An appearance defect detection system and method

Abstract

The present application relates to electronic product appearance defect detection technical field, specifically, relate to a kind of appearance defect detection system and method.The present application also provides a kind of appearance defect detection system, it is based on appearance defect detection equipment to carry out and be suitable for the appearance defect detection method described above;Appearance defect detection equipment includes equipment main body, equipment main body includes feeding end and discharging end, from feeding end to discharging end is sequentially arranged with feeding system, dust removal system, CG face array detection system, 2D and 3D combined CG face detection system, macro detection system, 2D and 3D combined BG face detection system and BG face array detection system.The equipment main body in the present application can preferably cover each area of detection object by single equipment, and different detection sites are detected by targeted system, so that the defective product detection rate can be improved, so as to ensure the quality of product.

Description

Technical Field

[0001] The present invention relates to the technical field of electronic product appearance defect detection, and in particular to an appearance defect detection system and method. Background Art

[0002] With the increasing development of electronic technology, electronic products have gradually become an indispensable part of daily life, especially smart products such as smartphones and tablets.

[0003] Currently, the production and consumer demand for smartphones and tablets are on the rise. Since these products are all electronic products assembled based on the middle frame, the quality of the middle frame of these products directly affects the quality of the product.

[0004] The middle frame of this type of product is divided into a BG surface for installing the screen and a CG surface for installing the battery. Due to the processing and transportation of the middle frame, the BG surface and the CG surface are prone to appearance defects that affect product quality, such as stress marks, bumps, crushing, scratches, edge burrs, edge burrs, edge curling, over-milling, missed milling, and incomplete milling.

[0005] Traditional methods for detecting appearance defects of such objects are mostly manual inspection through the naked eye, or detection equipment that performs image acquisition and identification detection one by one. On the one hand, these detection methods are not accurate enough, because the coverage area of ​​appearance detection in these methods is not complete, and there is no systematic and targeted camera arrangement for different detection areas, so traditional detection methods are prone to missing defective products. On the other hand, these detection methods have not formed a complete set of automated detection equipment and methods. From loading to unloading, the existing technology lacks an appearance defect detection device that can perform loading, dust removal, targeted appearance defect detection in different areas, and unloading. Therefore, the detection efficiency of existing detection equipment is low, and it is difficult to meet the appearance inspection needs of products under large production volumes. Summary of the Invention

[0006] In view of the technical problems existing in the prior art, the present invention provides a method for detecting appearance defects, which specifically includes the following steps:

[0007] Step 1: Loading

[0008] Loading is performed through a loading device for appearance defect detection;

[0009] Step 2: Dust removal and CG surface array detection

[0010] Keep the BG surface of the test object facing down and pass it through the material surface dust removal device for dust removal. After dust removal, the CG surface of the test object is subjected to area array detection by the area array detection device;

[0011] Step 3: Combined 2D and 3D CG surface detection

[0012] Perform CG surface detection on the object after the previous step through a combined 2D and 3D appearance detection system;

[0013] Step 4: Macro detection

[0014] A macro inspection system is used to perform macro inspection on the CG and BG surfaces of the inspection object completed in the previous step. During the macro inspection process, the inspection object is turned over, and the inspection object after the macro inspection is completed keeps the BG surface facing up;

[0015] Step 5: Combined 2D and 3D detection of BG surface

[0016] Perform BG surface detection on the inspection object after the previous step through the combined 2D and 3D appearance inspection system;

[0017] Step 6: BG surface array detection

[0018] Performing area array detection on the BG surface of the detection object by using an area array detection device;

[0019] Step 7: Sorting and cutting

[0020] Therefore, after the test is completed, the test objects are sorted into qualified products and defective products.

[0021] It can be understood that this method can use a complete set of equipment to inspect the BG surface and CG surface of the inspection object, thereby being able to more comprehensively cover the possible appearance defects of the inspection object, thereby being able to efficiently inspect large quantities of inspection objects and sort out defective products.

[0022] The present invention also provides an appearance defect detection system, which is based on an appearance defect detection device to perform and is applicable to the aforementioned appearance defect detection method; the appearance defect detection device includes an equipment body, the equipment body includes a loading end and a unloading end, and from the loading end to the unloading end, there are arranged in sequence a loading system, a dust removal system, a CG surface array detection system, a 2D and 3D combined CG surface detection system, a macro detection system, a 2D and 3D combined BG surface detection system, and a BG surface array detection system.

[0023] Specifically, the device body in the present invention can better cover all areas of the inspection object through a single device, and adopts targeted systems to inspect different inspection parts, so it can better improve the defective product detection rate, thereby ensuring product quality.

[0024] In addition, the device body in the present application can complete the whole process from feeding to dust removal to targeted detection in each area to discharging through a single device, so that the whole detection process is more compact, the interval is less, and the overall detection efficiency is improved, ensuring high efficiency of detection, thereby meeting the detection demand of large output.

[0025] As preferred, the feeding end is provided with a feeding device, which comprises a feeding device body; the feeding device body is sequentially arranged from bottom to top with a full tray feeding part for stacking and placing full trays to form a full tray column, a taking position for taking the material to be detected at the full tray and moving to the next station, and an empty tray collecting position for stacking and collecting the empty trays after taking to form an empty tray column; the feeding device body is also arranged with a feeding process lifting module for lifting the trays.

[0026] As preferred, the dust removal system is realized based on a dust removal device, the CG plane array detection system and the BG plane array detection system are realized based on a plane array detection device, the dust removal device is sequentially arranged with a turnover position, a lifting position and a dust removal table fan system along the x-axis direction; the dust removal table fan system is arranged above with a dust removal two-axis module for conveying the detection object between the turnover position, the lifting position, a dust removal position formed on the upper side of the dust removal table fan system and a detection position in the plane array detection device; the plane array detection device is provided with a plane array camera for plane array visual detection of the detection object to be detected.

[0027] As preferred, a 2D and 3D combined appearance detection device comprises a multi-head grabbing module for 2D and 3D combined detection feeding and a combined detection and discharging conveying shaft for 2D and 3D combined detection discharging, the lower side of the multi-head grabbing module is arranged with a combined detection conveying path arranged along the x-axis direction; the 2D detection module and the 3D detection module are sequentially arranged on the moving route of the combined detection conveying path from the multi-head grabbing module to the discharging conveying shaft.

[0028] As preferred, the macro detection system comprises a macro detection device, the macro detection device comprises a macro BG plane detection part and a macro CG plane detection part; the macro CG plane detection part is arranged with a macro detection first station and a macro detection second station; the macro BG plane detection part is arranged with a macro detection third station, a macro detection fourth station, a macro detection fifth station and a macro detection sixth station. BRIEF DESCRIPTION OF DRAWINGS

[0029] Figure 1 It is a structural schematic view of the device body in Example 1; Figure 2 It is a structural schematic view of the CG plane positioning tool in Example 2; Figure 3 It is a structural schematic view of the CG plane positioning tool in Example 2 from another perspective; Figure 4 It is a structural schematic view of the clamp body in Example 2; Figure 5for Figure 4 Structural diagram from another perspective; Figure 6 This is a schematic structural diagram of the main body of the feeding device in Example 3; Figure 7 for Figure 6 Schematic diagram of the structure of the feeding part of the medium-full tray; Figure 8 for Figure 7 Structural diagram from another perspective; Figure 9 for Figure 6 Schematic diagram of the structure of the lifting module of the middle loading process; Figure 10 for Figure 6 Structural diagram of the middle material extraction position; Figure 11 for Figure 6 Schematic diagram of the structure of the hollow tray collection position; Figure 12 for Figure 11 Schematic diagram of the structure of the hollow tray clamping mechanism; Figure 13 Schematic diagram of the structure of the dust removal device in Example 3; Figure 14 for Figure 13 Structural diagram of the middle turning position; Figure 15 for Figure 13 Structural diagram of the middle material level; Figure 16 for Figure 13 Schematic diagram of the structure of the two-axis module for dust removal; Figure 17 Schematic diagram of the structure of the area array detection device in Example 3; Figure 18 Schematic diagram of the structure of the detection device combining 2D and 3D in Example 4; Figure 19 for Figure 18 Structural diagram from another perspective; Figure 20 for Figure 19 Schematic diagram of the structure of the multi-head material grabbing module; Figure 21 for Figure 19 The structural diagram of the Y-axis material picking linear module combined with the detection; Figure 22 for Figure 19 Schematic diagram of the structure of the combined detection and transport pathway; Figure 23 for Figure 19 Schematic diagram of the structure of the combined detection transition component; Figure 24 for Figure 19 Schematic diagram of the structure of the 2D line scan camera; Figure 25 for Figure 19 Schematic diagram of the structure of the bionic AOI light source and 2D camera mounting frame; Figure 26 for Figure 19 Schematic diagram of the structure of the 3D detection module; Figure 27 for Figure 19 Schematic diagram of the structure of the combined detection and unloading and handling axis; Figure 28 for Figure 19 Schematic diagram of the structure of the x-axis module for combined detection and blanking; Figure 29 Schematic diagram of the structure of the macro camera body in Example 5; Figure 30This is a schematic structural diagram of the first station of macro detection in Example 5; Figure 31 This is a schematic structural diagram of the second station for macro detection in Example 5; Figure 32 This is a schematic structural diagram of the third station of macro detection in Example 5; Figure 33 This is a schematic structural diagram of the fourth station of macro detection in Example 5; Figure 34 This is a schematic structural diagram of the fifth station of macro detection in Example 5; Figure 35 This is a schematic structural diagram of the sixth station of macro detection in Example 5; Figure 36 Schematic diagram of the structure of the macro device body in Example 6; Figure 37 for Figure 36 Schematic diagram of the structure of the x-axis material moving component for medium and macro detection; Figure 38 for Figure 36 Schematic diagram of the structure of the medium-macro detection flip component; Figure 39 for Figure 36 Schematic diagram of the structure of the Y-axis material moving component for medium and macro detection; Figure 40 This is a structural diagram of the lifting linear module body in Example 6; Figure 41 This is a structural diagram of the BG surface of the mobile phone middle frame; Figure 42 This is a structural diagram of the CG surface of the mobile phone middle frame. DETAILED DESCRIPTION

[0030] In order to further understand the content of the present invention, the present invention is described in detail with reference to the embodiments. It should be understood that the embodiments are merely for explanation of the present invention and are not intended to limit the present invention.

[0031] Example 1

[0032] This embodiment provides a method for detecting appearance defects, which is performed based on an appearance defect detection device and specifically includes the following steps:

[0033] Step 1: Loading

[0034] Loading is performed through a loading device for appearance defect detection;

[0035] Step 2: Dust removal and CG surface array detection

[0036] Keep the BG surface of the inspection object facing downwards and pass it through the material surface dust removal device 1300 for dust removal. After dust removal, the CG surface of the inspection object is subjected to area array inspection by the area array inspection device 1700.

