WO2023130703A1

WO2023130703A1 - Product appearance defect detection apparatus

Info

Publication number: WO2023130703A1
Application number: PCT/CN2022/104858
Authority: WO
Inventors: 黄智成; 李睿宇; 吕江波; 沈小勇
Original assignee: 深圳思谋信息科技有限公司; 北京思谋智能科技有限公司
Priority date: 2022-01-07
Filing date: 2022-07-11
Publication date: 2023-07-13
Also published as: CN114034712A; CN114994057A

Abstract

A product appearance defect detection apparatus (100), comprising: a pick-up mechanism (120), a transfer mechanism (160) and a detection mechanism (150), a first pick-up member (122) of the pick-up mechanism (120) and a second pick-up member (161) of the transfer mechanism (160) being capable of transferring a product to be detected, and the detection mechanism (150) being used to detect the appearance of the product (200) to be detected. The first pick-up member (122) and the second pick-up member (161) are configured to rotate about an axis parallel to a second direction, so that the detection mechanism (150) detects at least two surfaces of the product (200) to be detected in a circumferential direction perpendicular to the second direction. The first pick-up member (122) and/or the second pick-up member (161) are configured to rotate about an axis parallel to a third direction, so that the detection mechanism (150) detects at least one surface of the product (200) to be detected in a circumferential direction perpendicular to the third direction. A camera assembly (152) of the detection mechanism (150) is movable along a first direction. At least one of the camera assembly (152), the first pick-up member (122) and the second pick-up member (161) is configured to move in the second direction or the third direction.

Description

Product appearance defect detection device

This application is required to be submitted to the China Patent Office on January 07, 2022, with the application number 202210012048.9, and the title of the invention is "Product Appearance Defect Detection Device"; The priority of the Chinese patent application entitled "Product Appearance Defect Detection Device", the entire content of which is incorporated in this application by reference.

technical field

The present application relates to the technical field of automatic production, in particular to a product appearance defect detection device.

Background technique

With the development of science and technology, people's requirements for the quality of life are constantly improving, and the demand for daily-use products such as mobile phones, earphones, watches, toys, fixtures, electronic accessories, etc. is increasing. In order to ensure product quality in the production process, products Strict quality inspection operations are required before shipment, and comprehensive inspections are performed on performance, appearance, and other aspects. Among them, appearance inspection is an important content. The quality of product appearance affects product quality to a certain extent, and also affects consumers' desire to buy. Common appearance defects include scratches, crushes, bruises, dimensional deviations, stains, etc. Therefore, manufacturers have increasingly stringent testing requirements for products.

In traditional technology, appearance inspection is performed manually. However, the method of manual naked eye detection requires a lot of labor, which is not only time-consuming and laborious, which affects the detection efficiency, but also easily causes work fatigue, leads to false detection and missed detection, and affects the detection accuracy. Therefore, it is difficult to meet the quality requirements by manually detecting appearance defects.

Contents of the invention

The present application provides a product appearance defect detection device, which can effectively improve the appearance detection efficiency of products in the production process and the stability of the appearance defect detection process.

In the first aspect, a product appearance defect detection device is provided, including:

The pick-up mechanism includes a first pick-up member, the first pick-up member is used to pick up the product to be detected to the detection area, wherein the first surface of the product to be detected is in contact with the first pick-up member;

A handover mechanism, comprising a second picker for picking up the product to be inspected from the first picker within the inspection area, wherein the second surface of the product to be inspected is the same as the second surface of the product to be inspected the second pickup is in contact;

A detection mechanism, the detection mechanism is arranged at a distance from the transfer mechanism in the first direction, and the detection mechanism is used to detect the appearance of the product to be detected; wherein,

The first pickup is configured to rotate around a first axis parallel to the second direction and the second pickup is configured to rotate around a third axis parallel to the second direction so that the detection mechanism Detecting at least two surfaces of the product to be detected located in a circumferential direction perpendicular to the second direction, the at least two surfaces include the first surface and the second surface, and the second direction is vertical in said first direction;

The first pick-up member is configured to rotate about a second axis parallel to the third direction, and/or the second pick-up member is configured to rotate about a fourth axis parallel to the third direction, such that all The detection mechanism detects at least one surface of the product to be detected in the circumferential direction perpendicular to the third direction, and the third direction is perpendicular to the first direction and perpendicular to the second direction;

The inspection mechanism includes a camera assembly configured to move in the first direction to approach or move away from the product to be inspected;

At least one of the camera assembly, the first picker, and the second picker is configured to move in the second direction such that the inspection mechanism faces the product to be inspected toward the inspection mechanism The local area of the surface is detected;

At least one of the camera assembly, the first picker, and the second picker is configured to move in the third direction such that the product to be inspected is located within the inspection area.

The details of one or more embodiments of the application are set forth in the accompanying drawings and the description below. Other features, objects and advantages of the present application will be apparent from the description, drawings and claims.

Description of drawings

The drawings constituting a part of the application are used to provide further understanding of the application, and the schematic embodiments and descriptions of the application are used to explain the application, and do not constitute an improper limitation to the application.

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings that need to be used in the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application. For those skilled in the art, other drawings can also be obtained based on these drawings without creative effort.

Fig. 1 is a schematic structural view of a product appearance defect detection device described in an embodiment;

Fig. 2 is a structural schematic diagram of the tray mechanism described in an embodiment;

Fig. 3 is a schematic diagram of the combined structure of the traverse mechanism, the lifting mechanism and the pick-up mechanism described in one embodiment;

Fig. 4 is a schematic structural view of the detection mechanism described in an embodiment;

Fig. 5 is a structural schematic diagram of the transfer mechanism described in an embodiment;

Fig. 6 is an installation and use diagram of the second pick-up piece, the transfer seat and the rotating seat described in an embodiment;

Fig. 7 is a schematic diagram of the overall appearance structure of the product appearance defect detection described in an embodiment.

Explanation of reference signs:

100. Product appearance defect detection device; 110. Tray mechanism; 111. Tray; 112. Displacement component; 120. Picking mechanism; 121. Picking seat; 122. First picking piece; 130. Lifting mechanism; 150. Detection mechanism; 151. Detection seat; 1511. First servo module; 1512. Second servo module; 152. Camera component; 153. Light source; Seat; 163, rotating seat; 164, servo lifting module; 170, protective cover; 171, protective door; 180, frame; 200, product.

Detailed ways

In order to make the above-mentioned purpose, features and advantages of the present application more obvious and understandable, the specific implementation manners of the present application will be described in detail below in conjunction with the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the application. However, the present application can be implemented in many other ways different from those described here, and those skilled in the art can make similar improvements without departing from the connotation of the present application, so the present application is not limited by the specific embodiments disclosed below.

In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", " Back", "Left", "Right", "Vertical", "Horizontal", "Top", "Bottom", "Inner", "Outer", "Clockwise", "Counterclockwise", "Axial" , "radial", "circumferential" and other indicated orientations or positional relationships are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the application and simplifying the description, rather than indicating or implying the referred device or Elements must have certain orientations, be constructed and operate in certain orientations, and thus should not be construed as limiting the application.

In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be interpreted as indicating or implying relative importance or implicitly specifying the quantity of indicated technical features. Thus, the features defined as "first" and "second" may explicitly or implicitly include at least one of these features. In the description of the present application, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

In this application, terms such as "installation", "connection", "connection" and "fixation" should be interpreted in a broad sense, for example, it can be a fixed connection or a detachable connection, unless otherwise clearly specified and limited. , or integrated; it may be mechanically connected or electrically connected; it may be directly connected or indirectly connected through an intermediary, and it may be the internal communication of two components or the interaction relationship between two components, unless otherwise specified limit. Those of ordinary skill in the art can understand the specific meanings of the above terms in this application according to specific situations.

In the present application, unless otherwise clearly specified and limited, a first feature being "on" or "under" a second feature may mean that the first and second features are in direct contact, or that the first and second features are indirect through an intermediary. touch. Moreover, "above", "above" and "above" the first feature on the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. "Below", "beneath" and "beneath" the first feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is less horizontally than the second feature.

It should be noted that when an element is referred to as being “fixed on” or “disposed on” another element, it may be directly on the other element or there may be an intervening element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or intervening elements may also be present. As used herein, the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions are for the purpose of illustration only and are not intended to represent the only embodiments.

Please refer to Fig. 1 to Fig. 7, Fig. 1 has shown the structure diagram of the product appearance defect detection device 100 described in one embodiment of the present application; Fig. 2 has shown the pallet mechanism 110 described in one embodiment of the present application Schematic diagram of the structure; Figure 3 shows a schematic diagram of the combined structure of the traversing mechanism 140, the lifting mechanism 130 and the pick-up mechanism 120 described in one embodiment of the application; Figure 4 shows the detection mechanism described in one embodiment of the application 150; FIG. 5 shows a schematic structural view of the transfer mechanism 160 described in an embodiment of the present application; FIG. 6 shows a second pick-up member 161, the transfer seat 162 and The installation and use diagram of the rotating base 163; FIG. 7 shows a schematic diagram of the overall appearance structure of the appearance defect detection of the product 200 described in an embodiment of the present application.

An embodiment of the present application provides a product appearance defect detection device 100 , including: a tray mechanism 110 , a pick-up mechanism 120 , a lift mechanism 130 , a traverse mechanism 140 and a detection mechanism 150 . The tray mechanism 110 is used to place the product 200; the pick-up mechanism 120 is spaced apart from the tray mechanism 110, and the pick-up mechanism 120 is used to pick up and release the product 200, specifically, the pick-up mechanism 120 is used to pick up the product 200 to be detected from the tray mechanism 110 to Perform appearance inspection, and place the inspected product 200 on the tray mechanism 110 . The lifting mechanism 130 is drivingly connected with the pick-up mechanism 120, and the lift mechanism 130 can drive the pick-up mechanism 120 to move along the height direction of the pick-up mechanism 120 (the embodiment of the present application can be referred to as the third direction), for example, along the straight line _S1 shown in FIG. direction movement. The traversing mechanism 140 is drivingly connected with the lifting mechanism 130, and the traversing mechanism 140 can drive the lifting mechanism 130 to move along the length direction of the picking mechanism 120 (the embodiment of the present application may be referred to as the second direction), for example, along the straight line S shown in FIG. 1 ₂ direction movement. The detection mechanism 150 is used to detect the appearance of the product 200 .

