WO2023029801A1 - 一种检测产品正反面方法 - Google Patents
一种检测产品正反面方法 Download PDFInfo
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- WO2023029801A1 WO2023029801A1 PCT/CN2022/107242 CN2022107242W WO2023029801A1 WO 2023029801 A1 WO2023029801 A1 WO 2023029801A1 CN 2022107242 W CN2022107242 W CN 2022107242W WO 2023029801 A1 WO2023029801 A1 WO 2023029801A1
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- 238000000034 method Methods 0.000 title claims abstract description 25
- 238000012360 testing method Methods 0.000 title abstract description 11
- 230000007246 mechanism Effects 0.000 claims abstract description 88
- 238000001514 detection method Methods 0.000 claims description 137
- 238000004140 cleaning Methods 0.000 claims description 42
- 239000000463 material Substances 0.000 claims description 22
- 238000012546 transfer Methods 0.000 claims description 8
- 238000011144 upstream manufacturing Methods 0.000 claims description 4
- 230000009471 action Effects 0.000 abstract description 6
- 238000004904 shortening Methods 0.000 abstract description 3
- 238000004506 ultrasonic cleaning Methods 0.000 description 17
- LFQSCWFLJHTTHZ-UHFFFAOYSA-N Ethanol Chemical compound CCO LFQSCWFLJHTTHZ-UHFFFAOYSA-N 0.000 description 16
- 238000007689 inspection Methods 0.000 description 12
- 230000001360 synchronised effect Effects 0.000 description 7
- 230000009286 beneficial effect Effects 0.000 description 6
- 239000000428 dust Substances 0.000 description 4
- 230000007547 defect Effects 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
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- 241000519995 Stachys sylvatica Species 0.000 description 1
- 230000008859 change Effects 0.000 description 1
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- 238000012545 processing Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/01—Arrangements or apparatus for facilitating the optical investigation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/01—Arrangements or apparatus for facilitating the optical investigation
- G01N2021/0106—General arrangement of respective parts
- G01N2021/0112—Apparatus in one mechanical, optical or electronic block
Definitions
- the invention belongs to the technical field of photoelectric detection, and in particular relates to a method for detecting the front and back sides of a product.
- the purpose of the present invention is to provide a method for detecting the front and back sides of a product, in which several stations are set on the turntable, and each station is provided with at least two jigs
- the product is loaded to the turntable through the feeding manipulator, and the front and back detection of the product is completed by the rotation of the turntable under the action of the detection camera, the flip module and other mechanisms.
- the angle of the front and back detection of a single product with the rotation of the turntable is greater than 360°.
- the rotation angle of the turntable for a single detection of the front and back of the product is greater than 360°, effectively avoiding the standby state of the detection camera, the flip module and other mechanisms, and realizing multiple
- the synchronous and continuous operation of products greatly shortens the time required for a single product inspection cycle and improves inspection efficiency.
- the material shifting mechanism feeds the product into the jig of the station turntable
- the station turntable rotates to the detection camera, the plurality of jigs can move relatively, and the detection camera detects one side of the product;
- the station turntable rotates to the detection camera, and the detection camera detects the other side of the product
- the material shifting mechanism unloads the product whose front and back sides have been detected, and the rotation angle of the station turntable from product loading to unloading is greater than 360°.
- the beneficial effect of this technical solution is that by setting multiple stations on the turntable of the same station, and each station is provided with at least two fixtures, the space utilization rate and detection efficiency are improved; Flipping the product can realize the detection of the front and back of the product with a single camera, reducing the use of camera components and reducing costs; at the same time, the rotation angle of the turntable for a single detection of the front and back of the product is greater than 360°, effectively avoiding the detection of cameras and flipping modules
- the standby state of other institutions greatly shortens the detection time and improves the detection efficiency.
- the material shifting mechanism is a manipulator, and the manipulator is arranged at the upstream station of the detection camera, and the S1 also includes the steps of:
- the manipulator turns the product over, and places the product in the jig of the station turntable with the reverse side up; or,
- the manipulator places the product in the jig of the station turntable with the front facing up.
- the beneficial effect of this technical solution is that when loading the material, the product is turned over so that the product is placed in the jig of the station turntable with the reverse side up. operational needs.
- feeding turn the product over so that the product is placed in the jig of the station turntable with the front facing up, so as to shorten the feeding time and improve the detection efficiency.
- the station is provided with at least one No. 1 jig and at least one No. 2 jig, and the S2 also includes the steps of:
- the detection camera detects the reverse side of the product placed in the No. 1 jig; or,
- the detection camera performs a frontal detection of the product placed in the No. 1 jig;
- the S3 also includes:
- the overturning module turns over the product in the No. 1 jig by 180°, and puts the overturned product into the No. 2 jig on the station turntable; or,
- the turning module turns over the product in the No. 1 jig by 180°, and puts the turned product into the No. 1 jig on the station turntable.
- the beneficial effect of this technical solution is that at least one No. 1 jig and at least one No. 2 jig are set on the station, which can realize synchronous detection of two products, that is, one performs frontal detection, and then drives the jig to move relatively Carrying out the reverse detection of another product effectively improves the detection efficiency; at the same time, setting at least one No. 1 jig and at least one No. 2 jig at the flipping module can realize the detection of two or more products.
- Turning over at the same time can effectively shorten the time required for a single product to complete the front and back detection.
- the turning module puts the flipped products back to the original position, which is the No. 1 jig, or the new position, which is the No. 2 jig, so that when the turntable rotates, there are vacant jigs for each station to be loaded. , improve detection efficiency and space utilization.
- the material transfer mechanism is a manipulator, and S41 is also included before S4, and S41 includes: the station turntable is rotated to the manipulator, and the manipulator has completed the front and back detection of the No. 1 jig or No. 2 jig product blanking;
- S42 is also included, and said S42 includes:
- the station turntable rotates to the manipulator, and the manipulator loads the empty No. 1 jig; or,
- the station turntable rotates to the manipulator, and the manipulator loads the empty No. 2 jig.
- the unloading and loading mechanism By setting up the unloading and loading mechanism before the secondary inspection, the front and back inspection products will be unloaded, and the jig will be vacated for loading; after the unloading is completed, the material will be loaded to ensure the jig and the corresponding inspection camera and other mechanisms The utilization rate and shorten the detection time.
- the S4 also includes:
- the detection camera detects the front side of the product in the No. 1 jig, and then drives the No. 2 jig to move relatively on the station, and the detection camera detects the back side of the product in the No. 2 jig; or,
- the detection camera detects the reverse side of the product in the No. 1 jig, and then drives the No. 2 jig to move relatively on the station, and the detection camera performs a frontal detection of the product in the No. 2 jig.