[0037] Step 3: Combined 2D and 3D CG surface detection

[0038] Perform CG surface detection on the object after the previous step through a combined 2D and 3D appearance detection system;

[0039] Step 4: Macro detection

[0040] A macro inspection system 150 is used to perform macro inspection of the CG and BG surfaces of the inspection object after the previous step. During the macro inspection process, the inspection object is turned over, and the inspection object after the macro inspection is completed keeps the BG surface facing upwards.

[0041] Step 5: Combined 2D and 3D detection of BG surface

[0042] Perform BG surface detection on the inspection object after the previous step through the combined 2D and 3D appearance inspection system;

[0043] Step 6: BG surface array detection

[0044] Performing area array detection on the BG surface of the detection object by using the area array detection device 1700;

[0045] Step 7: Sorting and cutting

[0046] Therefore, after the test is completed, the test objects are sorted into qualified products and defective products.

[0047] It can be understood that this method can use a complete set of equipment to inspect the BG surface and CG surface of the inspection object, thereby being able to more comprehensively cover the possible appearance defects of the inspection object, thereby being able to efficiently inspect large quantities of inspection objects and sort out defective products.

[0048] In this embodiment, an appearance defect detection device includes an equipment body 100, which includes a loading end and a unloading end. From the loading end to the unloading end, a loading system 110, a dust removal system 120, a CG surface array detection system 130, a 2D and 3D combined CG surface detection system 140, a macro detection system 150, a 2D and 3D combined BG surface detection system 160 and a BG surface array detection system 170 are arranged in sequence.

[0049] Specifically, the device body 100 in this embodiment can better cover all areas of the inspection object with a single device, and use targeted systems to inspect different inspection parts, so it can better improve the defective product detection rate, thereby ensuring product quality.

[0050] In addition, the equipment body 100 in this embodiment can complete all the processes from loading to dust removal to targeted inspection of each area and even unloading through a single device, so that the entire inspection process can be more compact with less idle time in the middle, thereby better improving the overall inspection efficiency and ensuring high inspection efficiency, thereby meeting the inspection needs of large production volumes.

[0051] Example 2

[0052] This embodiment provides a CG surface positioning tool 200 for positioning and cooperating with the CG surface of the detection object used in Example 1, and a BG surface product positioning fixture for positioning and cooperating with the BG surface of the mobile phone middle frame.

[0053] The CG surface positioning tooling 200 includes a CG surface positioning base plate 210 for connecting and arranging an air path. A CG surface suction head arrangement plate 220 is arranged on the upper end surface of the CG surface positioning base plate 210. A CG surface adsorption position is formed on the upper end surface of the CG surface suction head arrangement plate 220. A plurality of CG surface suction nozzles 221 connected to the air path are arranged on the CG surface suction head arrangement plate 220. The plurality of CG surface suction nozzles 221 work together to adsorb the detection object at the CG surface adsorption position.

[0054] A CG surface mounting groove 222 is formed on the long side wall of the CG surface suction head arrangement plate 220. A CG surface proximity sensor 223 is installed in the CG surface mounting groove 222. The sensing direction of the CG surface proximity sensor 223 is toward the CG surface suction position for sensing and identification. Two CG surface air passage openings 211 are respectively arranged at the center of the side wall and bottom wall of the CG surface positioning base plate 210. The CG surface air passage opening 211 at the center of the bottom wall of the CG surface positioning base plate 210 is arranged with an O-ring 212 for sealing.

[0055] The CG surface positioning base plate 210 is provided with a CG surface air path opening 211, and a CG surface process hole 213 for processing the internal air path is formed on the side wall. After the processing and assembly are completed, the process hole is blocked by a screw, and the CG surface air path opening 211 is connected to the CG surface suction nozzle 221 through the internal air path.

[0056] There are four suction nozzles at the CG surface suction head arrangement plate 220, and the four suction nozzles are arranged at positions close to the four corners relative to the center position of the CG surface suction head arrangement plate 220. A wiring groove is formed at the corner of the outer wall of the CG surface positioning base plate 210 close to the CG surface proximity sensor 223. The wiring groove extends along the corner to the CG surface mounting groove 222 where the proximity sensor is located and forms a connection. The connection area between the wiring groove and the CG surface mounting groove 222 is formed with a rounded corner.

[0057] Through screw holes 213 are formed at the four corners where the CG surface positioning base plate 210 and the CG surface suction nozzle arrangement plate 220 are attached. The screw holes 213 are used to screw in screws to position and connect the CG surface positioning base plate 210 and the CG surface suction nozzle 221.

[0058] The BG surface product positioning fixture includes a fixture body 400, and the fixture body 400 includes a BG surface placement base plate 410 arranged at the bottom thereof and arranged horizontally. The upper part of the BG surface placement base plate 410 is provided with a BG surface placement rack 420 arranged in a vertical direction. A BG surface placement position for placing a detection object is formed at the upper end surface of the BG surface placement rack 420. The BG surface placement rack 420 is provided with a BG surface adsorption component and a BG surface internal limit component for positioning the detection object at the BG surface placement position.

[0059] The BG surface adsorption component is used to cooperate with the bottom wall of the BG surface of the detection object to achieve adsorption, and the BG surface internal limit component is used to abut against the side wall of the BG surface of the detection object to form an internal limit cooperation; the BG surface placement rack 420 is in the shape of a four-legged stool; the BG surface internal limit component includes a four-claw cylinder 430 arranged in the middle of the lower side of the BG surface placement rack 420, and the four claws 431 of the four-claw cylinder 430 are distributed in a ring relative to the center position of the BG surface placement position; the four claws 431 are respectively perpendicular to the four side lines of the detection object corresponding to the BG surface placement position and are arranged to move along the vertical direction.

[0060] A BG surface positioning pin 4311 is vertically arranged on one side of the four claw bodies 431 far from the center of the BG surface placement position. Each claw body 431 is provided with two BG surface positioning pins 4311 and is symmetrically arranged on both sides of the middle of the corresponding edge line; the BG surface positioning pins 4311 at the four claw bodies 431 are respectively used to abut against and cooperate with the corresponding BG surface side walls of the detection object to form an internal expansion positioning; an air source interface 421 for connecting the air source pipeline is provided on the side wall of the BG surface placement rack 420.

[0061] A BG surface suction head arrangement plate 440 is provided in the area surrounded by the four claws 431 of the four-claw cylinder 430 at the BG surface placement position; BG surface suction nozzles 441 are respectively installed at the four corner areas of the BG surface suction head arrangement plate 440; the BG surface suction nozzles 441 at the four corner areas are used to cooperate with the bottom wall of the BG surface to achieve adsorption and release of the detection object; a BG surface proximity sensor 442 for identifying the detection object is also installed on the BG surface suction cup mounting plate at one of the corner areas.

[0062] Example 3

[0063] This embodiment provides a loading device and method for appearance defect detection applicable to embodiment 1, wherein a loading method for appearance defect detection specifically includes the following steps:

[0064] Step 1: Loading the full tray

[0065] Stack the trays fully loaded with the materials to be tested vertically to form a vertical row of trays and place them at the bottom of the loading device;

[0066] Step two, lifting the tray column

[0067] The entire tray column is lifted upward to the material taking position by the feeding process lifting module 640;

[0068] Step three, taking the tray at the top of the tray column

[0069] The feeding process taking assembly arranged above the material taking position takes the tray at the top of the tray column and moves it to the next station;

[0070] Step four, collecting the empty tray

[0071] The entire tray column is lifted upward to the empty tray collection position 630 by the feeding process lifting module 640, and the empty tray clamping mechanism 635 at the empty tray collection position 630 clamps and fixes the empty tray at the top of the tray column which has completed the material taking;

[0072] Step five, returning the tray column

[0073] After the empty tray is fixed by the empty tray clamping mechanism at the empty tray collection position 630, the entire tray column is returned downward to the material taking position under the driving of the lifting module;

[0074] Step six, repeating steps three to five

[0075] The tray column material taking, empty tray collection, and tray column returning are repeated;

[0076] Step seven, stacking the empty tray column

[0077] The trays loaded with materials to be detected are all taken by the taking assembly, and all the empty trays are stacked by the empty tray clamping mechanism 635 at the empty tray collection position 630 to form an empty tray column;

[0078] Step eight, collecting the empty tray column

[0079] The empty tray clamping mechanism 635 is loosened, and the empty tray column is taken out as a whole by a mechanical hand or manually.

[0080] Specifically, the above method can efficiently and conveniently take the trays loaded with materials and collect the empty trays. The method can make the arrangement of the feeding device more reasonable. In combination with the feeding device, the feeding device can be arranged more reasonably, and the trays loaded with materials can be taken more efficiently and conveniently. Figure 6The feeding device for appearance defect detection used in the method comprises a feeding device body 600, and the feeding device body 600 is sequentially arranged from bottom to top with a full tray feeding part 610 for stacking full trays to form a full tray column, a taking position for taking the material to be detected at the full tray and moving to the next station, and an empty tray collecting position 630 for stacking the empty trays after the taking of the material is completed to form an empty tray column; the feeding device body 600 is further arranged with a feeding process lifting module 640 for lifting the trays.

[0081] Specifically, the device body in the embodiment is first arranged in the form of tray stacking; it can be understood that,

[0082] Firstly, the number of trays that can be stacked at one time in the form of tray stacking is large, so that a large amount of material can be fed in one feeding process; and since the material in the tray is mainly for electronic products in the form of a square three-dimensional structure, stacking in the vertical direction can stably keep the end face of the electronic product horizontal to facilitate subsequent taking of the material.

[0083] Secondly, the form of tray stacking can cooperate with the full tray feeding part 610, the taking position and the empty tray collecting position 630 arranged in the vertical direction in sequence, so that the overall arrangement structure of the device is concentrated in the vertical direction, thereby ensuring that the space occupied by the device body in the horizontal direction is small.

[0084] Thirdly, the trays stacked in the vertical direction can naturally form the uppermost part convenient for taking the material and the lowermost part convenient for cooperating with the support structure to support the whole; so that the single tray separation function of the uppermost tray can be easily realized, that is, the uppermost tray is taken and lifted separately, and other trays are not affected.

[0085] Fourthly, in the embodiment, the feeding personnel can put the full tray stacked into the full tray feeding part 610; then the height of the tray column stacked itself can cooperate with the lifting module, so that the taking of the uppermost tray can be realized by the lifting control of only one lifting module, and the empty tray after the taking of the uppermost tray is lifted to the empty tray collecting position 630 by the height formed by the tray itself; in this way, the full tray column of the full tray feeding part 610 is naturally and gradually reduced in taking, and the empty tray column of the empty tray collecting position 630 is gradually increased.

[0086] Fifthly, since the empty trays in the embodiment are naturally stacked at the empty tray collecting position 630 to form an empty tray column, the empty trays can be conveniently taken away by a mechanical hand or collecting personnel.