In the working process of the above-mentioned product appearance defect detection device 100, at first, the product 200 to be detected is put into the tray mechanism 110; The product 200 is picked up in the tray mechanism 110; after picking up, the traversing mechanism 140 and the lifting mechanism 130 drive the picking mechanism 120 to move to the detection mechanism 150, and the detection mechanism 150 detects the appearance of the product 200; after obtaining the detection information, the traversing mechanism 140 and the lifting mechanism 130 drive the pick-up mechanism 120 to move to the tray mechanism 110 , and unload the inspected product 200 onto the tray mechanism 110 . In this way, the product appearance defect detection device 100 can realize manual or automatic feeding, and then automatically detect the appearance of the product 200, which is conducive to improving the detection efficiency of the appearance defect of the product 200, reducing the occurrence of false detection and missed detection, Improve the detection accuracy, thereby improving the stability of production.

In order to further understand and illustrate the height direction and length direction of the pick-up mechanism 120, taking Fig. 1 as an example, the height direction of the pick-up mechanism 120 is the direction indicated by any arrow on the straight line S1 in Fig. ₁ , and the length direction of the pick-up mechanism 120 is The direction indicated by any arrow on the straight line _S2 in Figure 1. When the lifting mechanism 130 drives the picking mechanism 120 to move along the direction indicated by the arrow on the line S ₁ , it can make the picking mechanism 120 approach or move away from the tray mechanism 110 , so as to pick up or release the product 200 . When the traversing mechanism 140 drives the pick-up mechanism 120 to move along the direction indicated by the arrow on the straight line _S2 , the pick-up mechanism 120 can be moved close to or away from the detection mechanism 150, thereby moving the product to be detected to the detection mechanism 150 for detection, and the The detection product moves away from the detection area of the detection mechanism 150 . In the embodiment of the present application, while the traversing mechanism 140 drives the pick-up mechanism 120 to move along the direction indicated by the arrow on the straight line _S2 , the lifting mechanism 130 can also drive the pick-up mechanism 120 to move along the direction indicated by the arrow on the straight line _S1 .

Among them, the product 200 can be a complete machine or parts produced in industries such as furniture, toys, electronic products, automobiles, hardware, etc. that need to be inspected for appearance quality. Exemplarily, the product 200 may be an accessory of an electronic product, such as a mobile phone case, a mobile phone middle frame, a watch case, a battery, a Bluetooth earphone case, a power adapter, a screen glass, and the like. It can be understood that, according to the different specifications of the product 200, the tray mechanism 110 for placing the product 200, the pick-up mechanism 120 for picking up the product 200, the lifting mechanism 130 and the traverse mechanism 140 for moving the product, and the The specifications of the inspection mechanism 150 and other mechanisms for the appearance of the 200 can be designed accordingly to match the specifications of the product 200 . For example, when the specification of the product 200 is small, the size of the above-mentioned mechanisms can also be designed to be smaller, so that the entire product appearance defect detection device 100 occupies a small area and is suitable for various workplaces. Or, when the specification of the product 200 is relatively large, the size of each of the above-mentioned mechanisms can also be actually larger, so that the product appearance defect detection device 100 can be applied to the appearance detection of various large parts with a high degree of automation.

In one embodiment, please refer to FIG. 1 and FIG. 2 , the tray mechanism 110 may include a tray 111 and a displacement assembly 112 . The tray 111 is movably connected with the displacement assembly 112, and the displacement assembly 112 can drive the tray 111 to move along the width direction of the pick-up mechanism 120 (the embodiment of the present application may be referred to as the first direction), for example, along the direction of the straight line _S3 shown in FIG. 1 . In this way, the displacement component 112 cooperates with the lifting mechanism 130 and the traverse mechanism 140 to realize the three-axis displacement movement of the picking mechanism 120 relative to the product 200 inside the tray mechanism 110, which is beneficial to improving the convenience of picking the product 200 by the picking mechanism 120, and furthermore It is beneficial to improve the accommodating capacity and working efficiency of the tray mechanism 110 . Taking Fig. 1 as an example, for the product 200, through the cooperation between the displacement assembly 112, the lifting mechanism 130 and the traverse mechanism 140, the product 200 can be driven to move in the direction of the straight line _S3 , move in the direction of the straight line _S1 and Movement in the direction of straight line _S2 .

Wherein, in order to further understand and illustrate the width direction of the pick-up mechanism 120, taking FIG. 1 as an example, the width direction of the pick-up mechanism 120 is the direction indicated by any arrow on the line _S3 in FIG. 1 .

Optionally, the displacement component 112 can be an air cylinder, a motor-driven module, a hydraulic-driven module or other displacement devices.

As an example but not a limitation, referring specifically to Fig. 1 and Fig. 2, the displacement component 112 can be a servo module, for example, a servo motor is used to make the position output of the tray 111 follow any change in the input value (or given value) . In this way, the electric drive mode is easy to use, has strong working reliability, high speed, high running precision, and is easy to replace, which is conducive to improving the convenience of maintenance of the displacement assembly 112 and at the same time can ensure the advantage of the production cycle. It should be noted that this embodiment only provides a specific implementation of the displacement assembly 112, but the application is not limited thereto, and the displacement assembly 112 can also adopt other methods that can move the tray 111 along the direction of the straight line _S3 . The driving device will not be described in detail here.

In one embodiment, referring to FIG. 1 and FIG. 3 , there are at least two lifting mechanisms 130 , picking mechanisms 120 and tray mechanisms 110 . Exemplarily, please refer to FIG. 1 , there are two lifting mechanisms 130 , picking mechanisms 120 and tray mechanisms 110 . The two lifting mechanisms 130 are drivingly connected to the traverse mechanism 140, the two picking mechanisms 120 are respectively drivingly connected to the two lifting mechanisms 130, the two tray mechanisms 110 are set in one-to-one correspondence with the two picking mechanisms 120, and the two trays The mechanism 110 is disposed at opposite ends of the detection mechanism 150 along the length direction of the pick-up mechanism 120 (the direction of the straight line _S2 shown in the figure).

For convenience of description, in the following embodiments, the picking mechanism 120 on the left of the detection mechanism 150 shown in FIG. 1 is called the first picking mechanism, and the picking mechanism 120 on the right of the testing mechanism 150 is called the second picking mechanism. The lifting mechanism 130 drivingly connected with the first picking mechanism is called the first lifting mechanism, and the lifting mechanism 130 connected with the second picking mechanism is called the second lifting mechanism. Correspondingly, the tray mechanism 110 corresponding to the first picking mechanism is called the first tray mechanism, and the tray mechanism 110 corresponding to the second picking mechanism is called the second tray mechanism.

In this way, two sets of independent production systems can be formed, wherein one set of production systems includes the first lifting mechanism, the first pick-up mechanism and the first tray mechanism, for the convenience of description, hereinafter referred to as the first production system; the other set of production systems includes The second lifting mechanism, the second picking mechanism and the second tray mechanism are referred to as the second production system hereinafter for the convenience of description. By setting staggered production beats, when the first pick-up mechanism (that is, the pick-up mechanism 120 on the left side of the detection mechanism 150) picks and places the product 200, the detection mechanism 150 can complete the second pick-up mechanism (that is, the pick-up mechanism 120 on the right side of the detection mechanism 150) The picked product 200 is inspected. After the detection is completed, the second pick-up mechanism moves the tested product 200 away from the detection area of the detection mechanism 150, just to switch the product 200 picked up by the first pick-up mechanism to enter the detection. In conjunction with FIG. 1 , for example, when the first pick-up mechanism is located in the detection area of the detection mechanism 150, the second pick-up mechanism may be located in the pick-up area of the second tray mechanism, and the detection mechanism 150 detects the product 200 picked up by the first pick-up mechanism. After completion, the traverse mechanism 140 can drive the first pick-up mechanism and the second pick-up mechanism to move to the direction where the first tray mechanism is located at the same time, so that the first pick-up mechanism is located in the pick-up area of the first tray mechanism, and the second pick-up mechanism is located in the detection area. Mechanism 150 detection area. That is to say, the traverse mechanism 140 can drive the first pick-up mechanism and the second pick-up mechanism to move in the same direction, so that the first pick-up mechanism reciprocates between the detection area of the detection mechanism 150 and the pick-up area of the first tray mechanism , and make the second pick-up mechanism reciprocate between the detection area of the detection mechanism 150 and the pick-up area of the second tray mechanism.

In this way, the left and right two groups of systems reciprocate and alternately cycle, and the detection mechanism 150 is always in the detection state, which can ensure that the detection mechanism 150 does not stop, thereby balancing the action time of each station and effectively improving production efficiency. At the same time, the space size can be saved, which is beneficial to improve the compactness of the product appearance defect detection device 100 .

In one embodiment, referring to FIG. 1 and FIG. 3 , the pick-up mechanism 120 may include a pick-up seat 121 and a first pick-up member 122 . The first picker 122 is connected to the picker seat 121 , and the first picker 122 is used to pick up and release the product 200 .

In some embodiments, the first picking member 122 is detachably connected to the picking base 121 . In this way, when the first pick-up piece 122 is damaged or fails, the first pick-up piece 122 can be easily replaced, avoiding delays in production time, which is conducive to improving work efficiency. At the same time, by changing the type of the first pick-up piece 122, it can be compatible with products of different specifications The appearance defect detection work of 200 is conducive to improving the compatibility and use quality of the product appearance defect detection device 100 .

Further, referring to FIG. 1 and FIG. 3 , the pick-up base 121 is rotatably connected to the lifting mechanism 130 , that is, the pick-up base 121 is rotatable relative to the lift structure 130 . In this way, when the detection mechanism 150 detects the product 200 on the first pick-up member 122, the rotation of the first pick-up member 122 can be driven by the rotation of the pick-up seat 121, so the range of the detection angle can be increased, and the detection mechanism 150 can further be improved. Work efficiency and detection effect.