- a drive device is installed at the bottom of the corresponding station of the jig position, and the jig position is relatively moved under the drive of the drive device, so as to satisfy the condition that the detection camera is fixed. Realize synchronous detection of products in different fixture positions.
- a cleaning mechanism is also provided around the outside of the station turntable. Before S4, S47 is also included.
- the S47 includes: the turntable rotates to the cleaning mechanism, and the cleaning mechanism is located in the No. 1 jig or No. 2 jig products for cleaning.
- the cleaning of the product through the cleaning module can meet the requirements of different detection conditions on the front and back of the product, and realize efficient and rapid detection of the product.
- the turning module includes a turning mechanism and a pick-and-place mechanism; the S31 or S32 also includes:
- the pick-and-place mechanism takes the product out of the station turntable and places it in the jig of the turning mechanism, drives the turning mechanism to turn the jig 180°, and completes the turning of the product; the pick-and-place mechanism will turn over The finished product is returned to the fixture on the station turntable.
- the beneficial effect of this technical solution is that the flipping of the fixture placing frame is almost not affected by the product specification and size, and only the corresponding fixture plate needs to be changed, and the turning mechanism is compatible with different products.
- the testing equipment using this turning mechanism can quickly realize the replacement of different product types during testing, effectively reducing the equipment purchase cost and equipment storage management cost of production and processing manufacturers, suitable for popularization and application.
- the overturning module also includes a pick-and-place mechanism, which can simultaneously put the product back on the station turntable when the product is overturned, shortening the time to complete the entire overturning function.
- the six-station turntable is a six-station turntable, and in S5, the rotation angle of the six-station turntable from product loading to unloading is 480°.
- the beneficial effect of this technical solution is that, through the rotation of the six-station turntable by 480°, the synchronous operation of nine stations by six stations is realized, the standby state of detection cameras and flipping modules and other mechanisms are avoided, and the detection of a single product is shortened. The time required for the cycle.
- the present invention has at least the following beneficial effects: providing a method for detecting the front and back sides of a product,
- each station is equipped with at least two fixture positions.
- the product is loaded to the turntable through the feeding manipulator, and the turntable is rotated under the action of the detection camera, the flip module and other mechanisms.
- the detection of the front and back of the product is completed, and the detection of the front and back of a single product is completed with the angle of rotation of the turntable greater than 360°.
- the angle of rotation of the turntable for a single product front and back detection is greater than 360°, effectively avoiding the standby state of the detection camera, flip module, etc.
- Realize the synchronous and continuous operation of multiple products greatly shorten the time required for a single product detection cycle, and improve detection efficiency.
- Fig. 1 is a top view of the six-station turntable and its surrounding components according to Embodiment 1 of the invention, wherein the direction of the arrow in the figure is the rotation direction of the six-station turntable.
- FIG. 2 is a flowchart of a method for detecting the front and back of a single-camera product shown in Embodiment 3 of the present invention.
- Fig. 3 is a top view of a six-station turntable according to Embodiment 1 of the present invention.
- Fig. 4 is a side view of the six-station turntable according to Embodiment 1 of the present invention.
- Fig. 5 is a bottom view of the six-station turntable according to Embodiment 1 of the present invention.
- Fig. 6 is a schematic diagram of the positional movement of No. 1 jig and No. 2 jig according to Embodiment 1 of the present invention.
- Fig. 7 is a top view of the six-station turntable and surrounding components according to the second embodiment of the present invention, wherein the direction of the arrow in the figure is the rotation direction of the six-station turntable.
- the present invention provides a device for detecting the front and back sides of a product with a single camera, as shown in Figure 1, which includes a double-sided detection mechanism; wherein, the double-sided detection mechanism includes a station turntable, a material transfer mechanism, a detection piece, an overturning module 14 and a cleaning mechanism Group.
- the material moving mechanism is a loading manipulator and a material unloading manipulator.
- the material transfer mechanism can be a single manipulator, and one manipulator is used to complete the loading and unloading of the product.
- the material moving mechanism is a loading manipulator and an unloading manipulator
- the loading manipulator and the unloading manipulator can be located at the same position outside the station turntable, that is, the loading and unloading of products are performed at the same station.
- the rear of the loading machine and the unloading manipulator are located at different positions outside the station turntable, as in this embodiment: the loading manipulator is a six-axis manipulator feeding module 2, and the unloading manipulator is a four-axis manipulator 4, six Axis manipulator feeding module 2, detection camera 3, four-axis manipulator 4, turning module 5, ultrasonic cleaning unit 6 and alcohol cleaning unit 7 are sequentially arranged around the station turntable in a clockwise direction.
- the interval angle between the six-axis manipulator feeding module 2, the detection camera 3, the four-axis manipulator 4, the turning module 5, the ultrasonic cleaning unit 6 and the alcohol cleaning unit 7 is 60°.
- the interval angle between the six-axis manipulator feeding module 2, the detection camera 3, the four-axis manipulator 4, the turning module 5, the ultrasonic cleaning mechanism 6 and the alcohol cleaning mechanism 7 is 60°.
- the six-axis manipulator feeding module 2, the detection camera 3, the four-axis manipulator 4, the flipping module 5, the ultrasonic cleaning unit 6 and the alcohol cleaning unit 7 can be spaced clockwise by other angles that can realize this invention. The point of view of the purpose of the invention.
- the six-axis manipulator loading module 2 turns the product over so that the reverse side of the product is facing up, and then places the product on the working station with the reverse side up. on the turntable.
- there are 6 stations on the station turntable wherein each station is provided with No. 1 fixture position and No. 2 fixture position, that is, there are two fixture positions on each station. with position.
- a corresponding sensing device is installed under each jig position, and the sensing device is used to transmit the information of whether a product is placed in the jig to other devices.
- four or eight stations can be set on the station turntable; of course, three or four fixture positions can also be arranged on each station.
- the six-axis manipulator loading module 2 places the first product to be tested in the No. 1 jig 1011 of the No. 1 station of the six-station turntable 1 with the reverse side up.
- the station turntable 1 rotates clockwise to the position where the detection camera 3 is located. Since the detection camera 3 is fixed on the frame of the detection piece, as shown in Figure 5, the No. 1 fixture can be moved in the No. 1 station under the drive of the driving device arranged at the bottom of the six-station turntable 1, and the The product moves to the detection position of the detection camera 3, and the detection camera 3 receives the information from the sensor under the No. 1 jig 1011 to detect the reverse side of the product in the No. 1 jig 1011.
- the product rotates with the six-station turntable 1 in the No. 1 jig 1011 to the position of the four-axis manipulator 4. At this time, because the product has not been tested for the front side, the unloading action is not performed, and the product is rotated with the six-station turntable. 1Continue to turn to the turning module 5.