[0087] In the embodiment, the feeding device for appearance defect detection used in the method comprises a feeding device body 600, and the feeding device body 600 is sequentially arranged from bottom to top with a full tray feeding part 610 for stacking full trays to form a full tray column, a taking position for taking the material to be detected at the full tray and moving to the next station, and an empty tray collecting position 630 for stacking the empty trays after the taking of the material is completed to form an empty tray column; the feeding device body 600 is further arranged with a feeding process lifting module 640 for lifting the trays. Figure 7-Figure 8The full tray feeding part 610 includes a feeding part placement base plate 611 arranged in parallel along the horizontal direction; the upper part of the placement base plate is provided with a feeding part sliding guide rail 612 which is consistent with the extension direction of the placement base plate; and a feeding part sliding base plate which slides with the feeding part sliding guide rail 612 on both sides is provided;

[0088] The part of the sliding bottom plate located between the sliding guide rails 612 of the feed section on both sides forms a lifting opening 618 in the vertical direction to cooperate with the lifting module for lifting; the middle part of the upper surface of the sliding bottom plate forms a placement area for placing the material tray; the four corners of the placement area are arranged with limit blocks 613 in the vertical direction; the limit blocks 613 are trapezoidal and there are two at each corner and they are respectively located on both sides of the corner vertex to limit the material tray; a handle 614 for pulling the feed section sliding bottom plate to slide along the feed section sliding guide rail 612 is provided in the middle of the upper surface on the side far from the lifting opening 618.

[0089] It can be understood that the sliding bottom plate of the feed section can better form support for the tray at the bottom of the vertical row of trays at the feed section; and the sliding bottom plate can cooperate with the limit block 613 to jointly form a placement area for placing the vertical row of trays in the vertical direction; the vertical row of trays located in the placement area can better be limited in the vertical direction to ensure that its vertical position corresponds to the material removal position and the empty tray collection position 630.

[0090] In this embodiment, a feed section cylinder assembly 615 for driving the feed section sliding bottom plate to slide along the feed section sliding guide rail 612 is further arranged at the feed section placement bottom plate 611; the sliding mover of the feed section cylinder assembly 615 is connected to the feed section sliding bottom plate; a feed section positioning pin 616 driven by an air source to move in the vertical direction is arranged at a position below the handle 614 of the feed section placement bottom plate 611; a feed section positioning through hole for cooperating with the feed section positioning pin 616 to limit the feed section sliding bottom plate in the sliding direction is formed at the feed section sliding bottom plate;

[0091] It can be understood that the feed section cylinder assembly 615 and the feed section positioning pin 616 can better control the horizontal movement and positioning of the feed section sliding bottom plate and the vertical row of trays placed at the feed section.

[0092] An L-shaped feed section sensing piece 617 is arranged on the outer wall of the end of the sliding bottom plate on one side of the lifting opening 618; sensors for sensing and cooperating with the feed section sensing piece 617 are respectively provided at both ends of the feed section placement bottom plate 611 along the sliding direction of the feed section sliding guide rail 612; feed section photoelectric sensors 619 for sensing and identifying the material tray at the feed section are also provided at positions on both sides of the feed section sliding guide rail 612 of the feed section placement bottom plate 611.

[0093] Specifically, this type of sensor can better automatically control the loading device.

[0094] Furthermore, in this embodiment, combined with Figure 9 The loading process lifting module 640 includes a lifting mounting frame 641 arranged in the vertical direction, and a servo electric slide using an electric cylinder is arranged on the lifting mounting frame 641 in the vertical direction. Two lifting sliding blocks 642 that slide in the vertical direction are provided on both sides of the servo electric slide. The lifting sliding blocks 642 are driven by a servo motor 643 with a brake; the two lifting sliding blocks 642 are commonly connected to a lifting mounting plate 644 placed in the vertical direction, and the upper part of the lifting mounting plate 644 is symmetrically connected with a right-angled lifting mounting support plate 645 on both sides along the horizontal direction. The upper part of the two lifting mounting support plates 645 is provided with a lifting bottom plate 646 extending in the direction of the lifting opening 618 at the sliding bottom plate of the feed part; the upper end surface of the lifting bottom plate 646 is used to support the vertical row of material trays at the full material tray feed part 610 and to lift and lower in the vertical direction with the lifting sliding block 642.

[0095] Specifically, the servo motor 643 with a brake is used as a drive to better drive the vertical column of material trays to move up and down and achieve positioning; in addition, by installing the relevant mechanism at the lifting slide block 642, the vertical column of material trays can be better supported stably to ensure that the entire vertical column remains vertical, and each individual material tray can be kept horizontal to facilitate subsequent material retrieval.

[0096] A lifting limit lever is arranged along the vertical direction on the outer wall of one side of the lifting mounting frame 641 near the lifting base plate 646, and the lifting limit lever is abutted against the side wall of the vertical row of material trays to form a vertical guide; a central opening is formed along the vertical direction in the middle of the lifting base plate 646, and a lifting photoelectric sensor is arranged on the lower bottom surface of the lifting base plate 646, which is located next to the central opening. The lifting photoelectric sensor is used to sense the vertical row of material trays placed on the upper surface of the lifting base plate 646.

[0097] In this embodiment, combined with Figure 10The material picking position includes a picking base plate 621 arranged in the horizontal direction, and a picking opening 622 for the vertical row of material trays to pass through in the vertical direction is formed in the middle of the upper surface of the picking base plate 621; the picking opening 622 reserves an extra space of the size of the material in the y-axis direction compared to the material tray; a loading process picking assembly is arranged above the picking base plate 621, and the loading process picking assembly includes a picking process x-axis linear module 623 with a synchronous belt type arranged along the x-axis direction on both sides of the upper surface of the picking base plate 621; the x-axis and y-axis directions are respectively consistent with the width and length directions of the material trays at the vertical row of material trays; a picking process x-axis mover that moves along the x-axis direction is provided at the picking process x-axis linear module 623, and the x-axis movers on both sides are commonly connected to a picking process y-axis linear module 624 with a synchronous belt type that moves along the x-axis with it;

[0098] It can be understood that this embodiment mainly realizes the movement required for material picking through the x-axis linear module 623 of the material picking process and the y-axis linear module 624 of the material picking process; on the one hand, the x-axis linear module 623 of the material picking process can be more conveniently arranged on both sides of the material picking opening 622, and on the other hand, a y-axis linear module 624 of the material picking process can also better meet the material picking needs, and can pick up the materials on the material tray in sequence according to the specified material picking order.

[0099] The y-axis linear module 624 of the material picking process is provided with two adjacently arranged y-axis movers 6241 of the material picking process that move along the y-axis direction. The two y-axis movers 6241 of the material picking process are connected to the z-axis cylinder 6242 of the material picking process that is arranged along the vertical direction through the x-axis connecting block. The lower part of the piston rod of the z-axis cylinder 6242 of the material picking process is connected to the material picking process adsorption component 6243. The material picking process adsorption component 6243 includes a z-axis connecting block that moves along the vertical direction with the piston rod. The z-axis connecting block drives the lower surface to be connected to a material picking process suction cup mounting plate 6244 arranged along the horizontal direction. The four corners of the material picking process suction cup mounting plate 6244 are provided with material picking nozzles with the adsorption direction facing downward; the four material picking suction cups cooperate to absorb the material to be tested; the upper side of the material picking process suction cup mounting plate 6244 is installed with an encoder 6245 through an encoding mounting plate.

[0100] Specifically, the materials placed on the material tray are usually distributed in a 2×5 arrangement, with 5 in the length direction and 2 in the width direction, and a total of 10 materials are placed on a single material tray; the two material picking process adsorption components 6243 at the y-axis mover 6241 of the material picking process start from the first row, pick up 2 materials each time and move them out, and when picking up the fifth one, move forward to the second row, pick up the first one in the second row, and then move it out; finally, move the remaining 4 materials in the second row out in turn; this arrangement, combined with the picking sequence, can, on the one hand, move out 10 materials one by one without empty load each time, and on the other hand, it can also better reduce the load borne by the y-axis sliding block; and the movement is relatively fast.

[0101] Material picking positioning components for fixing the top material tray in the vertical row of material trays are arranged on both sides of the material picking opening 622 of the material picking base plate 621 along the x-axis direction; the material picking positioning component includes a material picking positioning cylinder 625 arranged along the x-axis direction, and the piston rod of the material picking positioning cylinder 625 is connected to a material picking positioning transverse plate 626 extending along the y-axis direction. The material picking positioning transverse plates 626 at the material picking positioning components on both sides are driven by the cylinder to move to press against both sides of the top material tray in the vertical row of material trays to achieve positioning; material picking portion photoelectric sensors 627 for identifying and sensing the top material tray in the vertical row of material trays are provided on both sides of the material picking opening 622 of the material picking base plate 621 along the x-axis direction, and multiple material picking guide rods 628 along the vertical direction are arranged on both sides of the material picking opening 622 of the material picking base plate 621 along the x-axis direction. The material picking guide rods 628 are used to press against the vertical row of material trays to form a vertical guide.

[0102] Specifically, the material positioning assembly can effectively secure the topmost tray in the vertical row of trays, which is about to be removed, during the material removal process, thereby ensuring that the trays do not shift during the entire material removal process. In addition, the material removal guide rod 628 can effectively ensure that the vertical arrangement of the trays is stable, corresponding to the feed section and the empty tray collection position 630, ensuring the normal operation of the entire loading process.

[0103] Combine Figure 11 The empty tray collection position 630 includes a collection position bottom plate 631 arranged in the horizontal direction; collection position linear guide rails 632 are arranged on both sides of the upper surface of the collection bottom plate; the collection position linear guide rails 632 on both sides are arranged with multiple collection position sliding blocks 633 that slide with them; the upper surfaces of the multiple collection position sliding blocks 633 are commonly connected to a collection position annular plate 634; the middle parts of the collection position bottom plate 631 and the collection position annular plate 634 are formed with collection openings for the vertical passage of trays; empty tray clamping mechanisms 635 are arranged on both sides of the collection opening of the collection position annular plate 634;

[0104] Specifically, the collecting opening can preferably correspond to the aforementioned material taking opening 622 and the lifting opening 618 so as to allow the vertical row of material trays to move through in the vertical direction.

[0105] The empty tray clamping mechanism 635 includes an empty tray clamping cylinder 6351, the piston rod end of the empty tray clamping cylinder 6351 is connected to an empty tray clamping plate 6352, the empty tray clamping plate 6352 is L-shaped and includes a clamping vertical plate 63521 along the vertical direction and a clamping horizontal plate 63522 along the horizontal direction; the clamping horizontal plates 63522 at the empty tray clamping mechanisms 635 on both sides are used to cooperate with the bottom surface of the empty tray at the lowest part of the empty tray vertical row to support the empty tray vertical row in the vertical direction, and the clamping vertical plates 63521 at the empty tray clamping mechanisms 635 on both sides are pressed against the side walls of the empty trays at the empty tray vertical row to form a limit position;

[0106] A plurality of empty tray limiting plates 636 are provided in the vertical direction on the side wall of the mobile phone opening at the collection position annular plate 634; the empty tray limiting rod cooperates with the clamping vertical plate 63521 to form a vertical passage for the vertical limitation of the empty trays along the vertical direction.