In the embodiment of the present application, the pick-up seat 121 can rotate around an axis parallel to the straight line _S2 . For the convenience of description, this axis is referred to as the first axis in the following embodiments, denoted by _D1 . In some embodiments, as shown in FIG. 3 , the first axis D ₁ passes through the center of the pick-up base 121 , that is, the pick-up base 121 can rotate around an axis that passes through its center and is parallel to the direction S ₂ . When the angle of rotation of the pick-up seat 121 around the first axis _D1 is small, for example, the rotation angle is less than 90°, the detection mechanism 150 can detect that the product 200 is facing the surface of the detection mechanism 150 (for example, the third surface of the product 200 ) of one or more angles. When the angle of rotation of the pick-up base 121 around the first axis _D1 is relatively large, for example, the rotation angle exceeds 90°, the detection mechanism 150 can respectively detect each other from the third surface in the circumferential direction around the first axis _D1 . At least one of multiple surfaces that intersect and are continuous.

In some embodiments, the angle range in which the pick-up base 121 rotates around the first axis _D1 can be determined according to the detection range of the detection mechanism 150 when the pick-up base 121 rotates around the first axis _D1 . As an example and not a limitation, if the product 200 is a cuboid or a cube, when the pick-up base 121 is in the initial position, the third surface of the product 200 faces the detection mechanism 150, and the pick-up base 121 in this state can be rotated around the first axis _D1 . The angle is set to 0. During the rotation process of the pick-up base 121 around the first axis _D1 , the detection mechanism 150 needs to detect the third surface of the product and the second surface connected to the third surface in the circumferential direction of the rotation around the first axis _D1 , then the pick-up base 121 The angle of rotation around the first axis _D1 can range from 0° to 90°, wherein when the angle of rotation of the pick base 121 around the first axis _D1 is 90°, the second surface of the product 200 faces the detection mechanism 150 .

In some embodiments, during the rotation of the pick-up seat 121 around the first axis _D1 , it can pause for a preset time at one or more first detection angles, so that the detection mechanism 150 can detect the product 200 at the one or more first detection angles. Appearance inspection is carried out under the first inspection angle. For example, still taking the product 200 as a cuboid or a cube as an example, the pick-up seat 121 can keep the preset time still when the rotation angle is 90° during the process of rotating the pick-up base 121 around the first axis _D1 , so that the detection mechanism 150 can detect the product 200. The second surface is detected.

It should be noted that the above is only a specific example provided by the present application. When the specifications and shapes of the products 200 are different, the detection range of the detection mechanism 150 when the pick-up base 121 rotates around the first axis _D1 is different. Correspondingly, the pick-up The rotation angle ranges of the seat 121 around the first axis _D1 are different. In practical applications, the angle range in which the pick-up base 121 rotates around the first axis _D1 can be determined according to actual requirements, which is not specifically limited in this embodiment of the present application.

It can be understood that, in the embodiment of the present application, since the first pick-up member 122 is connected to the pick-up seat 121, when the pick-up seat 121 rotates around the first axis D1, the first pick-up member 122 also rotates around the first axis _D1 . Therefore, the foregoing description of the rotation of the pick-up base 121 around the first axis _D1 can also be replaced by the rotation of the first pick-up member 122 around the first axis _D1 .

Optionally, as shown in FIGS. 1 and 3 , the first pick-up member 122 may also be rotatably connected to the pick-up seat 121 . In this way, when the detection mechanism 150 detects the product 200 on the first picker 122 , the rotation of the first picker 122 can increase the detection angle and detection position, further improving the detection effect of the product 200 .

In the embodiment of the present application, the first pick-up member 122 can rotate around an axis parallel to the straight line _S1 . For convenience of description, this axis is referred to as a second axis in the following embodiments, denoted by _D2 . In some embodiments, the second axis D ₂ passes through the center of the first pick-up member 122 , that is, the first pick-up member 122 can rotate around an axis passing through its center and parallel to the direction S ₁ . Then, if the first pick-up piece 122 is in contact with the first surface of the product 200, when the angle of rotation of the first pick-up piece 122 around the second axis _D2 is small, for example, the rotation angle is less than 90°, the detection mechanism 150 can detect One or more angles to the surface of the product 200 facing the detection mechanism 150 (ie, the third surface). When the first pick-up member 122 rotates at a relatively large angle around the second axis _D2 , for example _, the rotation angle exceeds 90°, the detection mechanism 150 can detect the In other words, the detection mechanism 150 can detect at least one surface among the multiple surfaces surrounding the first surface.

In some embodiments, the angular range of the rotation of the first pickup 122 around the second axis _D2 can be determined according to the detection range of the detection mechanism 150 when the first pickup 122 rotates around the second axis _D2 . As an example and not limitation, if the product 200 is a cuboid or a cube, when the first pick-up member 122 is in the initial position, the third surface of the product 200 is facing the detection mechanism 150, and the first pick-up member 122 in this state can be rotated around the second axis The angle of rotation of D ₂ is set to 0°. During the rotation of the first picker 122 around the second axis _D2 , the detection mechanism 150 needs to detect the third surface of the product and at least one surface connected to the third surface in the circumferential direction of rotation around the second axis _D2 , then the first The rotation angle of a picker 122 around the second axis _D2 may range from 0° to 360°. Wherein, when the angle that the first pick-up member 122 rotates around the second axis _D2 is 90°, the fourth surface connected to the third surface of the product 200 faces the detection mechanism 150; when the first pick-up member 122 rotates around the second axis When _D2 rotates at an angle of 180°, the fifth surface connected to the fourth surface of the product 200 faces the detection mechanism 150; when the first picker 122 rotates at an angle of 270° around the second axis _D2 , the product 200 The sixth surface connected to the fifth surface faces the detection mechanism 150 ; when the first picker 122 rotates 360° around the second axis D ₂ , the third surface of the product 200 faces the detection mechanism 150 again.

That is to say, in the embodiment of the present application, for the convenience of description, for a cuboid or cube product 200 , the surface facing the detection mechanism 150 when the first picker 122 is in the initial state can be defined as the third surface. In the circumferential direction of rotation around the second axis _D2 , the surfaces that are directly or indirectly connected to the third surface are sequentially defined as the fourth surface, the fifth surface and the sixth surface, wherein the third surface is opposite to the fifth surface, and the third surface The fourth surface is set opposite to the sixth surface. A surface in contact with the first pickup 122 is defined as a first surface, and a surface opposite to the first surface is defined as a second surface.

In some embodiments, the first picker 122 can rotate in the same direction around the second axis _D2 , for example, the first picker 122 can rotate clockwise around the second axis _D2 , or counterclockwise around the second axis _D2 . . Correspondingly, during the rotation process of the first picker 122 around the second axis _D2 , the third surface, the fourth surface, the fifth surface and the sixth surface face the detection mechanism 150 sequentially, or the third surface and the sixth surface , the fifth surface, and the fourth surface face the detection mechanism 150 in turn. If the third surface of the product 200 faces the detection mechanism 150, and the angle of the first pick-up member 122 is set to 0°, then the range of the angle of rotation of the first pick-up member 122 around the second axis _D2 can be [0, a] , where a is greater than 0° and less than or equal to 360°, for example, a can be 30°, 60°, 90°, 120°, 150°, 180°, 210°, 240°, 270°, 300°, 330°, 360° etc.

In some embodiments, the first picker 122 can rotate in two opposite directions around the second axis _D2 , for example, the first picker 122 can rotate clockwise around the second axis _D2 , or can rotate around the second axis _D2 Anticlockwise rotation. For example, when the first pick-up member 122 rotates clockwise around the second axis _D2 , the sixth surface faces the detection mechanism 150 behind the third surface; when the first pick-up member 122 rotates counterclockwise around the second axis _D2 , The fourth surface faces the detection mechanism 150 behind the third surface. If the third surface of the product 200 faces the detection mechanism 150, and the angle of the first pick-up member 122 is set to 0°, then the range of the angle of rotation of the first pick-up member 122 around the second axis _D2 can be [-b, c ], where b is greater than or equal to 0° and less than or equal to 180, c is greater than or equal to 0° and less than or equal to 180°, and b and c are not 0° at the same time. For example, b or c can be 30°, 60°, 90°, 120°, 150°, 180°, etc.

It should be noted that the "clockwise" and "counterclockwise" involved in the above embodiments are based on the direction from the side of the product 200 away from the first picker 122 to the side where the product 200 is picked up by the first picker 122 Defined. Assuming that the product 200 is a cuboid or cube, the direction is the direction from the second surface to the first surface.

In some embodiments, during the rotation of the first picker 122 around the second axis _D2 , it can pause for a preset time at one or more third detection angles, so that the detection mechanism 150 can detect the product 200 at one or more third detection angles. Perform appearance inspection under multiple third inspection angles. For example, still taking the product 200 as a cuboid or cube and the first pick-up member 122 rotating in the same direction around the second axis _D2 as an example, the process of the first pick-up member 122 rotating around the second axis _D2 can be performed at a rotation angle of When it is 0°, 90°, 180°, 270°, keep the preset time still, so that the detection mechanism 150 can detect the third surface, the fourth surface, the fifth surface, and the sixth surface of the product 200 respectively.

It should be noted that the above is only a specific example provided by the present application. When the specifications and shapes of the products 200 are different, the detection range of the detection mechanism 150 when the first picker 122 rotates around the second axis _D2 is different. , the angle ranges in which the first pick-up member 122 rotates around the second axis _D2 are different. In practical applications, the angle range in which the first pick-up member 122 rotates around the second axis _D2 can be determined according to actual requirements, which is not specifically limited in this embodiment of the present application.

In the above-described embodiments, the rotation of the pick-up base 121 around the first axis _D1 and the rotation of the first pick-up member 122 around the second axis _D2 can drive the product ₂₀₀ to rotate around the first axis D1 and around the second axis. The rotation of D ₂ is convenient for the inspection mechanism 150 to perform appearance inspection on one or more surfaces of the product 200 .