- the overturning module 5 changes the product from the reverse-up state to the front-up state.
- flip the module 5 to move to directly above the No. 2 jig 1012 of the first station of the six-station turntable 1, and place the product facing upwards in the No. 2 jig 1012 of the first station .
- the products facing up in the No. 2 jig 1012 at the first station continue to rotate to the ultrasonic cleaning mechanism 6 along with the six-station turntable 1 .
- the ultrasonic cleaning mechanism 6 is provided with an air knife assembly and a dust collecting device, and the air knife assembly and the dust collecting device are controlled by the driving device in the ultrasonic cleaning mechanism 6 .
- the ultrasonic cleaning mechanism 6 starts to start after receiving the information from the sensor below the No. 2 tool 1012 of the first station, and uses the air knife assembly to clean the front of the product, and the dust collection device cleans the dust generated during the cleaning process. Collect to ensure the stable operation of the device. In this embodiment, when the six-axis manipulator loading module 2 loads the No.
- the turntable starts to start, and the downstream devices do not start at the same time.
- the downstream devices need to receive the corresponding It will not start until the sensor below the jig position sends out the information that there are products in the jig.
- the ultrasonic cleaning mechanism 6 does not move because no product is placed in the No. 1 jig 1011 of the first station. start up.
- the products placed in the No. 2 jig 1012 of the first station continue to rotate with the six-station turntable 1 to the downstream alcohol cleaning mechanism 7 .
- the sensor under the No. 2 jig 1012 of the first station transmits the information that there are products in the jig to the alcohol cleaning mechanism 7, and the alcohol cleaning mechanism 7 starts to start after receiving the information.
- the alcohol cleaning mechanism 7 is provided with a driver, a moving mechanism, and an alcohol placement mechanism.
- the alcohol cleaning mechanism 7 utilizes the driver to drive the dust-free cloth placed on the moving mechanism to clean the front of the product in the No. 2 jig 1012 of the first station. Wipe it down and clean it with alcohol when you're done wiping. After cleaning, the six-station turntable 1 rotates again.
- the six-station turntable 1 rotates once and returns to the six-axis manipulator loading module 2, and the six-axis manipulator loading module 2 performs second loading on the vacant No. 1 jig 1011 in the first station.
- products are placed in the two jigs in the first station, the product in the No. 1 jig 1011 is the reverse side up, and the product in the No. 2 jig 1012 is the front side up.
- the six-station turntable 1 continues to rotate to the position of the detection camera 3 .
- Detection camera 3 carries out reverse detection to the product in No. 1 fixture 1011 of the first station.
- the No. 2 jig 1012 of the first station moves to the detection position of the detection camera 3 under the drive of the bottom driving device, and the detection camera 3 detects the front of the product in the No. Front and back inspection of products in jig 1012 No. 2.
- the six-station turntable 1 continues to rotate to the four-axis manipulator 4.
- the four-axis manipulator 4 starts to start after receiving the information from the sensor under the No. 2 jig 1012 of the first station, and sucks the products that have completed the front and back detection from the No. 2 jig 1012 of the first station and puts them into the downstream working platform .
- the six-station turntable 1 needs to rotate more than one turn to complete the detection of the front and back sides of a product.
- the rotation angle of the six-station turntable 1 is 480° to complete the detection of the front and back of a product, which greatly shortens the time to complete the detection of the front and back of a single product in addition to improving the utilization rate of each device.
- the sum of the time required to complete the steps from all the original mechanisms and the time required for the turntable to rotate to each mechanism for the detection of the front and back of a single product is shortened to the time required to complete the most complex command function, that is, the time required for a single cycle of flipping the module and the turntable rotation
- the sum of the time required for 60° greatly shortens the time required for a single cycle of product front and back inspection.
- the six-axis manipulator feeding module 2, the ultrasonic cleaning unit 6, the alcohol cleaning unit 7, the detection camera 3, the four-axis manipulator 4 and the turning module 5 are sequentially clockwise It is arranged around the outside of the six-station turntable 1.
- the six-axis manipulator loading module 2 places the product on the six-station turntable 1 with the front facing up.
- each station is provided with two jig positions, respectively No. 1 jig 1011 and No. 2 jig 1012 .
- each station can be provided with three or four fixture positions.
- the six-axis manipulator feeding module 2 loads the product into the No.
- the six-station turntable 1 rotates inside the No. 1 jig 1011 of the first station. Go to the ultrasonic cleaning unit 6 for the first cleaning. At this time, the six-axis manipulator loading module 2 loads the No. 1 jig of the second station. After the first cleaning, the 1011 products in the No. 1 fixture of the first station are transferred to the alcohol cleaning unit 7 for secondary cleaning, and the products in the No. 1 fixture of the second station are simultaneously cleaned by ultrasonic waves. The first cleaning is done at unit 6. After the second cleaning, the product at 1011 in the No.
- the detection camera 3 rotates to the detection camera 3, and moves to the detection position of the detection camera 3 driven by the driving device at the bottom of the jig, and the detection camera 3 detects the product. positive detection. After the positive inspection, the product in the No. 1 jig 1011 of the first station is rotated to the turning module 5, and the turning module 5 turns the product in the No. 1 jig 180° through the turning mechanism 501, and turns it The product returns to the original No. 1 fixture 1011.
- the product that has been turned over is rotated with the six-station turntable 1 to the six-axis manipulator feeding module 2, and the six-axis manipulator feeding module 2 loads the No. 2 jig 1012, and the product is in the state of facing up Feeding.
- the products with the reverse side up in the No. 1 jig 1011 and the products with the front side up in the No. 2 jig 1012 continue to rotate with the six-station turntable 1 to the ultrasonic cleaning unit 6 and the alcohol cleaning unit 7.
- the product facing up in the jig 1012 is cleaned.
- the detection camera 3 first checks the inside of No.
- the product with the reverse side up is tested for the reverse side, and then the No. 2 jig 1012 is driven by the bottom driving device to switch its position and move to the detection position of the detection camera 3. detection.
- the products with the reverse side up in the No. 1 jig 1011 and the products with the front side up in the No. 2 jig 1012 continue to rotate with the six-station turntable 1 to the four-axis manipulator 4, and the four-axis manipulator 4 senses the No. 2 jig
- the products that have completed the front and back detection in No. 1 jig 1011 are unloaded.
- the detection of the front and back sides of a product is carried out at an angle of 600° as the six-station turntable rotates.
- the station turntable is provided with eight stations, and each station is provided with four jig positions, two No. 1 jig positions and two No. 2 jig positions.