[0107] It can be understood that the above-mentioned empty tray clamping mechanism 635 can stably support the vertical column of empty trays located at the empty tray collection position 630 from the bottom, and after the material is taken out, the vertical column of empty trays will lift up the vertical column of empty trays from the bottom, and then the empty tray clamping mechanism 635 will clamp and remove the empty tray located at the top of the vertical column of trays and serve as the bottom of the vertical column of empty trays.

[0108] Example 3

[0109] This embodiment provides a dust removal and detection system applicable to the device main body 100 in Example 1, which is implemented based on a dust removal device 1300 and an area array detection device 1700 that cooperate with each other; the area array detection device 1700 is applicable to both the CG surface area array detection system 130 and the BG surface area array detection system 170. This embodiment also provides a material surface dust removal and detection method based on the dust removal device 1300 and the area array detection device 1700, which specifically includes the following steps:

[0110] Step 1: Loading for dust removal

[0111] Place the object to be dusted at the turning position 1310 with the BG side facing upwards;

[0112] Step 2: Turn over the object to be dust-removed

[0113] Flip the test object at the turning position 1310 180 degrees to the lifting position 1320 , with the CG of the test object facing upwards at the lifting position 1320 ;

[0114] Step 3: Lift the object to be dust-removed

[0115] Lift the inspection object located at the lifting position 1320 upward to a height where the subsequent dust removal two-axis module 1330 can pick it up;

[0116] Step 4: Pick up the test object and move it to the dust removal position

[0117] Move the dust removal two-axis module 1330 and lift the detection object to the pickup height to absorb it; and keep the detection object BG side downward. After absorption, first move it horizontally along the x-axis direction to the top of the dust removal position, and then move it down along the z-axis to the dust removal position;

[0118] Step 5: Dust removal

[0119] The dust removal typhoon system located at the lower side of the dust removal position removes dust from the test object at the dust removal position, blows up the dust and removes it from the top;

[0120] Step 6: Transport the test object to the area array test position 1713

[0121] After the dust removal is completed, the inspection object is moved to the area array inspection position 1713 of the area array camera 1714 through the dust removal two-axis module 1330;

[0122] Step 7: Area Array Detection

[0123] The area array detection position 1713 has the degree of freedom in the rotation direction around the y-axis and in two rotation directions relative to its own central axis; the area array camera 1714 has the degree of freedom along the three directions of the x-axis, y-axis, and z-axis; the relative spatial position relationship between the inspection object to be inspected and the area array camera 1714 is adjusted by coordinating the movement of the area array detection position 1713 and the area array camera 1714 in the five axial directions; by adjusting the position relationship, the four sides and four diagonals of the inspection object where defects are prone to occur and the four edges on the plane are inspected successively.

[0124] Specifically, in this embodiment, the inspection object with the CG side facing upward in the previous loading station is flipped over to have the BG side facing downward through the flipping mechanism. Since the BG surface is formed with grooves and crevices which are prone to dust accumulation, the BG side is kept facing downward to pass through the dust removal station for dust removal, so that the BG surface which is prone to dust accumulation can be better dusted and the dust removal effect is better. At the same time, this can also effectively avoid the situation where the subsequent BG surface appearance defect mapping is affected by dust due to excessive dust accumulation on the BG surface of the inspection object. This ensures that the surface condition of the BG surface can be clearly mapped and identified in the subsequent inspection process.

[0125] In addition, the dust removal method in the embodiment can be smoothly connected with the preceding feeding device and the subsequent area array detection, so that the entire visual detection process is efficiently and continuously carried out without the need for additional external equipment to remove dust from the detection object. In addition, after dust removal, the detection object is directly transported to the area array detection, so that the detection object does not come into contact with the external environment again, thereby avoiding the situation of dust accumulation again due to contact with the external environment. Therefore, the dust removal method in the embodiment can ensure that the detection object can be kept clean after dust removal.

[0126] In the embodiment, the dust removal device 1300 is arranged along the x-axis direction in sequence, including a turnover position 1310, a lifting position 1320, and a dust removal table fan system. Figure 13 The dust removal two-axis module 1330 is arranged above the dust removal table fan system and is used to transport the detection object between the turnover position 1310, the lifting position 1320, the dust removal position formed on the upper side of the dust removal table fan system, and the detection position in the area array detection device 1700.

[0127] It can be understood that the above structure can preferably realize the foregoing dust removal and area array detection process.

[0128] In combination with Figure 14 The turnover position 1310 includes a turnover placement part 1311 for adsorbing the detection object by adsorbing the CG surface, which is installed at a turnover shaft 1312 in the y-axis direction. One end of the turnover shaft 1312 is connected with a power wheel, and the power wheel is connected with the output end of a turnover servo motor 1313 through a transmission belt and a transmission wheel to realize control rotation. The turnover placement part 1311 is adsorbed and released to the detection object by a vacuum suction cup.

[0129] In combination with Figure 15 The lifting position 1320 includes a lifting placement part 1321 for adsorbing the detection object by adsorbing the BG surface, which is arranged in the y-axis direction in one-to-one correspondence with the turnover placement plate. The lower part of the lifting placement part 1321 is connected with a lifting bottom plate 1322 arranged along the y-axis. A plurality of lifting placement plates are symmetrically arranged on both sides of the middle part of the lifting bottom plate 1322. The middle lower end of the lifting bottom plate 1322 is connected with the piston rod of a lifting cylinder 1323 to move along the z-axis direction. The lifting placement part 1321 includes a BG surface product positioning clamp for fixing the detection object by the BG surface of the detection object.

[0130] In combination with Figure 16The dust removal two-axis module 1330 includes a synchronous belt type dust removal x-axis linear module 1331 arranged above the entire material turning position 1310, the material lifting position 1320 and both sides of the dust removal typhoon system along the x-axis direction. The dust removal x-axis linear modules 1331 on both sides are driven by the same dust removal x-axis servo motor 1332, and the dust removal x-axis linear modules 1331 on both sides are synchronized by a synchronization rod 1333;

[0131] The upper part of the dust removal x-axis sliding block 1334 at the dust removal x-axis linear module 1331 on both sides is commonly provided with a dust removal y-axis crossbeam 1335 along the y-axis direction, and the outer wall of the dust removal y-axis crossbeam 1335 on one side of the material lifting position 1320 is provided with a synchronous belt type dust removal z-axis linear module 1336 along the z-axis direction. The lower part of the dust removal z-axis sliding plate 1337 moving along the z-axis direction at the dust removal z-axis linear module 1336 is connected to the dust removal y-axis mounting plate 1338 arranged one-to-one with the material lifting position 1320 along the y-axis direction, and the lower part of the dust removal y-axis mounting plate 1338 is provided with dust removal position adsorption parts 1339 arranged at intervals along the y-axis direction.

[0132] The dust removal position adsorption part 1339 includes a horizontally arranged dust removal position nozzle mounting plate, and the four corners of the dust removal position nozzle mounting plate are provided with suction nozzles with the adsorption direction facing downward. The suction nozzles at the four corners cooperate with the CG surface of the detection object at the lifting position 1320 for picking up. The dust removal y-axis beam 1335 can be moved along the x-axis direction to the dust removal position located on the upper side of the dust removal typhoon system.

[0133] Combine Figure 17 The area array detection device 1700 is provided with an area array two-axis rotation device 1710, which includes a rotating shell 1711 arranged along the y-axis direction; both ends of the rotating shell 1711 along the y-axis direction are movably mounted on the area array x-axis moving plate 1712, and the rotating shell 1711 is rotated by an area array servo motor arranged inside the rotating shell 1711;

[0134] A plurality of area array detection positions 1713 are evenly spaced along the y-axis direction on the upper surface of the rotating shell 1711, and the area array detection positions 1713 can rotate around their own central axis relative to the rotating shell 1711; the area array x-axis moving plate 1712 is arranged on the area array x-axis slide rail for sliding along the x-axis direction, and the area array camera 1714 is arranged on the upper middle side of the area array x-axis slide rail, and the lower part of the area array camera 1714 forms an area array visual detection area; one end of the area array x-axis slide rail along the x-axis direction is used to receive the detection object after dust removal by the dust removal device 1300, and the other end is used to cooperate with the 2D and 3D detection systems to pass the detection object after the area array visual inspection to the next inspection station.

[0135] Specifically, the aforementioned physical structure effectively ensures stable movement and smooth rotation of the inspection object between different workstations throughout the dust removal and inspection process, thereby ensuring smooth execution of the entire dust removal and inspection process. Furthermore, the area array camera 1714 and the area array two-axis rotation device 1710 effectively cooperate to capture images of the inspection object from different angles, thereby comprehensively covering all locations on the inspection object's exterior prone to defects.

[0136] When the detection object is the middle frame of a mobile phone and the size ratio of the entire device is arranged according to the middle frame of the mobile phone, in the actual operation process, it takes 1 second for the four middle frames of the mobile phone to flip at the same time, 1.5 seconds for the material lifting position 1320 to receive the material, and then 1 second for the flipping position 1310 to flip back to its original position along with the flipping shaft 1312, 2 seconds for the dust removal position adsorption part 1339 at the dust removal two-axis module 1330 to move and take the material, 1 second for the dust removal position adsorption part 1339 to carry the mobile phone middle frame to the dust removal position, and 3 seconds for the tornado dust removal. s, it takes 1s to move to the area array detection device 1700 after dust removal is completed, and it takes 1s for the dust removal two-axis module 1330 to drive the dust removal position adsorption part 1339 to return to its original position. The whole process takes 13s. A total of 4 mobile phone middle frames are dusted and inspected by area array. It takes about 3.3s for a single mobile phone middle frame. The whole dust removal process is fast and efficient. In addition, dust removal and area array detection, as a link in the entire detection process, can be smoothly transitioned with other links of the entire detection equipment to ensure the stability of the entire detection process.

[0137] When the inspection object is the middle frame of a mobile phone and the size ratio of the entire device is arranged according to the middle frame of the mobile phone, in the actual area array inspection process, at the beginning of the area array inspection, the suction nozzle of the dust removal position drops (0.2s) to break the vacuum and discharge the material (0.3s), the suction nozzle of the dust removal position rises (0.2s), the area array two-axis rotation device 1710 moves to the area array visual inspection area (0.5s), the mobile phone middle frame rotation motion detection, the four sides and four diagonals of the mobile phone middle frame and the four edges on the plane are inspected one by one (17 ... The rotating device 1710 moves to the position where the 2D and 3D detection systems cooperate (0.5s), the suction nozzles at the 2D and 3D detection systems descend (0.2s) and start vacuum suction (0.3s), the suction nozzles at the 2D and 3D detection systems rise, and the area array two-axis rotating device 1710 returns to wait for the next batch of mobile phone middle frames that have completed dust removal (1s). The whole process takes 20.4s, and a single mobile phone middle frame takes about 5.1s. The running speed of the entire area array detection process remains fast, thereby ensuring the efficient operation of the entire process.