In some other embodiments, the pick-up base 121 can be fixed relative to the lifting mechanism 130, and the first pick-up member 122 can rotate around the first axis D1 parallel to the straight line _S2 relative to the pick-up base 121, and can rotate around the first axis _D1 parallel to the straight line S2. The second axis _D2 of _S1 rotates. For example, the first pick-up member 122 is connected to the pick-up seat 121 through a universal joint (such as a spherical cage type universal joint), and this solution can also drive the product 200 to rotate around the first axis _D1 and around the second axis _D2 , which is convenient for detection Mechanism 150 performs visual inspection of one or more faces of product 200 .

In some embodiments, as shown in FIGS. 1 to 3 , the first pick-up member 122 can rotate around an axis parallel to the straight line _S2 . For the convenience of description, the following embodiments refer to this axis as the fifth axis, as shown in FIG. 3, represented by D ₃ . In some embodiments, the fifth axis _D3 passes through the connection area between the first pick-up piece 122 and the pick-up seat 121, that is to say, the first pick-up piece 122 can also pass through the first pick-up piece 122 and the pick-up seat 121. Pick up the connection area between the seats 121 and rotate the axis parallel to the direction of S2. Then, if the first pick-up piece 122 is in contact with the first surface of the product 200, when the angle of rotation of the first pick-up piece 122 around the fifth axis _D3 is small, for example, the rotation angle is less than 90°, the detection mechanism 150 can detect One or more angles to the surface of the product 200 facing the detection mechanism 150 (ie, the third surface). When the first pick-up member 122 rotates around the fifth axis _D3 at a relatively large angle, for example, the rotation angle exceeds 90°, the detection mechanism 150 can detect the rotation from the third pick-up member 122 in the circumferential direction around the fifth axis _D3 The surface is at least one of a plurality of surfaces that intersect each other and are continuous.

In the embodiment of the present application, the process of the first pick-up member 122 rotating around the fifth axis _D3 is similar to the process of the pick-up base 121 rotating around the first axis _D1 , so the rotation process of the first pick-up member 122 around the fifth axis _D3 For the angle range, the first pick-up member 122 resting at one or more fixed angles for a preset time when it rotates around the fifth axis _D3 , etc., please refer to the relevant description above about the rotation of the pick-up base 121 around the first axis _D1 for brevity. , which will not be repeated here.

Optionally, in some embodiments, the pick-up seat 121 is rotatable around the first axis _D1 , and/or the first pick-up member 122 is rotatable around the fifth axis _D3 .

It can be understood that, the pick-up seat 121 rotates around the first axis _D1 , and may be replaced by the first pick-up member 122 rotating around the first axis _D1 . The first axis D ₁ and the fifth axis D ₃ are parallel to each other and parallel to the straight line S ₂ . Therefore, in the embodiment of the present application, the fifth axis _D3 can be regarded as an example of the first axis D1. That is to say, the first axis D ₁ may pass through the center of the pick-up seat 121 , or may pass through the connection area between the first pick-up member 122 and the pick-up seat 121 , which is not limited in this embodiment of the present application.

Optionally, the way the first picker 122 picks up the product 200 may be suction, clamping, lifting, magnetic attraction or other picking ways.

In some embodiments, please refer to FIG. 1 and FIG. 3 , the first picker 122 may be a vacuum chuck. The suction and discharge of the vacuum chuck can achieve the effect of picking up and releasing the product 200. This method is conducive to avoiding secondary damage to the product 200 and improving the rate of yield. At the same time, the operation is simple and the cost is low, which is beneficial to improving economic benefits. This embodiment only provides a specific implementation manner of the first pick-up member 122, but it is not limited thereto.

Further, in some embodiments, please refer to FIG. 1 and FIG. 3 , there are more than two first pick-up parts 122 . More than two first picking members 122 are arranged at intervals on the picking seat 121 . Exemplarily, the two or more first pick-up members 122 are arranged at intervals along the direction indicated by the straight line _S2 on the pick-up seat 121 . In this way, more than two first pickers 122 working at the same time can perform batch appearance defect inspection on more than two products 200 at the same time, which is beneficial to greatly improve production efficiency.

Wherein, more than two first pickers 122 can pick up and release the products 200 in batches at the same time, or can work independently, and one or several of them can pick and place the products 200 . Illustrating, take four first pick-up pieces 122 arranged at intervals on the pick-up seat 121 as shown in FIG. Product 200. Alternatively, after the inspection of the products 200 picked up by some of the first pickers 122 among the four first pickers 122 is completed, another part of the first pickers 122 picks up the products 200 for appearance inspection. It can be understood that the workflow of more than two first pickers 122 in the above example is only for illustration, and the present application is not limited thereto.

Optionally, the inspection mechanism 150 may use visual inspection, ultrasonic non-destructive inspection, eddy current inspection, radiographic inspection or other inspection methods to detect appearance defects of the product 200 .

In one embodiment, please refer to FIG. 1 and FIG. 4 , the detection mechanism 150 may include a detection seat 151 and a camera assembly 152, the detection seat 151 is used to support the camera assembly 152, and the camera assembly 152 is used to take pictures of the product 200 to be inspected, The images obtained by the camera component 152 can be used to inspect the appearance of the product 200 . In this way, through the way of camera imaging, it is beneficial to realize the automatic detection of machine vision on the appearance of product 200 including cracks, chipping, deformation, scratches, stains, burrs, and pitting, and it can also be visually detected by artificial intelligence. It is beneficial to improve the identification and detection efficiency of defects.

In the embodiment of the present application, by using the standard image training model, the detection mechanism 150 can meet the detection of fast appearance defects of different products 200. By canceling the image, it can automatically train and achieve the function of accurate training, which is beneficial to shorten the engineer's time. Debugging time is reduced, and the quality of use of the detection mechanism 150 is improved.

In one embodiment, as shown in FIG. 4 , the camera assembly 152 is movably connected with the detection seat 151 .

In some embodiments, the camera assembly 152 can move along the width direction of the pick-up mechanism 120 relative to the detection seat 151 , for example, along the direction of the straight line _S3 shown in FIG. 4 . That is, the camera assembly 150 may move away from or approach the product 200 being inspected. In this way, the distance between the camera component 152 and the inspected product 200 can be adjusted, so that the camera component 152 can obtain a clear image, which is beneficial for subsequent analysis of appearance defects.

Optionally, the camera assembly 152 can also move along the length direction of the pick-up mechanism 120 relative to the detection seat 151 , for example, along the direction of the straight line _S2 shown in FIG. 4 . That is, the camera assembly 152 can move left and right relative to the product 200 . Taking the third surface of the product 200 facing the detection mechanism 150 as an example, the camera assembly 152 can move along the direction of the straight line _S2 in a plane parallel to the third surface. In this way, if the camera assembly 152 only photographs a local area of a certain surface facing the detection mechanism 150 on the inspected product 200 at a time, by controlling the camera assembly 152 to move along the direction of the straight line _S2 , the camera assembly 152 can be sequentially photographed on the surface. a plurality of partial regions, thereby obtaining a plurality of appearance images corresponding to the surface, wherein each appearance image in the plurality of appearance images corresponds to a partial region of the surface.

In some embodiments, please refer to FIG. 1 and FIG. 4 , there are at least two camera components 152 . The at least two camera assemblies 152 are arranged at intervals on the detection base 151 . Exemplarily, the at least two camera assemblies 152 are arranged at intervals along the direction indicated by the straight line S ₂ on the detection seat 151 . In this way, the at least two camera components 152 can work at the same time, so that batch appearance defect detection can be performed on more than two products 200 at the same time, which is beneficial to greatly improving production efficiency.

In some embodiments, the number of camera assemblies 152 matches the number of first pickers 122 , for example, the number of camera assemblies 152 is equal to the number of first pickers 122 included in a production system. In this way, each camera assembly 152 can take images of corresponding products 200 respectively, and multiple camera assemblies 152 carry out appearance inspection to the products 200 (that is, a plurality of products 200) picked up by a plurality of first pickers 122 at the same time, and the detection efficiency is improved. be greatly enhanced.

In some embodiments, the focal length of camera assembly 152 is a fixed value. For example, the camera assembly 152 includes a fixed focus lens. In this way, during imaging, the position of the product to be inspected 200 and the position of the camera assembly 152 are relatively fixed, as long as the product to be inspected 200 and the camera assembly 152 are moved to their respective preset positions, a clear image can be obtained.

In some embodiments, the focal length of camera assembly 152 may vary. For example, the camera assembly 152 includes a zoom lens. In this way, during imaging, clear imaging can be obtained by adjusting the distance between the product 200 to be inspected and the camera assembly 152 .

In one embodiment, please refer to FIG. 1 and FIG. 4 , the detection seat 151 may include a first servo module 1511 and a second servo module 1512 . The camera assembly 152 is drivingly connected to the first servo module 1511 through the second servo module 1512, and the first servo module 1511 and the second servo module 1512 respectively drive the camera assembly 152 to move along the length direction and the width direction of the pick-up mechanism 120, That is, the camera assembly 152 is driven to move along the direction of the straight line _S2 shown in FIG. 4 , and to move along the direction of the straight line _S3 shown in FIG. 4 . In this way, under the drive of the first servo module 1511 and the second servo module 1512, the camera assembly 152 can move left and right and forward and backward relative to the product 200 to be detected, so that the detection angle of the product 200 can be adjusted, which is beneficial Improve visual inspection effect and accuracy.

In some other embodiments, the first servo module 1511 and the second servo module 1512 in the detection seat 151 can also be replaced by other hydraulic drive devices and pneumatic devices to realize the displacement of the camera assembly 152 in the plane.

To put it simply, in the above embodiment, the left and right movement of the camera assembly 152 relative to the inspected product 200 is realized by controlling the camera assembly ₁₅₂ to move along the direction of the straight line S2 shown in FIG. 4 .

Optionally, in some other embodiments, it is also possible to control the pick-up mechanism 120 to move along the direction of the straight line _S2 shown in FIG. The detection angle of 200 can be adjusted.