- the six-axis manipulator loading module 2 loads the two No. 1 jig positions, and rotates with the eight-position turntable.
- the cleaning mechanism cleans the two products in the two No. 1 jigs. After cleaning, it rotates To the detection camera 3, the detection camera 3 detects the two products synchronously. After the detection of one side is completed, the turntable continues to rotate to the overturning module 5, and the overturning mechanism 501 of the overturning module 5 performs synchronous overturning of the two products in the two No. 1 jigs 1011.
- the pick-and-place mechanism 502 of the overturning module puts the two overturned products into two No. 2 jigs 1012 .
- the eight-station turntable turns to the six-axis manipulator loading module 2, and the six-axis manipulator loading module 2 loads two vacant No. 1 jigs 1011.
- the eight-station turntable continues to rotate to the cleaning mechanism.
- the cleaning mechanism cleans the products in the No. 1 jig 1011.
- the eight-station turntable continues to rotate to the detection camera 3.
- the product is tested, and then the two No. 2 jigs 1012 are relatively moved under the drive of the driving device, and the detection camera 3 detects the product in the No. 2 jig.
- the eight-station turntable rotates to the four-axis manipulator 4, and the four-axis manipulator 4 unloads the two products in the two No. 1 jigs 1011 synchronously.
- the front and back inspection of the product is completed with an angle of 600° with the rotation of the eight-station turntable. Since the front and back inspection of two products is carried out at the same time, the utilization rate of the mechanisms set around the outer sides of the station turntable is further improved, and the completion time is shortened. The time for a single front and back detection.
- a method for detecting the front and back of a product with a single camera is used to detect the front and back of a product through the above-mentioned device for detecting the front and back of a product with a single camera.
- the loading manipulator takes out the product from the upstream jig tray and flips the product 180° before loading, so that the product is placed on the first position of the station turntable at the loading port with the reverse side up.
- the products are uniformly turned over during feeding, so that the products are loaded with the reverse side upward.
- the product may not be turned over during loading, and the product is placed in the jig of the station turntable with the front facing up.
- the positions of the material shifting mechanism, the detection camera 3 and the turning module 5 are adjusted accordingly to realize the detection of the front and back of the product.
- the turntable rotates clockwise to the detection station, and the detection camera 3 fixed at the detection station is ready for detection after receiving the information; as shown in Figure 4, the jig cylinder under the station turntable Drive No. 1 jig 1011 on the station to move to the detection position of the detection camera 3; the detection camera 3 detects the reverse side of the product.
- the station turntable continues to rotate to the four-axis manipulator 4. Since no product is placed in the No. 2 jig 1012, the four-axis manipulator 4 does not move, that is, it does not perform the blanking action.
- a single manipulator can also be used to load and unload the product at the same position, or two manipulators can be used to respectively unload and load the product at the same position.
- the station turntable continues to rotate to the flip module 5, and the flip module 5 flips the product in the No. 1 jig 1011 by 180°, turning the product from the reverse-up state to the front-up state. And the product that completes overturning is put into the No. 2 jig 1012 of station turntable with the state facing up.
- the station turntable rotates to the 6th station of the ultrasonic cleaning mechanism.
- the ultrasonic cleaning mechanism 6 receives the signal from the sensor below the No. 2 jig 1012 and starts to clean the products placed in the No. 2 jig 1012 with the front facing up for the first time.
- the station turntable continues to rotate to the 7th station of the alcohol cleaning mechanism.
- the alcohol cleaning mechanism 7 receives the signal from the sensor below the No. 2 jig 1012 and starts to start. products for a second cleaning.
- no cleaning mechanism may be provided to clean the product.
- the station turntable continues to rotate to the 2nd position of the six-axis manipulator loading module, and reloads the empty No. 1 jig 1011. Subsequently, the station turntable rotates to the detection camera 3, and the detection camera 3 detects the reverse side of the product in the product No. 1 jig 1011, and then the No. The product is positively tested,
- the station turntable continues to rotate to the four-axis manipulator 4, and the four-axis manipulator 4, after receiving the information from the bottom of the No. 2 jig 1012, unloads the product that has completed the front and back detection in the No. 2 jig 1012.
- the detection of the front and back sides of a single product is performed at an angle of 480° with the rotation of the station turntable.
- the time required to complete a single product front and back detection is shortened from the sum of the time required for all original mechanisms to complete the steps and the time required for the turntable to rotate to each mechanism, to the time required to complete the most complex command function and the time required for one turntable rotation The sum of the required times.
- the flipping module takes the longest time to complete the command function, then the time to complete a single product detection is the time for the flipping module 5 to complete one cycle of flipping the product and the turntable rotates from the blanking station to the flipping module 5
- the sum of the required time shortens the product detection time and improves the detection efficiency.