[0138] Example 4

[0139] This embodiment provides a combined 2D and 3D appearance detection system applicable to the device body 100 in Example 1, which is implemented based on a combined 2D and 3D appearance detection device 1800; the device is also applicable to the combined 2D and 3D CG surface detection system 140 and the combined 2D and 3D BG surface detection system 160. This embodiment also provides a combined 2D and 3D appearance detection method and application implemented based on the combined 2D and 3D appearance detection system. This method can be applied to both CG surface detection and BG surface detection, and specifically includes the following steps:

[0140] Step 1: Combine 2D and 3D inspection and loading

[0141] The multi-head grabbing module 1810 grabs the inspection object that has been dust-cleaned and inspected by area array vision.

[0142] Step 2: Combine 2D and 3D detection and discharge

[0143] The multi-head grabbing module 1810 places the grabbed test objects one by one at the initial position for combined testing;

[0144] Step 3: Combine 2D and 3D detection to extract materials

[0145] The detection objects located at the initial detection position are picked up one by one in turn by the detection picking assembly and placed on the detection conveying path 1890;

[0146] Step 4: 2D detection

[0147] A single inspection object is transported along the combined inspection transport path 1890 to the 2D line scan inspection position and the 2D inspection module performs 2D line scan inspection on the mid-board surface of the inspection object for defects such as scratches, mid-board stress marks, and mid-board over / omission cleaning.

[0148] Step 5: 3D detection

[0149] The inspection object is then transported along the combined inspection transport path 1890 to the 3D line laser inspection station, where it is inspected by the 3D inspection module 1860 for defects such as stress marks on the mid-plate, mid-plate dents, mid-plate surface steps, mid-plate surface over-tightening, mid-plate springback, mid-plate surface deformation, mid-plate over-tightening / missing tightening, and mid-plate knife marks.

[0150] Step 6: Combine 2D and 3D to detect blanking

[0151] The inspection object after 2D and 3D inspection is completed is transported to the unloading position through the combined inspection unloading transport axis 1870.

[0152] Specifically, the above-mentioned combined 2D and 3D inspection method can better complete 2D inspection and 3D inspection in sequence through a single combined inspection and transportation path 1890, thereby better performing image recognition for appearance defects that may appear at the inspection object, with a wider coverage range, thereby better ensuring the accuracy of the inspection results, and further better being able to identify products with appearance defects through inspection.

[0153] Combine Figure 18-19 A detection device 1800 for the combined appearance of 2D and 3D includes a multi-head material grabbing module 1810 for 2D and 3D combined detection loading and a combined detection unloading conveying shaft 1870 for 2D and 3D combined detection unloading. A combined detection conveying passage 1890 arranged along the x-axis direction is arranged on the lower side of the multi-head material grabbing module 1810; a 2D detection module and a 3D detection module 1860 are arranged in sequence on the moving route of the combined detection conveying passage 1890 from the multi-head material grabbing module 1810 to the unloading conveying shaft.

[0154] Combine Figure 20 The multi-head material grabbing module 1810 includes a vertically arranged multi-head material grabbing mounting frame 1811, and a material grabbing x-axis linear module 1812 driven by an air source is horizontally arranged along the x-axis direction on the upper surface of the multi-head material grabbing mounting frame 1811; the upper part of the material grabbing x-axis mover at the material grabbing x-axis linear module 1812 is connected to a material grabbing mounting plate 1813 that moves along the x-axis with the material grabbing x-axis mover; a material grabbing z-axis linear module 1814 using an electric cylinder is placed along the z-axis at the material grabbing mounting plate 1813; a material grabbing z-axis mounting plate 1815 facing downward along the z-axis direction is arranged at the material grabbing z-axis mover of the material grabbing z-axis linear module 1814; a material grabbing head mounting plate 1816 along the y-axis direction is installed at the lower part of the material grabbing z-axis mounting plate 1815, and a plurality of material grabbing heads 1817 are evenly spaced along the y-axis direction on the lower side of the grabbing head mounting plate 1816.

[0155] One end of the material grabbing x-axis linear module 1812 along the x-axis direction is located on the upper side of the material discharging position of the previous station, and the lower side of the other end is provided with a material grabbing rack 1818 corresponding to the material grabbing head 1817 at the material grabbing head mounting plate 1816. The upper part of the material grabbing rack 1818 is used to position and cooperate with the detection object; combined with Figure 21, the upper side of the material grabbing and placing frame 1818 is arranged with a Y-axis linear module 1820 for combined detection and an electric cylinder along the y-axis direction, and the Y-axis moving combined detection material picking linear module 1820 is connected with a sliding cylinder type combined detection z-axis material picking module 1821 arranged along the z-axis direction, and the lower part of the combined detection z-axis material picking mover moving along the z-axis direction is connected with a horizontally arranged combined detection material picking plate 1822, and the lower surface of the combined detection material picking plate 1822 is used for positioning and loosening with the CG surface of the detection object, combined detection material picking linear module 1820 Figure 22 The combined detection transport passage 1890 is arranged below the combined detection material picking plate 1822 and is located in the middle position of multiple material grabbing and placement racks 1818 along the y-axis direction; the combined detection material picking plate 1822 is used to position and cooperate with the detection object to carry it to the combined detection transport passage 1890 and release it to place it in the combined detection transport passage 1890.

[0156] The combined detection transport passage 1890 includes a combined detection x-axis transport module 1891 arranged along the x-axis direction and adopting a double-motor linear motor module. A separation sensor is arranged at the middle position of the combined detection x-axis transport module 1891 along the x-direction. The parts of the combined detection x-axis transport module 1891 located on both sides of the separation sensor constitute the first mover moving part 18911 and the second mover moving part 18912 respectively. The first mover moving part 18911 and the second mover moving part 18912 are respectively provided with the first mover and the second mover sliding along the x-axis within their areas; a combined detection transition component 1850 is provided at the junction of the first mover moving part 18911 and the second mover moving part.

[0157] A combined detection positioning assembly 1892 for positioning and releasing the BG surface of the detection object is installed on the upper part of the first mover and the second mover. One end of the first mover moving part 18911 along the x-axis direction is located at the lower side of the combined detection and picking plate 1822 so as to receive the detection object on the combined detection and picking plate 1822 through the combined detection positioning assembly 1892 on the first mover.

[0158] Combine Figure 23 The other end of the first movable part 18911 along the x-axis direction is provided with a combined detection transition component 1850. Figure 23The combined detection transition component 1850 is installed along the z-axis direction through the combined detection transition mounting frame 1851 and is installed directly above the combined detection transport path 1890. The combined detection transition component 1850 includes a combined detection transition z-axis module 1852 using a sliding cylinder. A combined detection transition suction plate 1853 is horizontally arranged at the lower part of the combined detection transition z-axis mover at the combined detection transition z-axis module 1852. The combined detection transition suction plate 1853 is used to position and release the detection object CG surface at the first mover by controlling the vacuum phase.

[0159] A 2D detection module is arranged above the middle position of the first movable part 18911 along the x-axis direction, and the first movable part 18911 located in the detection area of ​​the 2D detection module forms a 2D line scan detection position; the 2D detection module includes a 2D line scan camera 1840 and a bionic AOI light source 1832 arranged in a ring shape around the 2D line scan detection position, and is installed in combination with the bionic AOI light source 1832 through a 2D camera mounting bracket 1830; a shooting opening 1831 is formed on one side of the 2D line scan mounting bracket far from the detection transition component 1850, and the 2D line scan camera 1840 is fixedly installed through the 2D camera mounting bracket 1830 and its shooting light path passes through the shooting opening 1831 and is directly opposite to the 2D line scan detection position at the first movable part 18911.

[0160] One end of the second movable member 18912 along the x-axis direction is located at the lower side of the combined detection transition suction plate 1853 so as to receive the detection object at the combined detection transition suction plate 1853 through the second movable member, and the other end of the second movable member 18912 along the x-axis direction is located at the lower side of the combined detection unloading conveying shaft 1870; Figure 26 A 3D detection module 1860 is arranged above the middle position of the second movable part 18912 along the x-axis direction; the second movable part 18912 located in the detection area of ​​the 3D detection module 1860 forms a 3D line laser detection position, and the 3D detection module 1860 includes a 3D detection y-axis linear module 1861 selected as a linear motor, which is arranged along the y-axis direction and spans the second movable part 18912 at the combined detection transition mounting frame 1851. The 3D camera 1862 is installed at the lower part of the 3D detection y-axis movable part of the 3D detection y-axis module and moves along the y-axis to perform 3D detection on the detection object at the 3D line laser detection position. There are three 3D detection cameras and they are staggered.

[0161] Combine Figure 27The combination detection unloading carrying shaft 1870 includes a combination detection unloading y-axis module 1871 controlled by a gas source and arranged across the upper side of the end of the combination detection carrying channel 1890 in the y-axis direction. A combination detection unloading z-axis module 1872 in the form of a sliding table gas cylinder is arranged in the z-axis direction at the combination detection unloading y-axis mover 18711 of the combination detection unloading y-axis module 1871. A combination detection unloading suction plate 18722 arranged horizontally is mounted at the lower part of the combination detection unloading z-axis mover 18721 of the combination detection unloading z-axis module 1872. The combination detection unloading suction plate 18722 is used for positioning and releasing cooperation with the CG surface of the detection object.

[0162] The combination detection unloading y-axis module 1871 is arranged on one side in the y-axis direction and has a combination detection unloading transition position and a combination detection unloading x-axis module 1880 controlled by a gas source and arranged in the x-axis direction towards the side of the far 3D detection module. The combination detection unloading x-axis module 1880 is located above the combination detection unloading transition position at one end in the x-axis direction. A combination detection carrying z-axis module 1882 in the form of a ball screw is arranged in the z-axis direction at the combination detection unloading x-axis mover 1881 of the combination detection unloading x-axis module 1880. A combination detection carrying suction plate 1883 arranged horizontally is connected to the lower part of the combination detection carrying z-axis mover 18821 moving in the z-axis direction at the combination detection carrying z-axis module 1882. The combination detection carrying suction plate 1883 is positioned and adsorbed in cooperation with the CG surface of the detection object by controlling the vacuum.

[0163] Specifically, the above structure can better meet the transplanting and detection requirements in the entire detection process. During the detection process, when the CG surface middle plate region is detected, the 2D detection module and the 3D detection module 1860 can perform image recognition on the appearance defects such as scratches, pressure injuries, and scratches on the CG surface middle plate.