Specifically, after the pick-up mechanism 120 moves the product 200 to be detected to the opposite side of the detection mechanism 150 through the driving of the lifting mechanism 130 and the traverse mechanism 140, that is, after the picking process of the product 200 is completed, the appearance of the product 200 is carried out. During the inspection process, the pick-up mechanism 120 can drive the inspected product 200 to move along the length direction of the pick-up mechanism 120 , for example, along the direction of the straight line _S2 shown in FIG. 4 . That is, during the inspection process, the product 200 can move left and right relative to the camera assembly 152 . In this way, if the camera assembly 152 only photographs a local area of a certain surface facing the detection mechanism 150 on the inspected product 200 at a time, by controlling the pick-up mechanism 120 (that is, the product 200) to move along the direction of the straight line _S2 , the camera assembly can be Step 152 sequentially photographs multiple local areas of the surface, so as to obtain multiple appearance images corresponding to the surface, wherein each appearance image in the multiple appearance images corresponds to a local area of the surface.

In some embodiments, please refer to FIG. 1 and FIG. 4 , the detection mechanism 150 further includes a light source 153 , and the light source 153 is spaced from the camera assembly 152 . In this way, the supplementary light of the light source 153 is beneficial to improve the imaging quality of the camera, thereby improving the detection quality and overall detection efficiency of different products 200 .

Optionally, the type of the light source 153 may be a linear light source, a ring light source, a four-sided light source, an original top light source, a surface light source, a point light source or other supplementary light devices, which is not limited in this embodiment of the present application.

As an example but not a limitation, please refer to FIG. 1 and FIG. 4 , the light source 153 may include a coaxial light source and a bar-shaped light source. In this way, according to the detection requirements of different products 200, the detection capability can be satisfied by fine-tuning the angle, light intensity, color temperature and other parameters of the light source 153, and at the same time, it is beneficial to improve the compatibility of the detection mechanism 150 and the detection effect on the appearance defects of the product 200.

In some embodiments, the number of light sources 153 matches the number of camera assemblies 152 , for example, the number of light sources 153 is equal to the number of camera assemblies 152 . In this way, each camera assembly 152 corresponds to an independent light source 153, which is beneficial for each camera assembly 152 to work independently, so as to adapt to the combined allocation of multiple camera assemblies 152 in the detection process.

In one embodiment, please refer to FIG. 1 , FIG. 5 and FIG. 6 , the product appearance defect detection device 100 may further include a transfer mechanism 160 . The handover mechanism 160 and the detection mechanism 150 are arranged at intervals along the width direction of the pick-up mechanism 120 , and the handover mechanism 160 is used to drive the product 200 to rotate so as to change the detection angle of the product 200 by the detection mechanism 150 . In this way, after the detection mechanism 150 detects the product 200 on the pick-up mechanism 120, the transfer mechanism 160 picks up the product 200 from the pick-up mechanism 120, and then drives the product 200 to rotate, so that the angle of the product 200 relative to the camera assembly 152 changes, thereby realizing The detection mechanism 150 detects appearance defects at other angles and sides of the product 200, effectively improving detection efficiency and accuracy.

Specifically, in some embodiments, please refer to FIG. 1 , FIG. 5 and FIG. 6 , the handover mechanism 160 may include a second picker 161 , a handover seat 162 and a rotating seat 163 . The second pick-up piece 161 is arranged on the transfer seat 162, and the second pick-up piece 161 is used for picking up and releasing the product 200, more specifically, the second pick-up piece 161 is used for connecting the second pick-up piece 161 with the first pick-up piece 122. Pass product 200 between. The transfer seat 162 is rotatably connected with the rotation seat 163. As shown in FIG. 6, the transfer seat 162 can rotate on the rotation seat 163 around an axis parallel to the straight line _S2 . For the convenience of description, the following embodiments refer to this axis as the third axis , represented by _Z1 . In this way, after the second picker 161 picks up the product 200 from the first picker 122 , the transfer seat 162 rotates relative to the rotating seat 163 , so as to realize the rotation of the product 200 , and then make the detection mechanism 150 detect other angles of the product 200 .

As previously mentioned, if the first pick-up member 122 of the pick-up mechanism 120 is in contact with the first surface of the product 200, then when the handover mechanism 160 picks up the product 200 from the pick-up mechanism 120, the second pick-up member 161 can be in contact with the product 200. The seventh surface is in contact with the first surface, wherein the seventh surface is a surface different from the first surface, for example, the seventh surface can be a surface intersecting with the first surface, or the seventh surface can also be a surface opposite to the first surface s surface.

In some embodiments, as shown in FIG. 6 , the third axis Z ₁ passes through the center of the transfer seat 162 , that is, the transfer seat 162 can rotate around an axis that passes through its center and is parallel to the direction S ₂ . When the rotation angle of the transfer base 162 around the third axis _Z1 is small, the camera assembly 152 can detect other angles of the surface of the product 200 facing the camera assembly 152 (eg, the third surface of the product 200 ). When the joint seat 162 rotates around the third axis _Z1 at a relatively large angle, the camera assembly 152 can detect at least one of the multiple surfaces that intersect each other and are continuous from _the third surface in the circumferential direction around the third axis Z1 one face. In this way, when the detection mechanism 150 detects the product 200 on the second picker 161 , the rotation of the transfer seat 162 can increase the detection angle range, thereby improving the working efficiency and detection effect of the detection mechanism 150 .

In some embodiments, the angle range in which the transfer seat 162 rotates around the third axis _Z1 can be determined according to the detection range of the detection mechanism 150 when the transfer seat 162 rotates around the third axis _Z1 . As an example and not a limitation, if the product 200 is a cuboid or a cube, after the product 200 is picked up by the first pick-up member 122, the third surface of the product 200 is facing the detection mechanism 150, and the first surface of the product 200 is in contact with the first pick-up member 122 . After the detection mechanism 150 has detected the product on the first pick-up piece 122, the delivery mechanism 160 picks up the product 200 from the pick-up mechanism 120, and the second surface of the product 200 contacts the second pick-up piece 161, and the second surface is in contact with the second pick-up piece 161. On the opposite side of the first surface, one of the third surface, the fourth surface, the fifth surface or the sixth surface of the product 200 faces the detection mechanism 150 . When the delivery mechanism 160 picks up the product 200 from the picking mechanism 120 , the rotation angle of the delivery seat 162 around the third axis _Z1 is set to zero. During the rotation process of the transfer seat 162 around the third axis _Z1 , the detection mechanism 150 needs to detect at least the first surface of the product 200 (that is, the surface that is not detected when the product 200 is picked up by the first picker 122), then the transfer seat The angle of rotation of 162 around the third axis _Z1 can range from 0° to 90°, wherein when the angle of rotation of the transfer seat 162 around the third axis _Z1 is 90°, the first surface of the product 200 faces the detection mechanism 150 .

In some embodiments, during the rotation of the transfer base 162 around the third axis _Z1 , it can be paused for a preset time at one or more second detection angles, so that the detection mechanism 150 can detect the product 200 at the one or more second detection angles. Appearance detection is performed under the second detection angle. For example, still taking the product 200 as a cuboid or a cube as an example, the process of the transfer seat 162 rotating around the third axis _Z1 can be kept still for a preset time when the rotation angle is 90°, so that the detection mechanism 150 can check the product 200 for the first time. A surface is tested.

It should be noted that the above is only a specific example provided by the present application. When the specifications and shapes of the products 200 are different, the detection range of the detection mechanism 150 when the transfer seat 162 rotates around the third axis _Z1 is different. Correspondingly, the transfer The rotation angle ranges of the seat 162 around the third axis _Z1 are different. In practical applications, the angle range in which the transfer seat 162 rotates around the third axis _Z1 can be determined according to actual needs, which is not specifically limited in this embodiment of the present application.

It can be understood that, in the embodiment of the present application, since the second pick-up member 161 is connected to the transfer seat 162, when the transfer seat 162 rotates around the third axis _Z1 , the second pick-up member 161 also rotates around the third axis _Z1 turn. Therefore, the foregoing description of the transfer seat 162 rotating around the third axis _Z1 can also be replaced by the second picker 161 rotating around the third axis _Z1 .

In the embodiment of the present application, the angular range of the pick-up seat 121 rotating around the first axis _D1 and the angle range of the transfer seat 162 around the third axis _Z1 can at least make the surface of the product 200 in contact with the first pick-up part 122 and the contact surface with the first pick-up part 122 The contacting surface of the second pickup 161 is detected by the detection mechanism 150 . In some embodiments, the angular range of the pick-up base 121 rotating around the first axis _D1 and the angle range of the transfer base 162 around the third axis _Z1 can make the product 200 rotate in the circumferential direction perpendicular to the direction indicated by the straight line _S2 . Each surface is detected by the detection mechanism 150 . As an example and not a limitation, if the product 200 is the aforementioned cuboid or cube as an example, then the angle range in which the pick-up seat 121 rotates around the first axis _D1 at least enables the first surface in contact with the first pick-up member 122 to be detected, The rotation angle range of the transfer seat 162 around the third axis _Z1 enables at least the second surface in contact with the second pick-up member 161 to be detected.

Optionally, in some embodiments, as shown in FIG. 6 , the second pick-up member 161 may also be rotatably connected to the connecting seat 162 . In this way, when the detection mechanism 150 detects the product 200 on the second picker 161 , the detection angle and detection position can be increased to further improve the detection effect of the product 200 .

In the embodiment of the present application, the second pick-up member 161 can rotate around an axis parallel to the straight line S ₁ , for convenience of description, this axis is referred to as a fourth axis in the following embodiments, denoted by Z ₂ . In some embodiments, the fourth axis Z ₂ passes through the center of the second pick-up member 161 , that is, the second pick-up member 161 can rotate around an axis passing through its center and parallel to the direction S ₁ . Then, if the second pick-up piece 161 is in contact with the second surface of the product 200, when the second pick-up piece 161 rotates around the fourth axis _Z2 at a small angle, for example, the rotation angle is less than 90°, the detection mechanism 150 can detect One or more angles to the surface of the product 200 facing the detection mechanism 150 (eg, the third surface, the fourth surface, the fifth surface, or the sixth surface). When the second pick-up member 161 rotates at a relatively large angle around the fourth axis _Z2 , for example, the rotation angle exceeds 90°, the detection mechanism 150 can respectively detect at least one surface in the circumferential direction around the fourth axis _Z2 , In other words, the detection mechanism 150 can detect at least one surface among the multiple surfaces surrounding the second surface.