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Abstract
一种检测产品正反面方法，将若干个工位（101）设置于转盘（1）上，每个工位（101）上至少设置有两个治具位，通过上料机械手（2）将产品上料至转盘（1），利用转盘（1）转动在检测相机（3）、翻转模组（5）等机构的作用下完成产品的正反面检测，单个产品完成正反面检测随转盘（1）转动的角度大于360°。实现利用单个相机对产品进行正反面检测，提高空间利用率，降低成本；同时，完成单次产品正反面检测转盘（1）转动的角度大于360°，有效避免检测相机（3）、翻转模组（5）等机构出现待机状态，极大的缩短了检测时间，提高检测效率。
Description
本发明属于光电检测技术领域，尤其涉及一种检测产品正反面方法。
在对产品进行检测时，通常需要对产品的正面、反面分别进行检测，例如：检测其是否存在污损、脏污、混料、、白点、伤痕、破损等瑕疵。现有技术中，通常是将两个相机放置在输送治具上，然后设置多个工位对输送治具上的产品进行检测，实现对产品的正面、反面进行检测，该种操作方式，效率受局限，所需相机组件较多，增加生产成本，同时还增加了设备的组装空间。在现有技术中也存在利用单个相机对产品的正面、反面进行检测，如专利文献CN112495814A中公开了一种产品表面缺陷检测设备及产品表面缺陷检测方法，其采用翻转机械手夹住输送治具将产品翻面，实现对待检测产品的正面、反面进行检测，该种操作方式下，若想实现产品的连续检测只能增加若干个平行工位，效率受局限，难以进一步提升。
因此，如何在不增加相机的个数的同时实现对产品的正面、反面检测，还能提高待测产品的检测效率成为了本领域当前研究的热点问题。
发明内容
鉴于以上所述现有技术的全部或部分不足，本发明的目的在于：提供一种检测产品正反面方法，将若干个工位设置于转盘上，每个工位上至少设置有两个治具位，通过上料机械手将产品上料至转盘，利用转盘转动在检测相机、翻转模组等机构的作用下完成产品的正反面检测，单个产品完成正反面检测随转盘转动的角度大于360°。实现对产品进行正反面检测，提高空间利用率，降低成本；同 时，完成单次产品正反面检测转盘转动的角度大于360°，有效避免检测相机、翻转模组等机构出现待机状态，实现多个产品的同步、连续操作，极大的缩短单个产品检测周期所需的时间，提高检测效率。
为实现上述发明目的，本发明提供以下技术方案：
一种检测产品正反面方法，使用检测产品正反面装置进行检测，其特征在于，检测产品正反面装置包括工位转盘、移料机构、检测相机和翻转模组；所述工位转盘外侧的四周设置有检测相机、翻转模组和移料机构；所述工位转盘上设置有若干工位，每个工位上设置有多个治具；所述方法包括：
S1，所述移料机构将产品上料至工位转盘的治具内；
S2，所述工位转盘转动至检测相机处，所述多个治具可相对移动，检测相机对产品的一面进行检测；
S3，所述工位转盘继续转动至所述翻转模组，所述翻转模组对产品进行翻转；
S4，所述工位转盘转动至检测相机处，所述检测相机对产品的另一面进行检测；
S5，所述移料机构对已完成正反面检测的产品下料，从产品上料至下料所述工位转盘转动的角度大于360°。
该技术方案的有益效果在于，通过将多个工位设置再同一工位转盘上，且每个工位上设置有至少两个治具，提高了空间利用率和检测效率；通过翻转模组对产品进行翻转可实现利用单个相机对产品的正反面进行检测，减少相机元件的使用，降低成本；同时，完成单次产品正反面检测转盘转动的角度大于360°，有效避免检测相机、翻转模组等机构的待机状态，极大的缩短了检测时间，提高检测效率。
移料机构为机械手，所述机械手设置于所述检测相机的上游工位处，所述S1还包括步骤：
S11，所述机械手将产品翻转，并将产品以反面向上的状态放置于工位转盘的治具内；或，
S12，所述机械手将产品以正面向上的状态放置于工位转盘的治具内。
该技术方案的有益效果在于，上料时将产品进行翻转使产品以反面向上的状态放置于工位转盘的治具内，完成正反面检测后产品以正面向上的状态进入下游操作平台，满足后续操作需求。上料时将产品进行翻转使产品以正面向上的状态放置于工位转盘的治具内，缩短上料时间，提高检测效率。
所述工位上设置有至少一个1号治具和至少一个2号治具，所述S2还包括步骤：
S21，所述检测相机对放置于所述1号治具内的产品进行产品的反面检测；或，
S22，所述检测相机对放置于所述1号治具内的产品进行产品的正面检测；
所述S3还包括：
S31，所述翻转模组将1号治具内的产品翻转180°，将翻转后的产品放至工位转盘的2号治具内；或，
S32，所述翻转模组将1号治具内的产品翻转180°，将翻转后的产品放至工位转盘的1号治具内。该技术方案的有益效果在于，在工位上设置有至少一个1号治具和至少一个2号治具，可以实现两个产品的同步检测，即一个进行正面检测，之后驱动治具进行相对移动进行另一个产品的反面检测，有效的提高了检测效率；同时，同一个工位上设置至少一个1号治具和至少一个2号治具在翻转 模组处可实现两个或多个产品的同时翻转，有效缩短单个产品完成正反面检测所需的时间。且翻转模组将已完成翻转的产品放回至原位即1号治具或新位置即2号治具内，保证在转盘转动时每个工位上皆有空置的治具以待上料，提高检测效率和空间利用率。
移料机构为机械手，所述S4前还包括S41，所述S41包括：所述工位转盘转动至所述机械手处，所述机械手对1号治具或2号治具内已完成正反面检测的产品下料；
所述S4前还包括S42，所述S42包括：
S43，所述工位转盘转动至所述机械手处，所述机械手对空置的1号治具上料；或，
S44，所述工位转盘转动至所述机械手处，所述机械手对空置的2号治具上料。通过在二次检测之前设置下料和上料机构，将完成正反面检测产品进行下料，空出治具以待上料；在下料完成后进行上料，保证治具以及相应检测相机等机构的利用率，缩短检测时间。
所述S4还包括：
S45，检测相机对位于1号治具内的产品进行正面检测，接着驱动2号治具在工位上进行相对移动，检测相机对2号治具内的产品进行反面检测；或，
S46，检测相机对位于1号治具内的产品进行反面检测，接着驱动2号治具在工位上进行相对移动，检测相机对2号治具内的产品进行正面检测。通过在工位上设置至少两个治具位，在治具位相应工位的底部安装有驱动装置，在驱动装置的驱动下治具位进行相对移动，以满足在检测相机固定的情况下，实现不同治具位内产品的同步检测。
所述工位转盘外侧的四周还设置有清洁机构，S4之前还包括S47，所述S47包括：所述转盘转动至清洁机构处，所述清洁机构对位于1号治具或2号治具内的产品进行清洁。通过清洁模组对产品的进行清洁可满足产品检测时正反面检测条件不一的要求，实现产品的高效快速检测。
所述翻转模组包括翻转机构和取放机构；所述S31或S32还包括：