[0164] When the device is used for detecting the BG surface middle plate region (the detection of the BG surface middle plate region is located after the macro detection), the 2D detection module and the 3D detection module 1860 can perform image recognition on the appearance defects such as stress marks, scratches, pressure injuries, scratches, edge burrs, edge flanges, edge curling, over-milling, missing milling, and not milling in place on the BG surface middle plate. At the same time, the 2D code region can also perform image recognition on the burrs, 2D code scratches, over-milling, missing milling, and not milling in place.

[0165] When the detection object is a mobile phone middle frame and the size ratio of the entire device is arranged according to the mobile phone middle frame, during the entire 2D line scanning detection process, first, the combination detection feeding plate 1822 is lowered (0.2s) to break the vacuum and discharge to the first mover (0.3s) at the combination detection conveying passage 1890, and then is raised back to the original position (0.2s), the detection object moves along the combination detection conveying passage 1890 to the 2D line scanning detection position (2s), and then moves to the lower side of the combination detection transition suction plate 1853 (0.5s), the combination detection transition suction plate 1853 is lowered (0.2s) to open the vacuum suction (0.3s), after suction, the combination detection transition suction plate 1853 is raised (0.2s), and the first mover is returned (1s), the entire 2D detection process takes 5.4s, and the 2D detection of a single detection object is completed, and the detection time can be controlled in a relatively short time, thereby ensuring the efficient performance of the entire detection process.

[0166] When the detection object is a mobile phone middle frame and the size ratio of the entire device is arranged according to the mobile phone middle frame, during the entire 3D laser detection process, first, the combination detection transition suction plate 1853 is lowered (0.2s) and the vacuum is broken (0.3s), the macro detection transition suction plate is raised (0.2s), the second mover carries the mobile phone middle frame to the shooting position (0.5s), and then 3D line laser (150mm / s) is performed for 2s, the second mover carries the mobile phone middle frame to the discharging position (0.5s), the combination detection conveying suction plate 1883 is lowered (0.2s) and the vacuum suction is opened (0.3s), after the suction is completed, the combination detection conveying suction plate 1883 is raised (0.2s), and the empty jig at the second mover is returned (1s), and the 3D detection takes 5.4s.

[0167] The 2D camera parameters used in the embodiment are as follows: camera model: DASLA LA-CM-16K05A-00-R, telephoto lens: DTCM16-80H-AL, working distance: 120mm, scanning interval: 0.005mm, motion mode: camera fixed, product horizontal motion.

[0168] The 3D camera 1862 parameters used in the embodiment are as follows: camera SR8060, object distance: 60mm, sampling frequency: 3.2k-13k.

[0169] Embodiment 5

[0170] The embodiment provides an appearance defect macro detection system suitable for the equipment body in embodiment 1, and also provides an appearance defect macro detection method and application based on the appearance defect macro detection system, the method can be suitable for CG face detection and BG face detection, and specifically includes the following steps.

[0171] Step one, macro detection feeding

[0172] Place the object to be tested at the macro detection loading position;

[0173] Step 2: CG surface detection

[0174] The inspection object is placed with its CG surface facing upward through the first macro inspection station 3000 and the second macro inspection station 3100 in sequence; the first macro inspection station 3000 is used to inspect the edges of the plate on the CG surface of the inspection object, and the second macro inspection station 3100 is used to inspect the waterproof surface of the CG surface of the inspection object.

[0175] Step 3: Detect object flipping

[0176] Flip the test object with the CG side facing up so that the BG side faces up

[0177] Step 4: BG surface detection

[0178] The inspection object is placed with its BG surface facing upward through the third macro inspection station 3200, the fourth macro inspection station 3300, the fifth macro inspection station 3400 and the sixth macro inspection station 3500 in sequence; the third macro inspection station 3200 is used to detect the nut position of the BG inner cavity surface of the inspection object, the fourth macro inspection station 3300 is used to detect the upper and lower U-shaped areas of the BG inner cavity surface of the inspection object, the fifth macro inspection station 3400 is used to detect the four corners of the upper and lower U areas of the BG inner cavity surface of the inspection object, and the sixth macro inspection station 3500 is used to detect the T-slot area of ​​the BG inner cavity surface of the inspection object.

[0179] Step 5: Macro detection of blanking

[0180] The object that has completed macro inspection is unloaded to the next workstation.

[0181] Specifically, the above-mentioned macro detection method can better detect each part of the CG surface and BG surface of the material that is prone to appearance defects separately through multiple workstations. At the same time, each workstation can achieve the best detection effect through a unique macro detection camera arrangement.

[0182] The macro detection device includes a macro BG surface detection part and a macro CG surface detection part; the macro CG surface detection part is provided with a macro detection first station 3000 and a macro detection second station 3100; the macro BG surface detection part is provided with a macro detection third station 3200, a macro detection fourth station 3300, a macro detection fifth station 3400 and a macro detection sixth station 3500.

[0183] The first macro detection station 3000 and the second macro detection station 3100 both include positioning tooling for adsorbing and releasing the CG surface of the detection object by cooperating with the CG surface of the detection object. The third macro detection station 3200, the fourth macro detection station 3300, the fifth macro detection station 3400 and the sixth macro detection station 3500 both include BG surface positioning fixtures for adsorbing and releasing the detection object by cooperating with the BG surface of the detection object. The lower sides of the CG surface positioning tooling and the BG surface positioning fixture are both provided with a macro detection z-axis lifting module using an electric cylinder for lifting the detection object. The macro BG surface detection section and the macro CG surface detection section both use multiple macro detection cameras arranged in a coordinated manner to perform macro detection of the BG surface and CG surface of the detection object.

[0184] Combine Figure 29 The macro inspection camera includes a macro camera body 2900, and a macro camera mounting block 2910 is formed on the upper side wall of the macro camera body 2900. The macro camera mounting block 2910 is used to cooperate with the macro camera mounting holes at each macro inspection station for arrangement and installation. A first macro shooting lens 2920 with a shooting light path facing downward is arranged on the lower end face of the macro camera body 2900, and a second macro shooting lens 2930 with a shooting light path facing outward is arranged on the lower part of the side wall of the macro camera body 2900 opposite to the macro camera mounting block 2910; the lens axes of the first macro shooting lens 2920 and the second macro shooting lens 2930 are perpendicular to each other.

[0185] Combine Figure 30 , the first macro detection station 3000 also includes a macro detection first camera assembly located directly above the CG surface positioning tooling at the station, and multiple macro detection cameras at the first macro detection camera assembly cooperate to form a first detection position for macro detection. The macro detection z-axis lifting module can drive the CG surface positioning tooling at the station and the detection object to move upward to the first detection position for macro detection. The first macro detection camera assembly includes multiple macro detection cameras respectively arranged on the outside of the two wide sides of the CG surface of the detection object; the macro detection cameras on both sides are arranged in parallel and spaced between the two ends in the width direction of the CG surface of the detection object, and the macro detection cameras are all tilted by the adapter plate. The outer wall planes of the macro detection cameras at the first macro detection camera assembly maintain an inclination angle of 20-30 degrees relative to the CG surface of the detection object; the first macro shooting lens 2920 and the second macro shooting lens 2930 of each macro detection camera at the station are both facing the side of the wide side edge of the middle plate of the CG surface for macro detection of the CG middle plate edge;

[0186] Combine Figure 31, the micro-distance detection second station 3100 further comprises a micro-distance detection second camera assembly located directly above the CG surface positioning tool at the station, a micro-distance detection second detection position is formed at the micro-distance detection second camera assembly, the micro-distance detection z-axis lifting module can drive the CG surface positioning tool and the detection object at the station to move upward to the micro-distance detection second detection position, the micro-distance detection second camera assembly comprises two rows of micro-distance detection cameras arranged in parallel between the two long edges of the CG surface respectively, the two rows of micro-distance detection cameras are parallel to the two long edges of the CG surface of the detection object respectively, the micro-distance detection cameras in a single row are arranged in parallel and spaced apart from one wide edge of the CG surface to the other wide edge to cover the entire CG waterproof surface, the first micro-distance shooting lens 2920 of each micro-distance detection camera at the two rows of micro-distance detection cameras is vertically directed toward the bottom plane of the CG surface, and the second micro-distance shooting lens 2930 is directed toward the long edge of the CG surface to be used for micro-distance detection of the CG waterproof surface.

[0187] In combination Figure 32 , the micro-distance detection third station 3200 further comprises a micro-distance detection third camera assembly located directly above the BG surface positioning jig at the station, a plurality of micro-distance detection cameras at the micro-distance detection third camera assembly cooperatively form a micro-distance detection third detection position, the micro-distance detection z-axis lifting module can drive the CG surface positioning tool and the detection object at the station to move upward to the micro-distance detection third detection position, the micro-distance detection third camera assembly comprises two rows of micro-distance detection cameras arranged in parallel between the two long edges of the inner cavity of the BG surface respectively, each row of micro-distance detection cameras is arranged in parallel and spaced apart from one wide edge of the inner cavity of the BG surface to the other wide edge, the first micro-distance shooting lens 2920 of each micro-distance detection camera at the station is vertically directed toward the bottom plane of the inner cavity of the BG surface, and the second micro-distance shooting lens 2930 is vertically directed toward the inner side wall of the long edge of the inner cavity of the BG surface which protrudes perpendicularly to the bottom plane to be used for micro-distance detection of the BG inner cavity surface nut position;

[0188] In combination Figure 33 , the micro-distance detection fourth station 3300 further comprises a micro-distance detection fourth camera assembly located directly above the BG surface positioning jig at the station, a plurality of micro-distance detection cameras at the micro-distance detection fourth camera assembly cooperatively form a micro-distance detection fourth detection position, the micro-distance detection z-axis lifting module can drive the CG surface positioning tool and the detection object at the station to move upward to the micro-distance detection fourth detection position, the micro-distance detection fourth camera assembly comprises two rows of micro-distance detection cameras arranged in parallel with the two wide edges of the inner cavity of the BG surface respectively, each row of micro-distance detection cameras is arranged in parallel and spaced apart from one wide edge of the inner cavity of the BG surface to the other wide edge, the first micro-distance shooting lens 2920 of each micro-distance detection camera at the station is vertically directed toward the bottom plane of the inner cavity of the BG surface, and the second micro-distance shooting lens 2930 is vertically directed toward the inner side wall of the wide edge of the inner cavity of the BG surface which protrudes perpendicularly to the bottom plane to be used for micro-distance detection of the BG inner cavity surface up and down U area;

[0189] In combination Figure 34 , the fifth macro detection station 3400 also includes a fifth macro detection camera assembly located directly above the BG surface positioning fixture at the station, and multiple macro detection cameras at the fifth macro detection camera assembly cooperate to form a fifth detection position for macro detection. The macro detection z-axis lifting module can drive the CG surface positioning fixture and the detection object at the station to move upward to the fifth detection position for macro detection. The fifth macro detection camera assembly includes four macro detection cameras respectively arranged on the inner sides of the four corners of the BG surface cavity. The first macro shooting lens 2920 of each macro detection camera is vertically facing the bottom plane of the BG surface cavity, and the second macro shooting lens 2930 is facing the inner wall of the corner of the BG surface cavity for macro detection of the four corners of the upper and lower U areas of the BG cavity surface;

[0190] Combine Figure 35 The sixth macro detection station 3500 also includes a sixth macro detection camera assembly located directly above the BG surface positioning fixture at the station. Multiple macro detection cameras at the sixth macro detection camera assembly cooperate to form the sixth detection position of macro detection. The macro detection z-axis lifting module can drive the CG surface positioning tooling and the detection object at the station to move upward to the sixth detection position of macro detection. The sixth macro detection camera assembly includes two rows of macro detection cameras arranged parallel to the two long sides of the inner wall of the BG surface, and each row of macro detection cameras is arranged in parallel and spaced from one wide side to the other wide side of the BG surface cavity. The first macro shooting lens 2920 of each macro detection camera at the station is vertically facing the bottom plane of the BG surface cavity, and the second macro shooting lens 2930 is vertically facing the inner side wall of the long side protruding perpendicular to the bottom plane of the BG surface cavity for macro detection of the T-slot area of ​​the BG inner cavity surface.