In some embodiments, the angular range of rotation of the second pick-up member 161 around the fourth axis _Z2 can be determined according to the detection range of the detection mechanism 150 when the second pick-up member 161 rotates around the fourth axis _Z2 . As an example and not a limitation, if the product 200 is a cuboid or a cube, when the second pick-up piece 161 picks up the product 200 from the first pick-up piece 122, the third surface of the product 200 is facing the detection mechanism 150. The rotation angle of the second picker 161 around the fourth axis _Z2 is set to 0°. During the rotation of the second picker 161 around the fourth axis _Z2 , the detection mechanism 150 can detect the third surface of the product and at least one surface connected to the third surface in the circumferential direction of rotation around the fourth axis _Z2 , then the first The rotation angle of the second picker 161 around the fourth axis Z ₂ may range from 0° to 360°. Wherein, when the angle that the second pick-up member 161 rotates around the fourth axis _Z2 is 90°, the fourth surface connected to the third surface of the product 200 faces the detection mechanism 150; when the second pick-up member 161 rotates around the fourth axis When Z ₂ rotates at an angle of 180°, the fifth surface connected to the fourth surface of the product 200 faces the detection mechanism 150; when the second picker 161 rotates at an angle of 270° around the fourth axis Z ₂ , the product 200 rotates at an angle of 270°. The sixth surface connected to the fifth surface faces the detection mechanism 150 ; when the second picker 161 rotates 360° around the fourth axis Z ₂ , the third surface of the product 200 faces the detection mechanism 150 again.

In some embodiments, the second picker 161 can rotate in the same direction around the fourth axis _Z2 , for example, the second picker 161 can rotate clockwise around the fourth axis _Z2 , or counterclockwise around the fourth axis _Z2 . Correspondingly, during the rotation process of the second pick-up member 161 around the fourth axis _Z2 , the third surface, the fourth surface, the fifth surface and the sixth surface face the detection mechanism 150 sequentially, or the third surface and the sixth surface , the fifth surface, and the fourth surface face the detection mechanism 150 in turn. If the third surface of the product 200 faces the detection mechanism 150, and the angle of the second pick-up member 161 is set to 0°, then the range of the angle of rotation of the second pick-up member 161 around the fourth axis _Z2 can be [0, a] , where a is greater than 0° and less than or equal to 360°, for example, a can be 30°, 60°, 90°, 120°, 150°, 180°, 210°, 240°, 270°, 300°, 330°, 360° etc.

In some embodiments, the second picker 161 can rotate in two opposite directions around the fourth axis _Z2 , for example, the second picker 161 can rotate clockwise around the fourth axis _Z2 , or can rotate around the fourth axis _Z2 Anticlockwise rotation. For example, when the second pick-up member 161 rotates clockwise around the fourth axis _Z2 , the sixth surface faces the detection mechanism 150 behind the third surface, and when the second pick-up member 161 rotates counterclockwise around the fourth axis _Z2 , The fourth surface faces the detection mechanism 150 behind the third surface. If the third surface of the product 200 is facing the detection mechanism 150, and the angle of the second pick-up member 161 is set to 0°, then the range of the angle of rotation of the second pick-up member 161 around the fourth axis _Z2 can be [-b, c ], where b is greater than or equal to 0° and less than or equal to 180, c is greater than or equal to 0° and less than or equal to 180°, and b and c are not 0° at the same time. For example, b or c can be 30°, 60°, 90°, 120°, 150°, 180°, etc.

It should be noted that the "clockwise" and "counterclockwise" involved in the above embodiments are based on the direction from the side of the product 200 away from the second picker 161 to the side where the product 200 is picked up by the second picker 161 Defined. Assuming that the product 200 is a cuboid or a cube, the direction is the direction from the first surface to the second surface.

In some embodiments, during the rotation of the second picker 161 around the fourth axis _Z2 , it can pause for a preset time at one or more fourth detection angles, so that the detection mechanism 150 can detect the product 200 at one or more fourth detection angles. Appearance inspection is performed under multiple fourth inspection angles. For example, still taking the product 200 as a cuboid or cube and the second pick-up member 161 rotating in the same direction around the fourth axis _Z2 as an example, the process of the second pick-up member 161 rotating around the fourth axis _Z2 can be performed at a rotation angle of When it is 0°, 90°, 180°, 270°, keep the preset time still, so that the detection mechanism 150 can detect the third surface, the fourth surface, the fifth surface, and the sixth surface of the product 200 respectively.

It should be noted that the above is only a specific example provided by the present application. When the specifications and shapes of the products 200 are different, the detection range of the detection mechanism 150 when the second picker 161 rotates around the fourth axis _Z2 is different, and accordingly , the angle ranges in which the second picker 161 rotates around the fourth axis _Z2 are different. In practical applications, the angle range in which the second pick-up member 161 rotates around the fourth axis Z ₂ may be determined according to actual requirements, which is not specifically limited in this embodiment of the present application.

In some embodiments, the angular range of rotation of the first picker 122 around the second axis _D2 and the angular range of rotation of the second picker 161 around the fourth axis _Z2 can at least enable the product 200 to rotate around the direction indicated by the straight line _S1. Each surface in the circumferential direction of is detected by the detection mechanism 150 . For the convenience of description, the set of all the surfaces of the product 200 in the circumferential direction perpendicular to the direction indicated by the straight line _S1 is referred to as the third surface set for short. As an example but not a limitation, taking the product 200 as an example of the aforementioned cuboid or cube, the third surface set includes a third surface, a fourth surface, a fifth surface and a sixth surface that intersect continuously. Then the following situations can exist:

1) The angle range in which the first pick-up member 122 rotates around the second axis _D2 can make a surface where the third surface is concentrated (for example, any one of the third surface, the fourth surface, the fifth surface and the sixth surface) be selected. Detect, the angle range that the second pick-up piece 161 rotates around the fourth axis _Z2 can make the three surfaces that the third surface concentrates (other three surfaces except the aforementioned surface that has been detected when the first pick-up piece 122 picks up) is detected.

2) The angle range in which the first picker 122 rotates around the second axis _D2 can enable the detection of two surfaces where the third surface is concentrated (for example, two intersecting surfaces, or two opposite surfaces), and the second picker 161 The angle range of the rotation around the fourth axis Z ₂ enables the other two surfaces where the third surface is concentrated (the other two surfaces except the aforementioned surface that has been detected when the first picker 122 picks up) to be detected.

3) The angle range of the first pick-up member 122 rotating around the second axis _D2 can make the third surface concentrate on three surfaces (such as any three surfaces in the third surface, the fourth surface, the fifth surface and the sixth surface) ) is detected, and the angle range that the second pick-up piece 161 rotates around the fourth axis _Z2 can make a surface where the third surface is concentrated (the remaining surface except the aforementioned surface that has been detected when the first pick-up piece 122 picks up) is detected.

4) The angle range in which the first pick-up member 122 rotates around the second axis _D2 can enable all the surfaces where the third surface is concentrated to be detected, and the second pick-up member 161 does not rotate around the fourth axis _Z2 or the second pick-up member 161 rotates around the second axis Z2. The angular range of the four-axis _Z2 rotation enables at least one surface of the third surface concentration to be repeatedly detected;

5) The angle range in which the second picker 161 rotates around the fourth axis _Z2 can enable all the surfaces where the third surface is concentrated to be detected, and the first picker 122 does not rotate around the second axis _D2 or the first picker 122 rotates around the second axis D2. The angular range of rotation of the second axis _D2 enables at least one surface of the third surface set to be repeatedly detected.

In this way, by rotating the first picker 122 around the second axis D ₂ and/or the second picker 161 around the fourth axis Z ₂ , all the surfaces in the third surface collection can be detected by the detection mechanism 150 .

In some embodiments, as shown in FIG. 6, the second pick-up member 161 can also rotate around an axis parallel to the straight line _S2 . For the convenience of description, the following embodiments refer to this axis as the sixth axis, represented by _Z3. . In some embodiments, the sixth axis _Z3 passes through the connection area between the second pick-up member 161 and the transfer seat 162, that is to say, the second pick-up member 161 can also pass through the second pick-up member 161 and the transfer seat 162. The connection area between the seats 162 and the axis of rotation parallel to the direction of _S2 . Then, if the second pick-up part 161 is in contact with the second surface of the product 200, when the second pick-up part 161 rotates around the sixth axis _Z3 at a relatively small angle, for example, the rotation angle is less than 90°, the camera assembly 152 can detect One or more angles to the surface of product 200 facing camera assembly 152 . When the second pick-up part 161 rotates around the sixth axis _Z3 at a relatively large angle, for example, the angle of rotation exceeds 90°, the camera assembly 152 can respectively detect a plurality of surfaces in the circumferential direction around the sixth axis _Z3 at least one face in .

In the embodiment of the present application, _the rotation process of the second pick-up member 161 around the sixth axis _Z3 is similar to the process of the rotation of the transfer seat 162 around the third axis _Z1 . For the angle range, the second picker 161 resting at one or more fixed angles for a preset time when it rotates around the sixth axis _Z3, etc., please refer to the relevant description above about the rotation of the transfer seat 162 around the third axis _Z1 for brevity. , which will not be repeated here.

Optionally, in some embodiments, the transfer seat 162 is rotatable around the third axis _Z1 , and/or the second picker 161 is rotatable around the sixth axis _Z3 .

It can be understood that, the transfer seat 162 rotates around the third axis _Z1 , and may be replaced by the second picker 161 rotating around the third axis _Z1 . The third axis Z ₁ and the sixth axis Z ₃ are parallel to each other and parallel to the straight line S ₁ . Therefore, in the embodiment of the present application, the sixth axis _Z3 can be regarded as an example of the third axis _Z1 . That is to say, the third axis Z ₁ may pass through the center of the transfer seat 162 , or pass through the connection area between the second pick-up member 161 and the transfer seat 162 , which is not limited in this embodiment of the present application.

In some embodiments, the second pick-up member 161 is detachably connected to the transfer base 162 . In this way, when the second pick-up piece 161 is damaged or fails, the second pick-up piece 161 can be easily replaced, avoiding delays in production time, and is conducive to improving work efficiency. At the same time, by changing the type of the second pick-up piece 161, it can be compatible with products of different specifications The appearance defect detection work of 200 is conducive to improving the compatibility and use quality of the product appearance defect detection device 100 .