所述取放机构将产品从工位转盘中取出并放置于所述翻转机构的治具中，驱动所述翻转机构将治具翻转180°，完成对产品的翻转；所述取放机构将翻转完成的产品重新返回工位转盘的治具内。该技术方案的有益效果在于，采用整治具放置架翻转，几乎不受产品规格尺寸影响，只需要变换相应治具盘即可，翻转机构可兼容不同产品，这样，应用该种翻转机构的检测设备，可快速实现不同产品检测时更换机种，有效降低了生产加工厂商的设备购置成本及设备存放管理成本，适于推广应用。同时，翻转模组还包括取放机构，在产品完成翻转时可同步将产品放回工位转盘上，缩短完成整个翻转功能的时间。
所述的工位转盘为六工位转盘，所述S5中，从产品上料至下料所述六工位转盘转动的角度为480°。该技术方案的有益效果在于，通过六工位转盘转动480°，实现了利用六个工位进行九个工位的同步操作，避免检测相机和翻转模组等机构的待机状态，缩短单个产品检测周期所需的时间。与现有技术相比，本发明至少具有以下有益效果：提供一种检测产品正反面方法，
将若干个工位设置于转盘上，每个工位上至少设置有两个治具位，通过上料机械手将产品上料至转盘，利用转盘转动在检测相机、翻转模组等机构的作用下完成产品的正反面检测，单个产品完成正反面检测随转盘转动的角度大于360°。实现利用单个相机对产品进行正反面检测，提高空间利用率，降低成本；同时， 完成单次产品正反面检测转盘转动的角度大于360°，有效避免检测相机、翻转模组等机构的待机状态，实现多个产品的同步、连续操作，极大的缩短单个产品检测周期所需的时间，提高检测效率。
为了更清楚地说明本发明具体实施例中的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1是发明实施例一的六工位转盘及周围部件的俯视图，其中，图中箭头方向为六工位转盘转动的方向。
图2是本发明实施例三所示的单相机产品正反面检测方法流程图。
图3本发明实施例一的六工位转盘的俯视图。
图4是本发明实施例一的六工位转盘的侧视图。
图5是本发明实施例一的六工位转盘的仰视图。
图6是本发明实施例一的1号治具和2号治具位置移动的示意图。
图7是本发明实施例二的六工位转盘及周围部件的俯视图，其中，图中箭头方向为六工位转盘转动的方向。
附图标记：1-六工位转盘；101-转盘工位；102-工位转盘轴承；1011-1号治具；1012-2号治具；2-六轴机械手上料模组；3-检测相机；4-四轴机械手；5-翻转模组；6-超音波清洗机构；7-酒精清洁机构。
下面将对本发明具体实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅是本发明的一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
实施例一
如图1所示的是本发明的一种实施例，在该实施例中，需要说明的是，为了更加具体地描述技术方案，本实施例中所描述的步骤并不严格和发明内容部分描述的步骤一一对应。
本发明提供一种单相机检测产品正反面装置，如图1所示，包括双面检测机构；其中，双面检测机构包含工位转盘、移料机构、检测件、翻转模组14和清洁机构组。进一步地，在本实施例中移料机构为上料机械手和下料机械手。当然，在其他实施例中移料机构可以为单一的机械手，利用一个机械手来完成产品的上料和下料。在其他实施例中，移料机构为上料机械手和下料机械手，上料机械手和下料机械手可位于工位转盘外侧的同一位置处，即产品的上料和下料在同一工位进行。优选地，上料机械后和下料机械手位于工位转盘外侧的不同位置，如在本实施例中：上料机械手为六轴机械手上料模组2，下料机械手为四轴机械手4，六轴机械手上料模组2、检测相机3、四轴机械手4、翻转模组5、超音波清洗单元6和酒精清洁单元7沿顺时针方向依次设置于工位转盘周围。在本实施例中，，其中，六轴机械手上料模组2、检测相机3、四轴机械手4、翻转模组5、超音波清洗单元6和酒精清洁单元7的间隔角度为60°。当然，在其他实施例中，六轴机械手上料模组2、检测相机3、四轴机械手4、翻转模组5、超音波清洗机构6和酒精清洁机构7的间隔角度为60°然而，本公开不限于此，六轴机械手上料 模组2、检测相机3、四轴机械手4、翻转模组5、超音波清洗单元6和酒精清洁单元7沿顺时针方向间隔角度可以为其他能实现本发明目的的角度。
当六轴机械手从上游平台的托盘中吸取的产品上料至工位转盘上时，六轴机械手上料模组2将产品翻转使产品的反面向上，随后将产品以反面向上的状态放置到工位转盘上。如图2所示在本实施例中工位转盘上设置有6个工位，其中每个工位上设置有1号治具位和2号治具位即每个工位上存在两个治具位。每个治具位下方皆安装有相应的感应装置，感应装置用于将治具内是否放置有产品的信息转递至其他装置。优选地，在其他实施例中工位转盘工位可以设置四个或八个工位；当然，每个工位上也可设置有三个或四个治具位。
在本实施例中，六轴机械手上料模组2将第一个待测产品以反面向上的状态放置于六工位转盘1的第一号工位的1号治具1011内，产品随六工位转盘1沿顺时针方向转动至检测相机3所在位置。由于检测相机3固定于检测件的机架上，如图5所示，1号治具可在设置于六工位转盘1底部的驱动装置的驱动下在第一号工位内进行移动，将产品移动至检测相机3的检测位，检测相机3接收到来自1号治具1011下方感应器的信息，进行1号治具1011内的产品的反面检测。反面检测完毕后，产品在1号治具1011内随六工位转盘1转动至四轴机械手4位置处，此时由于产品未进行正面检测因而并不进行下料动作，产品随六工位转盘1继续转动至翻转模组5处。
当产品随六工位转盘1转到至翻转模组5处时，翻转模组5将产品从反面向上的状态转变为正面向上的状态。完成产品的翻转后，翻转模组5至移动至六工位转盘1的第一工位的2号治具1012正上方，将正面向上的产品放置于第一工位的2号治具1012内。
位于第一工位的2号治具1012内的正面向上的产品随六工位转盘1继续转动至超音波清洗机构6处。超音波清洗机构6设置有包括风刀组件和收尘装置，风刀组件、收尘装置受超音波清洗机构6中的驱动装置的控制。超音波清洗机构6在接收到来自第一工位的2号治1012具下方感应器的信息，开始启动，利用风刀组件对产品的正面进行清洁，同时收尘装置对清洁过程所产生的灰尘进行收集以保障设备的稳定运行。在本实施例中，当六轴机械手上料模组2对第一工位的1号治具1011进行上料时，转盘即开始启动，下游的装置并非同时启动，下游装置需在接收到相应治具位下方感应器发出的该治具内已有产品的信息后方才启动。在本实施例中当第一工位的1号治具1011转动至超音波清洗机构6处时，由于第一工位的1号治具1011内并未放置产品故超音波清洗机构6并不启动。