[0191] Specifically, through the above-mentioned workstations and the corresponding macro detection camera arrangement method, the parts of the inspection object that are prone to appearance defects can be better covered, and the multi-station arrangement method can make the coverable appearance defect detection more complete, thereby ensuring the detection accuracy of macro detection and the overall detection process; in addition, the macro detection is arranged in the middle of the entire detection equipment. On the one hand, because the arrangement of macro detection is relatively fine, putting BG surface detection and CG surface detection together can be better facilitated and can reduce costs compared to separate arrangements; at the same time, the inspection object is turned over during macro detection; so that the parts of the entire equipment on both sides of the macro detection device can be used for CG surface and BG surface detection respectively, and then from the beginning of loading, the first half of the entire process is CG surface detection, and the second half is BG surface detection, which can facilitate subsequent image analysis data processing.

[0192] The parameters of the macro detection camera used in this embodiment are as follows: lens structure: 3P+IR, lens matching wafer: 1 / 6", lens maximum image surface: diameter 3.3mm; lens focal length: 1.35mm; lens total length: 2.90±0.1mm; lens aperture: 2.2±5%; lens diagonal angle: D=88.7°; lens optical distortion <1.5%; lens relative luminance >39.6%; pixel accuracy 0.01mm. The macro detection camera and the detection position are kept at a distance of 10mm±0.03mm.

[0193] Embodiment 6

[0194] This embodiment provides a macro detection device suitable for the macro detection system in Embodiment 5, which comprises Figure 36 , which comprises a macro device body 3600, the macro device body 3600 comprising a macro feeding position 3610 for macro detection feeding and a macro discharging position 3620 for macro detection discharging; a macro CG surface detection part, a macro detection turnover assembly 3630 and a macro BG surface detection part are arranged in sequence from the macro feeding position 3610 to the macro discharging position 3620, and above the macro CG surface detection part and the macro BG surface detection part are arranged a CG surface camera assembly for detecting the detection object CG surface at the CG surface detection part and a BG surface camera assembly for detecting the detection object BG surface at the BG surface detection part.

[0195] There are a total of sixteen macro detection placement positions arranged in parallel at intervals along the x-axis and y-axis directions at the macro device body 3600, which are divided into four rows of first, second, third and fourth macro detection parts arranged along the y-axis direction, the CG surface detection part comprises the first and second macro detection parts, and the BG surface detection part comprises the third and fourth macro detection parts; the macro feeding position 3610 is located at the first macro detection part of the CG surface detection part, and the macro discharging position 3620 is located at the fourth macro detection part of the BG surface detection part, and the sixteen macro detection placement positions jointly form a moving route of the detection object in the macro detection from the macro feeding position 3610 to the macro discharging position 3620, and the moving route of the detection object is S-shaped from the first macro detection part to the fourth macro detection part.

[0196] It can be understood that in this embodiment, a 4×4 layout is adopted, and the two sides of each row of positions along the y-axis direction serve as the upper and lower material positions of the row respectively, and the two middle positions can be used as detection stations and cooperate with corresponding macro detection cameras. The 4×4 layout can better meet the layout requirements of eight detection stations. At the same time, this enables the BG surface detection part and the CG surface detection part to be distributed in a symmetrical structure, each occupying two rows of macro detection parts. This also enables the macro detection flip assembly 3630 to be arranged exactly at the junction of the BG surface detection part and the CG surface detection part, thereby making the overall layout structure and subsequent operation more stable.

[0197] The four macro detection positions at the first macro detection section form the macro loading position 3610, the macro detection first station 3000, the macro detection second station 3100 and the macro detection transition position in sequence along the positive direction of the y-axis; the four macro detection positions at the second macro detection section form the macro detection transition position, the macro detection first reserved station, the macro detection second reserved station and the macro detection flip loading position in sequence along the negative direction of the y-axis; the four macro detection positions at the third macro detection section form the macro detection flip unloading position, the macro detection third station 3200, the macro detection fourth station 3300 and the macro detection transition position in sequence along the positive direction of the y-axis; the four macro detection positions of the fourth macro detection section form the macro detection transition position, the macro detection fifth station 3400, the macro detection sixth station 3500 and the macro detection unloading position in sequence along the negative direction of the y-axis.

[0198] Above the first macro detection station 3000, the second macro detection station 3100, the third macro detection station 3200, the fourth macro detection station 3300, the fifth macro detection station 3400 and the sixth macro detection station 3500 are respectively arranged a macro detection first camera assembly, a macro detection second camera assembly, a macro detection third camera assembly, a macro detection fourth camera assembly, a macro detection fifth camera assembly and a macro detection sixth camera assembly, which are coordinated with the detection and adopt a collaborative arrangement of multiple macro detection cameras.

[0199] Combine Figure 37, the macro detection transition position at the first macro detection part and the macro detection transition position at the second macro detection part are realized by a macro detection x-axis moving component 3700, the macro detection x-axis moving component 3700 includes a macro detection x-axis linear module 3710 arranged along the x-axis direction and controlled by an air source, a macro detection z-axis module 3720 using a slide cylinder is arranged at the macro detection x-axis mover 3711 of the macro detection x-axis linear module 3710 along the z-axis direction, a macro detection z-axis mover 3721 of the macro detection z-axis module 3720 is connected to a macro detection transition moving plate 3730, and a macro detection transition moving position for moving the detection object between the macro detection transition positions is arranged at the macro detection transition plate 3730; a macro detection x-axis moving component 3700 for moving the detection object is also arranged between the macro detection transition position at the third macro detection part and the macro detection transition position at the fourth macro detection part;

[0200] Combine Figure 36 and Figure 38 The macro detection flip loading position and the macro detection flip unloading position of the second macro detection part are realized through the macro detection flip component 3630. The macro detection flip component 3630 includes a macro detection flip servo motor 3631. The output end of the macro detection servo motor is connected to the L-shaped cantilever plate 3632 through a reducer. The macro detection flip unloading position is arranged at the L-shaped cantilever plate 3632. The macro detection flip loading position is arranged at the position after the macro detection servo motor drives the cantilever plate 3632 to rotate one hundred and eighty degrees.

[0201] Combine Figure 39 Two macro detection y-axis material moving components 3900 are arranged along the y-axis direction at the position between the first macro detection part and the second macro detection part. The two macro detection y-axis material moving components 3900 are respectively used in conjunction with the first macro detection part and the second macro detection part. Each macro detection y-axis material moving component 3900 includes a macro detection y-axis linear module 3910 of a ball screw type arranged along the y-axis direction. The macro detection y-axis mover 3911 of the macro detection y-axis linear module 3910 is connected to a macro detection material moving plate 3912. Three macro detection material moving positions 3913 are arranged at intervals along the y-axis direction at the macro detection material moving plate 3912. The spacing distance between the three macro detection material moving positions 3913 is the same as the spacing between the four macro detection placement positions at the first macro detection part; the three macro detection material moving positions 3913 are used to move the detection object at each macro detection placement position forward one position along the S-shaped moving route each time.

[0202] The macro detection placement positions of the first and second macro detection units are both equipped with product positioning fixtures that fix the detection object by the BG surface of the detection object; the macro detection placement positions of the third and fourth macro detection units are both equipped with CG surface positioning fixtures that fix the mobile phone middle frame by the CG surface of the mobile phone middle frame;

[0203] The first macro detection station 3000, the second macro detection station 3100, the first macro detection reserved station and the second macro detection reserved station, the third macro detection station 3200, the fourth macro detection station 3300, the fifth macro detection station 3400 and the sixth macro detection station 3500 are all lifted and lowered by the macro detection z-axis lifting module. The macro detection z-axis lifting module includes a CG surface z-axis lifting linear module and a BG surface z-axis lifting linear module. A CG surface z-axis lifting linear module using an electric cylinder is provided on the lower sides of the first macro detection station 3000, the second macro detection station 3100, the first reserved macro detection station and the second reserved macro detection station in the surface detection section; a BG surface z-axis lifting linear module using an electric cylinder is provided on the lower sides of the third macro detection station 3200, the fourth macro detection station 3300, the fifth macro detection station 3400 and the sixth macro detection station 3500 in the macro BG surface detection section;

[0204] Combine Figure 40 The CG surface z-axis lifting linear module and the BG surface z-axis lifting linear module both include a lifting linear module body 4000, and the lifting linear module body 4000 includes a lifting linear electric cylinder module 4010. The lifting linear electric cylinder mover 4020 of the lifting linear cylinder module 4010 is connected to a macro lifting frame 4030, and four sets of lifting connecting rods are provided on the upper end surface of the macro lifting frame 4030; the four sets of macro lifting connecting rods 4040 at the CG surface z-axis lifting linear module are respectively connected to the first macro detection workpiece. The lower ends of the third macro detection station 3000, the second macro detection station 3100, the first reserved macro detection station and the second reserved macro detection station are connected to drive them to move upward to the corresponding detection positions; the four groups of macro lifting links 4040 at the BG surface z-axis lifting linear module are respectively connected to the lower ends of the third macro detection station 3200, the fourth macro detection station 3300, the fifth macro detection station 3400 and the sixth macro detection station 3500 to drive them to move upward to the corresponding detection positions.

[0205] Except for the first, second, third, fourth, fifth and sixth macro detection stations and the first and second reserved stations for macro detection, the lower sides of the remaining macro detection positions are provided with macro lifting cylinders arranged along the z-axis direction. The piston rod ends of the macro lifting cylinders are connected to the lower ends of the remaining macro detection positions and drive them to move upward to cooperate with the macro detection y-axis material moving assembly 3900 to realize the handover of the detection object.