Optionally, as shown in FIG. 1, when the first pick-up member 122 is in contact with the first surface of the product 200, the detection of multiple surfaces can be realized by the rotation of the first pick-up member 122 and/or the pick-up seat 121, but cannot Realize the detection of this first surface; When the second pick-up member 161 is in contact with the second surface of product 200, the detection of multiple surfaces can be realized by the rotation of the second pick-up member 161 and/or the transfer seat 162, but this cannot be realized. Detection of the second surface. Therefore, in the embodiment of the present application, by handing over the product 200 between the first pick-up piece 122 and the second pick-up piece 161, the detection mechanism 150 can detect the surface of the product 200 in contact with the first pick-up piece 122, as described in the first pick-up piece 161 mentioned above. The surface, the surface on which the product is in contact with the second picker 161 can also be detected, such as the aforementioned second surface, which improves the working efficiency and detection effect of the detection mechanism 150 .

Optionally, the way the second picker 161 picks up the product 200 may be suction, clamping, lifting, magnetic attraction or other picking ways.

In some embodiments, please refer to FIG. 1 , FIG. 5 and FIG. 6 , the second picker 161 is a vacuum chuck. The suction and discharge of the vacuum chuck can achieve the effect of picking up and releasing the product 200. This method is conducive to avoiding secondary damage to the product 200 and improving the rate of yield. At the same time, the operation is simple and the cost is low, which is conducive to improving economic benefits. This embodiment only provides a specific implementation manner of the second picker 161 , but it is not limited thereto.

In one embodiment, please refer to FIG. 1 , FIG. 5 and FIG. 6 , there are more than two second pick-up members 161 , and more than two second pick-up members 161 are arranged at intervals on the transfer seat 162 . Exemplarily, the two or more second pick-up components 161 are arranged at intervals along the direction indicated by the straight line S ₂ on the transfer seat 162 . In this way, more than two second pickers 161 work at the same time, and can perform batch appearance defect inspection on more than two products 200 at the same time, which is beneficial to greatly improving production efficiency.

Wherein, more than two second pickers 161 can pick up and release the products 200 in batches at the same time, or can work independently, and one or several of them can pick and place the products 200 .

In some embodiments, the number of the second picks 161 matches the number of the first picks 122 , for example, the number of the second picks 161 is equal to the number of the first picks 122 . When the first picker 122 delivers the product 200 to the second picker 161 , the second picker 161 is opposite to the first picker 122 along the direction indicated by the straight line S ₁ .

Optionally, the second pick-up piece 161 has the same structure as the first pick-up piece 122 .

Optionally, the transfer seat 162 has the same structure as the pick-up seat 121 .

In one embodiment, please refer to FIG. 5 , the transfer mechanism 160 further includes a servo lifting module 164 . The servo lifting module 164 is drivingly connected with the rotating base 163 , and the servo lifting module 164 is used to drive the rotating base 163 to move along the height direction of the pick-up mechanism 120 , for example, along the direction of the straight line _S1 shown in FIG. 5 . In this way, through the lifting effect of the servo lifting module 164, the rotating base 163 can drive the lifting of the transfer seat 162 and the second pick-up piece 161. On the one hand, when the transfer mechanism 160 is not needed, the servo lifting module 164 can drive the first transfer seat 162 leaves the detection area for the detection mechanism 150 to detect the product 200 on the pick-up mechanism 120, which is beneficial to improve the compactness of the structure. On the other hand, when the transfer mechanism 160 needs to be used, the lifting action of the servo lifting module 164 can drive the product 200 to move within the detection range of the camera assembly 152, adjust the detection effect of the camera assembly 152, and further improve the detection mechanism 150. detection efficiency.

Wherein, the servo lifting module 164 can also be replaced by other hydraulic drive devices and pneumatic devices to realize the lifting of the rotating base 163 .

A product appearance defect detection device 100 provided by the embodiment of the present application has been described in detail above with reference to FIGS. 1 to 6 . The working process of the device 100 can be roughly divided into two processes: a product picking process and a product detection process.

During the product picking process, driven by the lifting mechanism 130 and the traverse mechanism 140, the picking mechanism 120 picks up the product 200 to be detected from the tray mechanism 110, and then moves it from the tray mechanism 110 to the detection area of the detection mechanism 150 . The lifting mechanism 130 drives the product 200 to be inspected to move along the direction of the straight line _S1 , and the traverse mechanism 140 drives the product 200 to be inspected to move along the direction of the straight line _S2 .

During the _product detection process, as _shown in FIGS. The third axis Z ₁ rotates parallel to the straight line S ₂ . Through the rotation of the pick-up seat 121 around the first axis _D1 and the rotation of the transfer seat 162 around the third axis _Z1 and the handover of the first pick-up piece 122 and the second pick-up piece 161, the detection mechanism 150 can realize the detection of the product 200 perpendicular to The appearance inspection of at least two surfaces in the circumferential direction of the straight line _S2 (including the surface of the product 200 in contact with the first pick-up piece 122 and the surface of the product 200 in contact with the second pick-up piece 161 .

In the pick-up mechanism 120, the first pick-up member 122 can rotate around the second axis _D2 parallel to the straight line _S1 , and/or, in the transfer mechanism 160, the second pick-up member 161 can rotate around the second axis D2 parallel to the straight line _S1 . Four-axis Z ₂ rotation. In this way, the detection mechanism 150 can realize the appearance detection of the third surface set of the product 200 in the circumferential direction perpendicular to the straight line _S1 .

In the pick-up mechanism 120, the first pick-up piece 122 can be driven by the lifting mechanism 130 to move along the direction of the straight line _S1 , and/or the second pick-up piece 161 can be driven by the servo lift module 164 to move along the straight line S ₁ direction movement. In this way, the product 200 to be inspected can be handed over between the first picker 122 and the second picker 161, and the product 200 to be inspected can also be driven to move within the detection range of the camera assembly 152, so that the inspection mechanism 150 can take pictures of the product 200 to be inspected. multiple local areas.

In the inspection mechanism 150 , the camera assembly 152 can move along the direction of the straight line _S3 relative to the inspection seat 151 , so that the distance between the camera assembly 152 and the product 200 to be inspected can be adjusted to obtain a clear image.

In the inspection mechanism 150, the camera assembly 152 can also move along the direction of the straight line _S2 relative to the inspection seat 151, so that multiple local areas of the product 200 to be inspected can be photographed, so as to obtain images corresponding to the complete surface.

According to the above analysis, in the product inspection process, the pick-up mechanism 120, the lifting mechanism 130, the detection mechanism 150, etc. constitute a five-axis inspection system, in which there are three motion axes used to control the product 200 to be inspected, which are used to control the camera assembly 152 axes of motion include 2. The five-axis inspection system can realize the relative movement between the product 200 to be inspected and the camera assembly 152 , so that the camera assembly 152 can complete inspection of each surface of the product 200 to be inspected.

In some other embodiments, the distribution of motion axes of the five-axis detection system may also have other implementation manners.

In one embodiment, there are 4 motion axes for controlling the product 200 to be inspected, and 1 motion axis for controlling the camera assembly 152 . Exemplarily, the difference from _the distribution of motion axes described in FIGS. Movement in the direction of the straight line S ₂ . Correspondingly, during the inspection process, the product 200 to be inspected can move along the direction of the straight line _S2 under the drive of the traverse mechanism 140 . The movement of other components is the same as the corresponding content of the foregoing embodiments, and will not be repeated for brevity. In this way, the driving components for controlling the movement of the camera assembly 152 can be simplified, thereby making the structure of the device 100 more compact.

In another embodiment, there are 2 motion axes for controlling the product 200 to be inspected, and 3 motion axes for controlling the camera assembly 152 . Exemplarily, the difference from _the distribution of the movement axes described in the _{aforementioned} FIGS. It can move in the direction of the straight line _S1 . Correspondingly, during the inspection process, the product 200 to be inspected may not move along the direction of the straight line _S1 . In this way, shooting of multiple local areas can be achieved by moving the camera assembly 152 in the direction of the straight line _S1 . The movement of other components is the same as the corresponding content of the foregoing embodiments, and will not be repeated for brevity. In this way, the workflow for controlling the movement of the product to be inspected can be simplified.

That is to say, in the technical solution provided by the embodiment of the present application, the first pick-up member 122 can be configured to revolve parallel to the second direction (that is, the length direction of the pick-up mechanism 120, such as the straight line _S2 shown in FIGS. 1 to 6 ). The first axis _Z1 in the indicated direction) and the second pick-up part 161 can be configured to rotate around the third axis _Z1 parallel to the second direction, so that the inspection mechanism 150 is located perpendicular to the second axis Z1 to be inspected. The at least two surfaces in the circumferential direction of the direction are detected, and the at least two surfaces include a first surface and a second surface, and the second direction is perpendicular to the first direction (that is, the width direction of the pickup mechanism 120, for example, as shown in FIGS. 1 to 6 ). The direction indicated by the straight line _S3 .

The first pick-up member 122 can also be configured to rotate around a second axis _D2 parallel to the third direction (ie, the height direction of the pick-up mechanism 120, such as the direction indicated by the straight line _S1 shown in FIGS. 1 to 6 ), And/or the second picker 161 can also be configured to rotate around the fourth axis _Z2 parallel to the third direction, so that the detection mechanism 150 can detect at least one surface of the product 200 to be detected that is located in the circumferential direction perpendicular to the third direction. Detecting that the third direction is perpendicular to the first direction and perpendicular to the second direction.

At least one of the camera assembly 152 , the first picker 122 and the second picker 161 may be configured to move along the second direction, so that the inspection mechanism 150 inspects a partial area of the product 200 to be inspected facing the inspection mechanism 150 .

At least one of the camera assembly 152, the first picker 122 and the second picker 161 may be configured to move in a third direction such that the product to be inspected 200 is located within the inspection area.