超音波清洗机构6完成清洁后，放置在第一工位的2号治具1012内的正面向上的产品随六工位转盘1继续转动至下游的酒精清洁机构7处。第一工位的2号治具1012下方的感应器将治具内有产品的信息传递至酒精清洁机构7，酒精清洁机构7接收信息开始启动。酒精清洁机构7设置有包括驱动件、移动机构和酒精放置机构，酒精清洁机构7利用驱动件驱动放置于移动机构上的无尘布对第一工位的2号治具1012内产品的正面进行擦拭，擦拭结束后对其进行酒精清洁。清洁完毕后，六工位转盘1再次转动。
六工位转盘1转动一圈后回到六轴机械手上料模组2处，六轴机械手上料模组2对第一工位内空置的1号治具1011进行第二次上料，此时第一工位内的两个治具内皆放置有产品，1号治具1011内的产为反面向上，2号治具1012内的产品为正面向上。上料结束后，六工位转盘1继续转动至检测相机3位置处。检 测相机3对第一工位1号治具1011内的产品进行反面检测。第一工位2号治具1012在底部驱动装置的驱动下移动至检测相机3检测位，检测相机3对第一工位2号治具1012内产品的正面进行检测，完成对第一工位2号治具1012内产品的正反面检测。
六工位转盘1继续转动至四轴机械手4处。四轴机械手4接收到来自第一工位2号治具1012下方感应器的信息开始启动，将已经完成正反面检测的产品从第一工位2号治具1012内吸取并放入下游工作平台。完成一个产品的正反面检测六工位转盘1需转动一周以上。在本实施例中，完成一个产品的正反面检测六工位转盘1转动的角度为480°，在提高各装置的利用率外极大的缩短了完成单次产品正反面检测的时间，即完成单个产品正反面检测的从原有的所有机构完成步骤所需时间与转盘转动至每个机构处所需时间之和，缩短为完成最复杂指令功能即翻转模组单个周期所需时间与转盘转动60°所需时间之和，极大缩短了产品正反面检测单个周期所需时间。
实施例二
如图7所示，在本实施例中，六轴机械手上料模组2、超音波清洗单元6、酒精清洁单元7、检测相机3、四轴机械手4和翻转模组5沿顺时针方向依次设置于六工位转盘1外侧的四周。六轴机械手上料模组2将产品以正面向上的状态放置于六工位转盘1上。在本实施例中，每个工位上设置有两个治具位分别为1号治具1011和2号治具1012。当然在其他实施例中，每个工位可设置有三个或四个治具位。六轴机械手上料模组2将产品以正面向上的状态上料至第一个工位的1号治具1011内，六工位转盘1转动第一个工位的1号治具1011内转动至超音波清洗单元6进行第一次清洁，此时六轴机械手上料模组2对第二个工位的1 号治具进行上料。第一次清洁结束后，第一个工位的1号治具内1011的产品转动至酒精清洁单元7进行二次清洁，第二个工位的1号治具内的产品同时在超音波清洗单元6处进行第一次清洁。二次清洁结束后，第一个工位的1号治具内1011的产品转动至检测相机3处，通过治具底部驱动装置的驱动下移动至检测相机3的检测位，检测相机3对产品的正面进行检测。正面检测结束后第一个工位的1号治具1011内的产品转动至翻转模组5处，翻转模组5通过翻转机构501将1号治具内的产品翻转180°，并将翻转后的产品返回至原来的1号治具1011内。
进一步地，已经完成翻转的产品随六工位转盘1转动至六轴机械手上料模组2处，六轴机械手上料模组2对2号治具1012进行上料，产品以正面向上的状态上料。上料完成后，1号治具1011内反面向上的产品和2号治具1012内正面向上的产品随六工位转盘1继续转动至超音波清洗单元6、酒精清洁单元7处，对2号治具1012内正面向上的产品进行清洁。清洁完毕后，1号治具内1011反面向上的产品和2号治具内1012正面向上的产品随六工位转盘1继续转动至检测相机3处，检测相机3先对1号治具1011内反面向上的产品进行反面检测，之后2号治具1012在底部驱动装置的驱动下进行位置切换，移动至检测相机3的检测位，检测相机3对2号治具1012内正面向上的产品进行正面检测。检测完成后，1号治具1011内反面向上的产品和2号治具1012内正面向上的产品随六工位转盘1继续转动至四轴机械手4处，四轴机械手4感应到2号治具1012内有产品时对1号治具1011内的已完成正反面检测的产品进行下料。在本实施例中，一个产品完成正反面检测其随六工位转盘转动的角度位600°。
当然，在其他实施例中，工位转盘上设置有八个工位，每个工位上设置有四 个治具位，两个1号治具位和两个2号治具位。六轴机械手上料模组2对两个1号治具位都进行上料，随工八位转盘转动，清洁机构对两个1号治具内的两个产品都进行清洁，清洁完成后转动至检测相机3处，检测相机3对两个产品同步进行检测。一面检测完成后，转盘继续转动至翻转模组5，翻转模组5的翻转机构501对两个1号治具1011内的两个产品进行同步翻转。翻转完成后，翻转模组的取放机构502将完成翻转的2个产品放至两个2号治具1012内。八工位转盘转动至六轴机械手上料模组2处，六轴机械手上料模组2对两个空置的1号治具1011上料。八工位转盘继续转动至清洁机构处，清洁机构对1号治具1011内的产品进行清洁，八工位转盘继续转动至检测相机3处，检测相机3对两个1号治具1011内的产品进行检测，之后两个2号治具1012在驱动装置的驱动下相对移动，检测相机3对2号治具内的产品进行检测。检测完成，八工位转盘转动至四轴机械手4处，四轴机械手4对两个1号治具1011内的两个产品同步下料。此时，产品完成正反面检测随八工位转盘转动的角度为600°，由于两个同时进行两个产品的正反面检测，进一步提高了工位转盘外侧四周设置的机构的利用率，缩短完成单次正反面检测的时间。
实施例三
如图2所示，一种单相机检测产品正反面的方法，利用该方法通过上述的一种单相机检测产品正反面装置来对产品正反面进行检测。
在本实施例中，上料械手从上游治具托盘内将产品取出并在上料前将产品进行180°翻转，使产品以反面向上的状态在上料口放置于工位转盘的第一工位的1号治具1011内。在本实施例中为了提高相应装置的利用率，在上料时统一对产品进行翻转，使产品以反面向上的状态进行上料。在其他实施例中，上料时可 不对产品进行翻转，产品以正面向上的状态放置于工位转盘的治具内。对移料机构、检测相机3和翻转模组5位置进行相应调整以实现对产品正反面检测。
完成上料动作后，转盘沿顺时针方向转动至检测工位，固定在检测工位处的检测相机3在接收到信息后准备进行检测；如图4所示，工位转盘下方的治具气缸驱动1号治具1011在工位上移动至检测相机3的检测位；检测相机3对产品进行反面检测。
接着，在检测完毕后，工位转盘继续转动至四轴机械手4处。由于2号治具1012内并未放置产品，四轴机械手4不动作即不进行下料动作。当然，在其他实施例中，也可以利用单个机械手在同一位置处对产品进行上、下料，或者利用两个机械手在同一位置对产品分别进行下料和上料。
工位转盘继续转动至翻转模组5处，翻转模组5对1号治具1011内的产品进行180°的翻转，将产品从反面向上的状态转为正面向上的状态。并将完成翻转的产品以正面向上的状态放入工位转盘的2号治具1012内。
