 30 a further performs different types of inspection processes after gripping the row of objects 1 , so as to enhance the inspection capability and multiple applications of the visual inspection system 2 c.

Figure 7 shows that the visual inspection system of this case detects the bottom surface of a row of objects. In this embodiment, the row of objects 1 is made of, for example, a light-transmitting material, and inside each bottle 10a, 10b, 10c, 10d, 10e, 10f, 10g, 10h (refer to Figure 1 and Figure 2) Filled with liquid L such as artificial tears, physiological saline or micro-medicine, etc., after the clamping arm 30a clamps the bottle heads of the bottle bodies 10a, 10b, 10c, 10d, 10e, 10f, 10g, and 10h, it is equipped with a detection module D From the bottom surface of the serial object 1, observe and inspect to confirm whether each bottle body 10a, 10b, 10c, 10d, 10e, 10f, 10g, 10h or the liquid L filled in it has abnormalities or blemishes, which are marked abnormally.

Fig. 8 shows the visual inspection system of this case to detect the level of objects in a row. In this embodiment, after the clamping arm 30a clamps the bottle heads of the bottle bodies 10a, 10b, 10c, 10d, 10e, 10f, 10g, and 10h, the lying operation is performed, or the row of objects 1 is placed in a transparent position. Glass (not pictured). Then, a detection module D is used to observe and inspect from the bottom of the row of objects 1 to confirm whether each bottle body 10a, 10b, 10c, 10d, 10e, 10f, 10g, 10h or the liquid L filled in it is abnormal or not. Anomalies are flagged for the presence of blemishes.

Figures 9A to 9C show that the visual inspection system of this case performs upright detection and post-vibration detection of a row of objects. In this embodiment, after the clamping arm 30a clamps the bottle head of the bottle body 10a, 10b, 10c, 10d, 10e, 10f, 10g, 10h, an upright detection is performed from the first side 14 or the second side 15, such as Figure 9A. In another embodiment, as shown in FIG. 9B to FIG. 9C, after the clamping arm 30a clamps the bottle head of the bottle body 10a, 10b, 10c, 10d, 10e, 10f, 10g, 10h, a vibration is performed The operation is repeated 3 to 5 times, so that the foreign matter existing in the bottle body 10a, 10b, 10c, 10d, 10e, 10f, 10g, 10h can be accurately detected by the detection module D. Of course, this case is not limited to this.