In summary, in the embodiment of the present application, the angular range of the rotation of the first picker 122 around the first axis _D1 and the rotation angle range of the second picker 161 around the third axis _Z1 can at least make the product 200 compatible with the first picker. The contact surface of the part 122 and the contact surface of the product 200 with the second pick-up part 161 are detected by the detection mechanism 150 . In some embodiments, the angular range of the rotation of the first picker 122 around the first axis _D1 and the rotation angle range of the second picker 161 around the third axis _Z1 can make the product 200 rotate in a direction perpendicular to the direction indicated by the straight line _S2. Each surface in the circumferential direction of is detected by the detection mechanism 150 .

In the embodiment of the present application, the angle range of rotation of the first pick-up member 122 around the second axis _D2 and/or the angle range of rotation of the second pick-up member 161 around the fourth axis _Z2 can make the product 200 be located in a direction perpendicular to the third direction. At least one face in the circumferential direction is detected. In some embodiments, the angular range of rotation of the first picker 122 around the second axis _D2 and the angular range of rotation of the second picker 161 around the fourth axis _Z2 enable the product 200 to rotate in a direction perpendicular to the direction indicated by the straight line _S1. Each surface in the circumferential direction of is detected by the detection mechanism 150 .

As an example and not a limitation, taking the product 200 to be inspected as a cuboid or a cube as an example, the angle range in which the first pick-up member 122 rotates around the second axis _D2 and the angle range in which the second pick-up member 161 rotates around the fourth axis _Z2 At least one of , and the angular range of the first pick-up member 122 rotating around the first axis _D1 and the angular range of the second pick-up member 161 rotating around the third axis _Z1 can enable six surfaces of the product to be inspected 200 to be detected .

It should be noted that the cuboid or cube involved in the embodiment of the present application is not limited to a regular cuboid or cube, but also includes a structure in which the main body is a cuboid or cube. Exemplarily, the main body of a certain structure is in the shape of a cuboid, and protrusions, grooves or other structural features may be provided on a certain surface of the main body. Then, when the detection mechanism performs appearance inspection on the surface provided with protrusions, grooves or other structural features, it includes the appearance inspection of the protrusions, grooves or other structural features on the surface. Taking the product 200 to be inspected as a mobile phone charger as an example, the main body of the mobile phone charger is generally in the shape of a cuboid, and a metal sheet protruding outward is arranged on one surface of the cuboid. When performing an appearance inspection on the surface provided with the metal sheet, Not only can the appearance inspection be carried out on the surface corresponding to the main body, but also the appearance inspection can be carried out on the metal sheet set on the surface.

In one embodiment, please refer to FIG. 7 , the product appearance defect detection device 100 can also include a frame 180 and a protective cover 170, the protective cover 170 is set on the frame 180 to form a working chamber, the tray mechanism 110, the picking mechanism 120, The lifting mechanism 130, the traverse mechanism 140, and the handover mechanism 160 are all located in the working chamber. In this way, it is beneficial to improve the safety of the inspection work, and at the same time improve the overall quality of use of the product appearance defect inspection device 100 .

Further, in some embodiments, please refer to FIG. 7 , the protective cover 170 is provided with a protective door 171 , and the protective door 171 is openably disposed on the protective cover 170 . There are at least two protective doors 171 , and the at least two protective doors 171 are arranged corresponding to at least two tray mechanisms 110 . In this way, at least two tray mechanisms 110 can be loaded through at least two protective doors 171, which is beneficial to improve work convenience.

The technical features of the above-mentioned embodiments can be combined arbitrarily. To make the description concise, all possible combinations of the technical features in the above-mentioned embodiments are not described. However, as long as there is no contradiction in the combination of these technical features, should be considered as within the scope of this specification.

The above-mentioned embodiments only express several implementation modes of the present application, and the description thereof is relatively specific and detailed, but should not be construed as limiting the protection scope of the present application. It should be noted that those skilled in the art can make several modifications and improvements without departing from the inventive concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application should be determined by the appended claims.

Claims

A product appearance defect detection device, comprising:

The picking mechanism includes a first pick-up member, the first pick-up member is used to pick up the product to be inspected to the detection area, wherein the first surface of the product to be inspected is in contact with the first pick-up member;

A handover mechanism, comprising a second picker for picking up the product to be inspected from the first picker within the inspection area, wherein the second surface of the product to be inspected is the same as the second surface of the product to be inspected the second pickup is in contact;

A detection mechanism, the detection mechanism is arranged at a distance from the transfer mechanism in the first direction, and the detection mechanism is used to detect the appearance of the product to be detected; wherein,

The first pickup is configured to rotate around a first axis parallel to the second direction and the second pickup is configured to rotate around a third axis parallel to the second direction so that the detection mechanism Detecting at least two surfaces of the product to be detected located in a circumferential direction perpendicular to the second direction, the at least two surfaces include the first surface and the second surface, and the second direction is vertical in said first direction;

The first pick-up member is configured to rotate about a second axis parallel to the third direction, and/or the second pick-up member is configured to rotate about a fourth axis parallel to the third direction, such that all The detection mechanism detects at least one surface of the product to be detected in the circumferential direction perpendicular to the third direction, and the third direction is perpendicular to the first direction and perpendicular to the second direction;

The inspection mechanism includes a camera assembly configured to move in the first direction to approach or move away from the product to be inspected;

At least one of the camera assembly, the first picker, and the second picker is configured to move in the second direction such that the inspection mechanism faces the product to be inspected toward the inspection mechanism The local area of the surface is detected;

At least one of the camera assembly, the first picker, and the second picker is configured to move in the third direction such that the product to be inspected is located within the inspection area.
The apparatus of claim 1, wherein the camera assembly includes a fixed focus lens.
The device according to claim 1 or 2, wherein the first direction is the width direction of the pick-up mechanism, the second direction is the length direction of the pick-up mechanism, and the third direction is the Describe the height direction of the pick-up mechanism.
The device according to any one of claims 1 to 3, wherein the detection mechanism is configured to detect the appearance of the product to be detected when the first picking member picks up the product to be detected, and then detect the product again. The appearance of the product to be inspected is inspected when the second pick-up member picks up the product to be inspected.
The device according to any one of claims 1 to 4, characterized in that, when the product to be inspected is located in the inspection area, the delivery mechanism and the pick-up mechanism are arranged opposite to each other in the third direction.
A device according to any one of claims 1 to 5, characterized in that

The first picker is further configured to pause for a preset time at one or more first detection angles during rotation around the first axis, so that the detection mechanism is in a position for the product to be detected. performing appearance detection when the one or more first detection angles are under; and/or

The second picker is further configured to pause for a preset time at one or more second detection angles during rotation around the third axis, so that the detection mechanism is in a position for the product to be detected. Appearance detection is performed when the one or more second detection angles are under.
The device according to claim 6, characterized in that,

said one or more first detection angles comprise an angle when said second surface faces said detection mechanism; and/or

The one or more second detection angles include an angle when the first surface faces the detection mechanism.
A device according to any one of claims 1 to 7, characterized in that

The first picker is further configured to pause for a preset time at one or more third detection angles during rotation around the second axis, so that the detection mechanism is in a position for the product to be detected. performing appearance inspection when the one or more third inspection angles are under; and/or

The second picker is further configured to pause for a preset time at one or more fourth detection angles during rotation around the fourth axis, so that the detection mechanism is in a position for the product to be detected. Appearance detection is performed when the one or more fourth detection angles are under.
A device according to any one of claims 1 to 8, characterized in that

The pick-up mechanism also includes a pick-up base, the pick-up base is connected to the first pick-up piece, the first axis passes through the center of the pick-up base, or the first axis passes through the first pick-up piece and the first pick-up piece. the connection area between the pick-up receptacles; and/or

The transfer mechanism also includes a transfer seat, the transfer seat is connected to the second pick-up piece, the third axis passes through the center of the transfer seat, or the third axis passes through the second pick-up piece and The connection area between the junction seats.
The device according to claim 9, characterized in that, the first pick-up member is detachably connected to the pick-up seat; and/or the second pick-up member is detachably connected to the transfer seat.
The device according to any one of claims 1 to 10, wherein the detection mechanism further includes a detection seat, the detection seat is movably connected with the camera assembly, and the detection seat is used to drive the camera The assembly moves in the first direction.
The device according to claim 11, wherein when the camera assembly is configured to move in the second direction, the detection seat includes a first servo module and a second servo module, and the camera The component is driven and connected to the first servo module through the second servo module, and the first servo module and the second servo module respectively drive the camera component along the second direction and the Movement in the first direction.
The device according to any one of claims 1 to 12, wherein when the first pick-up member is configured to move in the second direction and configured to move in the third direction, the Said device also includes:

a lifting mechanism, the lifting mechanism is drivingly connected to the picking mechanism, and the lifting mechanism is used to drive the picking mechanism to move along the third direction;

A traversing mechanism, the traversing mechanism is drivingly connected to the lifting mechanism, and the traversing mechanism is used to drive the picking mechanism to move in the second direction by driving the lifting mechanism to move in the second direction .
The device according to claim 13, further comprising:

a tray mechanism, the tray mechanism is used to place the product to be tested;

The lifting mechanism and the traverse mechanism are also used to drive the pick-up mechanism to pick up the product to be inspected from the tray mechanism and move to the inspection area.
The device according to claim 14, wherein the tray mechanism comprises a tray and a displacement assembly, the tray is movably connected with the displacement assembly, and the displacement assembly is used to drive the tray along the first direction sports.
The device according to claim 14 or 15, characterized in that there are at least two of the lifting mechanism, the picking mechanism and the tray mechanism, and at least two of the lifting mechanisms are driven by the traverse mechanism. connection, at least two of the pick-up mechanisms are respectively driven and connected to at least two of the lift mechanisms, and at least two of the tray mechanisms are respectively arranged in one-to-one correspondence with at least two of the pick-up mechanisms, and at least two of the pick-up mechanisms The mechanism picks up the products to be detected from the corresponding tray mechanism sequentially through the corresponding lifting mechanism.
A device according to any one of claims 1 to 16, characterized in that

There are at least two first pick-up parts, and at least two of the first pick-up parts are arranged at intervals along the second direction;

There are at least two second pick-up members, and at least two second pick-up members are arranged at intervals along the second direction.
The device according to any one of claims 1 to 17, wherein the first surface intersects the second surface, or the first surface is opposite to the second surface.