随后，工位转盘转动至超音波清洗机构6工位处。超音波清洗机构6接收到来自2号治具1012下方感应器的信号，开始启动，对放置于2号治具1012内的正面向上的产品进行第一次清洁。第一次清洁完毕后，工位转盘继续转动至酒精清洁机构7工位处，酒精清洁机构7接收到2号治具1012下方感应器的信号开始启动，对2号治具1012内的正面向上的产品进行第二次清洁。当然，在其他的实施例中，可以不设置清洁机构对产品进行清洁。
两次清洁完毕后，工位转盘继续转动至六轴机械手上料模组2处，对空置的1号治具1011进行再次上料。随后，工位转盘转动至检测相机3处，检测相机3对产品1号治具1011内的产品进行反面检测，之后2号治具1012相对移动，检 测相机3对产品1号治具1011内的产品进行正面检测，
接着，工位转盘继续转动至四轴机械手4处，四轴机械手4在接收到来自2号治具1012下方信息后，将2号治具1012内完成正反面检测的产品下料。在本实施例中，单个产品完成正反面检测随工位转盘转动的角度为480°，工位转盘外侧的四周的任一机构运行的同时其他机构也在同步进行各自的工作，实现了利用六个工位进行九个工位的同步操作，避免检测相机和翻转模组等机构的待机状态，缩短单个产品检测周期所需的时间，提高了工位转盘外侧四周设置的相关机构的利用率。使完成单次产品正反面检测的时间从原有的所有机构完成步骤所需时间与转盘转动至每个机构处所需时间之和，缩短为完成最复杂指令功能所需时间与转盘转动一个工位所需时间之和。如在实施例中翻转模组完成指令功能的耗时最长，则完成单次产品检测的时间为翻转模组5完成翻转产品一个周期的时间与转盘从下料工位转动至翻转模组5所需的时间之和，缩短产品检测时间的同时提高了检测效率。
前文概述若干实施例的特征以使得本领域的技术人员可更好地理解本公开的方面。本领域的技术人员应了解，他们可轻易地将本公开用作设计或修改用于实现本文中所引入的实施例的相同目的和/或达成相同优势的其它工艺和结构的基础。本领域的技术人员还应认识到，此类等效构造并不脱离本公开的精神和范围，且其可在不脱离本公开的精神和范围的情况下在本文中进行各种改变、替代以及更改。
以上实施例的说明只是用于帮助理解本发明的方法及核心思想。应当指出，对于本技术领域的普通技术人员来说，在不脱离本发明原理的前提下，还可以对本发明进行若干改进和修饰，这些改进和修饰也落入本发明权利要求保护的范围 内。
Claims (10)
- 一种检测产品正反面方法，使用检测产品正反面装置进行检测，其特征在于，检测产品正反面装置包括工位转盘、移料机构、检测相机和翻转模组；所述工位转盘外侧的四周设置有检测相机、翻转模组和移料机构；所述工位转盘上设置有若干工位，每个工位上设置有多个治具；所述工位上设置有至少一个1号治具和至少一个2号治具，所述方法包括：S1，所述移料机构将产品上料至工位转盘的治具内；S2，所述工位转盘转动至检测相机处，所述多个治具可相对移动，检测相机对产品的一面进行检测；S3，所述工位转盘继续转动至所述翻转模组，所述翻转模组对产品进行翻转；S4，所述工位转盘转动至检测相机处，所述检测相机对产品的另一面进行检测；S5，所述移料机构对已完成正反面检测的产品下料，从产品上料至下料产品所述工位转盘转动的角度大于360°。
- 根据权利要求1所述的检测产品正反面方法，其特征在于，所述移料机构为机械手，所述机械手设置于所述检测相机的上游工位处，所述S1还包括步骤：S11，所述机械手将产品翻转，并将产品以反面向上的状态放置于工位转盘的治具内；或，S12，所述机械手将产品以正面向上的状态放置于工位转盘的治具内。
- 根据权利要求1所述的检测产品正反面方法，其特征在于，所述S2还包括步骤：S21，所述检测相机对放置于所述1号治具内的产品进行产品的反面检测；或，S22，所述检测相机对放置于所述1号治具内的产品进行产品的正面检测。
- 根据权利要求1所述的检测产品正反面方法，其特征在于，所述S3还包括：S31，所述翻转模组将1号治具内的产品翻转180°，将翻转后的产品放至工位转盘的2号治具内；或，S32，所述翻转模组将1号治具内的产品翻转180°，将翻转后的产品放至工位转盘的1号治具内。
- 根据权利要求1所述的检测产品正反面方法，其特征在于，述移料机构为机械手，所述S4前还包括S41，所述S41包括：所述工位转盘转动至所述机械手处，所述机械手对1号治具或2号治具内已完成正反面检测的产品下料。
- 根据权利要求1所述的检测产品正反面方法，其特征在于，述移料机构为机械手，所述S4前还包括S42，所述S42包括：S43，所述工位转盘转动至所述机械手处，所述机械手对空置的1号治具上料；或，S44，所述工位转盘转动至所述机械手处，所述机械手对空置的2号治具上料。
- 根据权利要求1所述的检测产品正反面方法，其特征在于，所述S4还包括：S45，检测相机对位于1号治具内的产品进行正面检测，接着驱动2号治具在工位上进行相对移动，检测相机对2号治具内的产品进行反面检测；或，S46，检测相机对位于1号治具内的产品进行反面检测，接着驱动2号治具在工位上进行相对移动，检测相机对2号治具内的产品进行正面检测。
- 根据权利要求1所述的检测产品正反面方法，其特征在于，所述工位转盘外侧的四周还设置有清洁机构，S4之前还包括S47，所述S47包括：所述转盘转动至清洁机构处，所述清洁机构对位于1号治具或2号治具内的产品进行清洁。
- 根据权利要求4所述的检测产品正反面方法，其特征在于，所述翻转模组包括翻转机构和取放机构；所述S31或S32还包括：所述取放机构将产品从工位转盘中取出并放置于所述翻转机构的治具中，驱动所述翻转机构将治具翻转180°，完成对产品的翻转；所述取放机构将翻转完成的产品重新返回工位转盘的治具内。
- 根据权利要求1所述的检测产品正反面方法，其特征在于，所述S5中，从产品上料至下料所述工位转盘转动的角度为480°。
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| CN116620855A (zh) * | 2023-07-25 | 2023-08-22 | 宁德微图智能科技有限公司 | 一种自动上下料清洁设备 |
| CN116620855B (zh) * | 2023-07-25 | 2023-11-03 | 宁德微图智能科技有限公司 | 一种自动上下料清洁设备 |
| CN116666249A (zh) * | 2023-07-28 | 2023-08-29 | 广东长兴半导体科技有限公司 | 一种晶圆测试方法 |
| CN116666249B (zh) * | 2023-07-28 | 2024-01-26 | 广东长兴半导体科技有限公司 | 一种晶圆测试方法 |
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