Figures 10A to 101 show the visual inspection system of the fifth embodiment of the present case. In this embodiment, the visual inspection system 2d is similar to the visual inspection system 2b shown in FIG. 6A, and the same component numbers represent the same components, structures and functions, which will not be repeated here. In this embodiment, the bending module of the visual inspection system 2d is realized by, for example, the clamping arm 30b of an automated arm device 3. Through the program arrangement of the automated arm device 3, the visual inspection system 2d further integrates multiple visual inspection functions . In this embodiment, for example, the row of objects 1 is conveyed on a straight line transmission track 301 first, and through the corresponding setting of the detection module D1, the detection module D1 can perform the vertical detection of the row of objects 1 on the second side 15, such as photographing The bottle heads of the bottle bodies 10a, 10b, 10c, 10d, 10e, 10f, 10g, 10h (refer to Figures 1 and 2) are shown in Figure 10A. In this embodiment, the arm 30b to be gripped grips the bottle heads of the bottle bodies 10a, 10b, 10c, 10d, 10e, 10f, 10g, and 10h, as shown in Figure 10B, and can be further operated upright, lying down operate, A rotating operation or an oscillating operation. The present case is not limited to the sequence of operations of the gripping arm 30b. In one embodiment, as shown in FIG. 10C, after the gripping arm 30b grips the row of objects 1, the automatic arm device 3 rotates, and moves the row of objects 1 to the top of a detection module D2, and through the detection module The corresponding setting of group D2, the detection module D2 detects the bottom surface of the row of objects 1 in the direction from bottom to top (refer to Figure 7), confirms whether there are abnormalities or defects in the bottle body 10a to bottle body 10h and marks them abnormal. In one embodiment, as shown in FIG. 10D, after the gripping arm 30b grips the row of objects 1, the automatic arm device 3 rotates and performs a lying operation so that the row of objects 1 lies flat on a detection module D3 Above, through the corresponding setting of the detection module D3, the detection module D3 performs the horizontal detection of the row of objects 1 in the direction from bottom to top (refer to Figure 8), and confirms whether the bottle body 10a to the bottle body 10h Anomalies are flagged for the presence of anomalies or blemishes. In one embodiment, as shown in FIG. 10D, after the gripping arm 30b grips the row of objects 1, the automatic arm device 3 rotates and performs a bending operation so that the first side 14 of the row of objects 1 forms a convex arc Side, through the corresponding setting of the detection module D4 and the detection module D5, the detection module D4 and the detection module D5 are relative to the direction of the first side 14 of the row of objects 1 to detect the side wall of the row of objects 1 (refer to Section 6B Figure ), confirm whether there are abnormalities or defects in the bottle body 10a to the bottle body 10h, and mark abnormalities. Wherein the clamping arm 30b can, for example, rotate the row of objects 1 around the center of the convex arc side formed by the first side 14, so that the detection module D4 and the detection module D5 can sequentially complete the detection of the bottle body from the first side 14 10a, 10b, 10c, 10d, 10e, 10f, 10g, 10h have abnormalities or blemishes on the side walls and mark abnormalities. In one embodiment, after the detection module D4 and the detection module D5 complete the detection of the side walls of the bottle body 10a, 10b, 10c, 10d, 10e, 10f, 10g, 10h from the first side 14 in sequence, the arm 30b is clamped For example, the row of objects 1 can be rotated 180 degrees around the center of the circle on which the first side 14 forms the convex arc, as shown in FIG. 10F . Next, the first side 14 that was originally a convex side is folded back into a concave side, so that the second side 15 of the row of objects 1 becomes a convex side. At this time, through the corresponding setting of the detection module D6 and the detection module D7, the detection module D6 and the detection module D6 are relative to the direction of the second side 15 of the row of objects 1 to detect the side wall of the row of objects 1. Check to confirm whether there are abnormalities or defects in the bottle body 10a to the bottle body 10h to mark the abnormality. In this embodiment, for the row of objects 1 that has completed the aforementioned side wall inspection, the automated arm device 3 can rotate the gripping arm 30b, allowing the gripping arm 30b to place the row of objects 1 on another linear transmission track 302 for transmission, as shown in the first As shown in FIG. 10H , the row of objects 1 can be conveyed on the linear conveying track 302 . In one embodiment, through the corresponding settings of the detection module D8 and the detection module D9, the detection module D8 and the detection module D9 can detect the row of objects 1 on the second side 15 after vibration, for example, in conjunction with other rotational vibrations Device 3a oscillates and shoots 3 to 5 times. In other embodiments, the post-vibration detection of the row 1 can also be completed, for example, through the gripping arm 30b (refer to FIG. 9B and FIG. 9C ). Of course, this case is not limited to the operation sequence of the automatic arm device 3 controlling the gripping arm 30 , and will not be repeated here.

It should be noted that, as can be seen from the foregoing embodiments, when the bending module of the visual inspection system 2d is realized by, for example, the clamping arm 30b of the automatic arm device 3, the visual inspection system 2d can be integrated into a visual inspection workstation in a limited space. The row of objects 1 is picked up by the gripping arm 30b, and the row of objects 1 can be driven in a row by performing bending operation, upright operation, flat operation, rotation operation or vibration operation within the operating range of its revolution. The convex arc side faces the detection modules D2~D9 to realize all-round visual inspection of the bottle bodies 10a, 10b, 10c, 10d, 10e, 10f, 10g, and 10h. In addition, within the working range of the clamping arm 30b's rotation, the clamped row of objects 1 can be further rotated horizontally by 180 degrees and then reversely bent, and the detection modules D4~D7 can be used to complete the detection of two opposite sides of the row of objects 1. visual inspection. Of course, the visual inspection system 2d and the integration of other detection items such as the bottom surface, level, upright, and post-vibration sequence are just examples, and this case is not limited thereto. In one embodiment, the gripping arm 30b of the automatic arm device 3 is further combined with the aforementioned transmission track 30 to realize the comprehensive automatic inspection of the serial objects 1 and reduce the occurrence of undetected defects that affect the product yield. In other embodiments, the direction, order and means of bending the row of objects 1 by the bending module can be adjusted according to actual application requirements. This case is not limited to this and will not be repeated here.

To sum up, this case provides a visual inspection system for detecting a row of objects. Since two adjacent bottles of a row of objects are connected by elastic connectors, the visual inspection system of this case drives the row of objects through a bending module, so that two adjacent bottles form a bending angle to expose the gap between the two bottles Side wall, in order to facilitate the detection module to detect the side wall, solve the problem that the abnormality existing on the side wall between two adjacent bottles cannot be detected, eliminate the need for manual visual inspection, and effectively improve the detection efficiency. Furthermore, the bending module drives a row of objects so that the bending angle formed by two adjacent bottles is limited to between 150 degrees and 170 degrees, which not only helps the detection module to detect, but also avoids excessive bending and damage. Break the elastic connector or separate the bottle. The bending module in which the objects in a row are driven to form a bending angle between two adjacent bottles can be realized, for example, by a transmission track. Among them, through the design of the transmission track, it is possible to drive a row of objects to form a convex arc side and face the detection module during transmission, so as to realize the visual detection of the side wall between two adjacent bottles. In addition, when the transmission track is designed as an S-shaped transmission track, the visual inspection of two opposite sides of a row of objects can be completed together with the configuration of the detection module. In addition, the bending module that drives a row of objects to form a bending angle between two adjacent bottles can be implemented, for example, by an automated mechanical gripping arm. Among them, through the gripping arm to pick up a row of objects and perform bending operation, upright operation, flat operation, rotation operation or vibration operation, the row of objects can be driven to face the detection module on a convex arc side, realizing two-phase Visual inspection of side walls between adjacent bottles. The gripping arm can further rotate the gripping row of objects horizontally by 180 degrees and then bend them in the opposite direction, and can be combined with the detection module to complete the visual inspection of the two opposite sides of the row of objects. On the other hand, the visual inspection system can also integrate other inspection items such as bottom surface, level, upright, and post-vibration inspection to realize comprehensive automatic inspection of serial objects and avoid undetected defects that affect product yield. Real industrial applicability.

This case can be modified in various ways by people who are familiar with this technology, but it does not deviate from the intended protection of the scope of the attached patent application.

1: row of objects

2: Visual inspection system

10a, 10b, 10c, 10d, 10e, 10f, 10g, 10h: bottle body

11b: front side wall

12a: Rear side wall

13: row of objects

14: First side

15: Second side

30: Transmission track

D: detection module

X, Y: axis

Claims (10)

A visual inspection system for detecting a row of objects, wherein the row of objects includes at least two bottles and an elastic connecting piece, a front side wall of one of the at least two bottles is spatially relative to the other A rear side wall, connected by the elastic connector, the visual inspection system includes: a bending module, which drives the row of objects to bend the at least two bottle bodies relative to the elastic connector to form a bending angle; and A detection module, spatially relative to the at least two bottles, when the bending module drives the at least two bottles of the row of objects to form the bending angle, the detection module detects the adjacent The front side wall and the rear side wall of the elastic connector. The visual inspection system as described in claim 1, wherein the row of objects includes a front end, a rear end, a first side and a second side, the front end and the rear end are opposite to each other, the first side and the second side The two sides are opposite to each other, and the first side and the second side are connected between the front end and the rear end. When the bending module drives the at least two bottles to form the bending angle, the first The side and the second side respectively form a convex arc side and a concave arc side, and the detection module faces the convex arc side. The visual inspection system as described in claim 2, wherein the bending module is a transmission track, including at least one convex arc section, and the inspection module is spatially arranged relative to the convex arc section, on the row of objects When the front end enters the at least one convex arc section, the first side or the second side forms the convex arc side. The visual inspection system as described in claim 2, wherein the bending module is an S-shaped transmission track, which includes two convex arc segments connected in sequence, and when the row of objects enters the S-shaped transmission track through the front end, the The first side and the second side sequentially form the convex arc side for the detection module to detect the front side wall and the rear side wall on the row of objects. The visual inspection system as described in claim 2, wherein the bending module is a clamping arm, and when clamping the row of objects, a bending operation is performed so that the first side or the second side forms the convex arc side, and face the detection module. The vision inspection system according to claim 5, wherein the gripping arm further includes a standing operation, a lying operation, a rotating operation or an oscillating operation. The visual inspection system as claimed in claim 1, wherein the bending angle ranges from 150 degrees to 170 degrees. The visual inspection system as claimed in claim 1, wherein the at least two bottles are made of a light-transmitting material, and are assembled and filled with a liquid. The visual inspection system as claimed in claim 1, wherein the at least two bottle bodies and the elastic connecting piece are made of a plastic material and integrally formed. The visual inspection system as described in Claim 1, wherein the horizontal cross-section of each of the bottles is a rectangle or a square.

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