[0206] Specifically, the above structure can better meet the requirements of transferring the inspection objects between various workstations during the entire macro inspection process, and the inspection objects at each row of 4 macro inspection placement positions can be picked up by three macro inspection transfer positions 3913 each time and stably moved forward one unit along the moving route. This operation is simple and efficient, and can better cooperate with the 4×4 layout to ensure the normal operation of the entire macro inspection.

[0207] It is easy to understand that those skilled in the art can combine, split, reorganize, etc. the embodiments of the present application based on one or several embodiments provided in the present application to obtain other embodiments, and these embodiments do not exceed the scope of protection of the present application.

[0208] The above is a schematic description of the present invention and its embodiments, which is not restrictive. The embodiments shown in the embodiments are only part of the embodiments of the present invention, and the actual structure is not limited thereto. Therefore, if a person skilled in the art is inspired by the above and, without departing from the purpose of the present invention, designs a structure and embodiment similar to the technical solution without creatively designing, they shall fall within the scope of protection of the present invention.

Claims

1. An appearance defect detection device, characterized in that: The device comprises a main body (100), the main body (100) comprising a loading end and a unloading end, wherein a loading system (110), a dust removal system (120), a CG surface array detection system (130), a 2D and 3D combined CG surface detection system (140), a macro detection system (150), a 2D and 3D combined BG surface detection system (160), and a BG surface array detection system (170) are sequentially arranged from the loading end to the unloading end; The dust removal system (120) is implemented based on the dust removal device (1300), and the CG surface array detection system (130) and the BG surface array detection system (170) are both implemented based on the surface array detection device (1700). The dust removal device (1300) is provided with a material turning position (1310), a material lifting position (1320), and a dust removal typhoon system arranged in sequence along the x-axis direction; a dust removal two-axis module (1330) is arranged above the dust removal typhoon system for transporting a detection object between the material turning position (1310), the material lifting position (1320), the dust removal position formed on the upper side of the dust removal typhoon system, and the detection position in the surface array detection device (1700); and a surface array camera (1714) is provided at the surface array detection device (1700) for performing surface array visual detection on the detection object. The turning position (1310) includes a turning placement portion (1311) installed at intervals along the y-axis direction at the turning shaft (1312) for adsorbing the detection object by adsorbing the CG surface; one end of the turning shaft (1312) is connected to a power wheel, and the power wheel is connected to the output end of the turning servo motor (1313) through a transmission belt and a transmission wheel to realize controlled rotation, and the turning placement portion (1311) realizes adsorption and release of the detection object through a vacuum suction cup; The material lifting position (1320) includes a material lifting and placing portion (1321) arranged in a one-to-one correspondence with the material turning and placing plates along the y-axis direction and adsorbing the detection object by adsorbing the BG surface. The lower portion of the material lifting and placing portion (1321) is connected to the material lifting base plate (1322) arranged along the y-axis. A plurality of material lifting and placing plates are symmetrically arranged on both sides of the middle of the material lifting base plate (1322). The lower end of the middle of the material lifting base plate (1322) is connected to the piston rod of the material lifting cylinder (1323) so as to move therewith along the z-axis direction. The material lifting and placing portion (1321) includes a BG surface product positioning fixture for fixing the detection object by adsorbing the BG surface of the detection object. The dust removal two-axis module (1330) includes a synchronous belt type dust removal x-axis linear module (1331) arranged above the entire material turning position (1310), the material lifting position (1320) and both sides of the dust removal typhoon system along the x-axis direction. The dust removal x-axis linear modules (1331) on both sides are driven by the same dust removal x-axis servo motor (1332). The dust removal x-axis linear modules (1331) on both sides are synchronized by a synchronization rod (1333); The upper parts of the dust removal x-axis sliding blocks (1334) at the dust removal x-axis linear modules (1331) on both sides are commonly provided with a dust removal y-axis crossbeam (1335) along the y-axis direction, and the outer wall of one side of the dust removal y-axis crossbeam (1335) far from the material lifting position (1320) is provided with a synchronous belt type dust removal z-axis linear module (1336) along the z-axis direction, and the lower part of the dust removal z-axis sliding plate (1337) moving along the z-axis direction at the dust removal z-axis linear module (1336) is connected to a dust removal y-axis mounting plate (1338) arranged one-to-one with the material lifting position (1320) along the y-axis direction, and the lower part of the dust removal y-axis mounting plate (1338) is provided with dust removal position adsorption parts (1339) arranged at intervals along the y-axis direction; The dust removal position adsorption part (1339) includes a horizontally arranged dust removal position suction nozzle mounting plate, and suction nozzles with adsorption directions facing downward are provided at the four corners of the dust removal position suction nozzle mounting plate. The suction nozzles at the four corners cooperate with the CG surface of the detection object at the lifting position (1320) to pick up the object. The dust removal y-axis crossbeam (1335) can be moved along the x-axis direction to the dust removal position located on the upper side of the dust removal typhoon system; The area array detection device (1700) is provided with an area array two-axis rotation device (1710), which comprises a rotation shell (1711) arranged along the y-axis direction; both ends of the rotation shell (1711) along the y-axis direction are movably mounted on the area array x-axis moving plate (1712), and the rotation of the rotation shell (1711) is achieved by an area array servo motor arranged inside the rotation shell; A plurality of area array detection positions (1713) are evenly spaced along the y-axis direction on the upper surface of the rotating shell (1711), and the area array detection positions (1713) can rotate around their own central axes relative to the rotating shell (1711); an area array x-axis moving plate (1712) is arranged on the area array x-axis slide rail in a sliding manner along the x-axis direction, an area array camera (1714) is arranged on the upper middle side of the area array x-axis slide rail, and the lower part of the area array camera (1714) forms an area array visual detection area; one end of the area array x-axis slide rail along the x-axis direction is used to receive the detection object after dust removal by the dust removal device (1300), and the other end is used to cooperate with the 2D and 3D detection systems to move the detection object after area array visual detection into the next detection station.

2. The appearance defect detection device according to claim 1, characterized in that: The loading end is provided with a loading device, which includes a loading device body (600); the loading device body (600) is sequentially arranged from bottom to top with a full tray feeding portion (610) for stacking full trays to form a vertical row of trays, a picking position for taking the material to be tested at the full tray and moving it to the next station, and an empty tray collecting position (630) for stacking and collecting the empty trays after taking the material to form a vertical row of empty trays; the loading device body (600) is also provided with a loading process lifting module (640) for lifting the trays.

3. The appearance defect detection device according to claim 2, characterized in that: The full tray feeding part (610) includes a feeding part placement base plate (611) arranged in parallel along the horizontal direction; the upper part of the placement base plate is provided with a feeding part sliding guide rail (612) in the same extension direction as the placement base plate; a feeding part sliding base plate is provided at the feeding part sliding guide rail (612) on both sides thereof and is slidably matched with the feeding part sliding base plate; the portion of the sliding base plate located between the feeding part sliding guide rails (612) on both sides forms a lifting opening (618) in the vertical direction to cooperate with the lifting module for lifting; A placement area for placing a material tray is formed in the middle of the upper surface of the movable bottom plate; limit blocks (613) are arranged in the vertical direction at the four corners of the placement area; the limit blocks (613) are trapezoidal and are provided at each corner and are respectively located on both sides of the corner vertex to limit the material tray; a handle (614) for pulling the feed part sliding bottom plate to slide along the feed part sliding guide rail (612) is provided in the middle of the upper surface of the side far from the lifting opening (618) of the feed part sliding bottom plate; A feed section cylinder assembly (615) for driving the feed section sliding base plate to slide along the feed section sliding guide rail (612) is also arranged at the feed section placement base plate (611); a sliding actuator of the feed section cylinder assembly (615) is connected to the feed section sliding base plate; a feed section positioning pin (616) driven by an air source to move in a vertical direction is arranged at a position below the handle (614) of the feed section placement base plate (611); a feed section positioning through hole for cooperating with the feed section positioning pin (616) to limit the feed section sliding base plate in the sliding direction is formed at the feed section sliding base plate; An L-shaped feed section induction sheet (617) is arranged on the outer wall of the end portion of the sliding bottom plate on one side of the lifting opening (618); sensors for induction and cooperation with the feed section induction sheet (617) are respectively arranged at both ends of the feed section placement bottom plate (611) along the sliding direction of the feed section sliding guide rail (612); feed section photoelectric sensors (619) for induction and identification of the material tray at the feed section are also arranged at positions on both sides of the feed section sliding guide rail (612) of the feed section placement bottom plate (611); The loading process lifting module (640) includes a lifting mounting frame (641) arranged in the vertical direction, a servo electric slide using an electric cylinder arranged on the lifting mounting frame (641) in the vertical direction, two lifting sliding blocks (642) sliding in the vertical direction are provided on both sides of the servo electric slide, and the lifting sliding blocks (642) are driven by a servo motor (643) with a brake; the two lifting sliding blocks (642) are commonly connected to a lifting mounting plate (644) placed in the vertical direction, and the upper part of the lifting mounting plate (644) is symmetrically connected to right-angled lifting mounting support plates (645) on both sides in the horizontal direction, and a lifting bottom plate (646) extending in the direction of the lifting opening (618) at the sliding bottom plate of the feeding part is arranged on the upper part of the two lifting mounting support plates (645); the upper end surface of the lifting bottom plate (646) is used to support the material trays at the full material tray feeding part (610) in a vertical row and to be lifted and lowered in the vertical direction along with the lifting sliding blocks (642); A lifting limit stop bar is arranged on the outer wall of one side of the lifting mounting frame (641) near the lifting bottom plate (646) in the vertical direction, and the lifting limit stop bar is in contact with the side wall of the vertical row of material trays to form a vertical guide; a central opening is formed in the middle of the lifting bottom plate (646) in the vertical direction, and a lifting photoelectric sensor is arranged on the lower bottom surface of the lifting bottom plate (646) at the side of the central opening, and the lifting photoelectric sensor is used to sense the vertical row of material trays placed on the upper surface of the lifting bottom plate (646); The material taking position includes a material taking base plate (621) arranged in the horizontal direction, and a material taking opening (622) for a material tray to pass through in a vertical row in the middle of the upper surface of the material taking base plate (621); the material taking opening (622) reserves an extra space of the size of a material in the y-axis direction compared to the material tray; a loading process material taking component is arranged above the material taking base plate (621), and the loading process material taking component includes a material taking process x-axis linear module (623) with a synchronous belt type arranged along the x-axis direction on both sides of the upper surface of the material taking base plate (621); the x-axis and y-axis directions are respectively consistent with the width and length directions of the material tray at the vertical row of the material tray; the material taking process x-axis linear module (623) is provided with a material taking process x-axis mover that moves along the x-axis direction, and the x-axis movers on both sides are commonly connected to a material taking process y-axis linear module (624) with a synchronous belt type that moves along the x-axis; The Y-axis linear module (624) of the material picking process is provided with two adjacently arranged Y-axis movers (6241) of the material picking process that move along the Y-axis direction. The two Y-axis movers (6241) of the material picking process are connected to the Z-axis cylinder (6242) of the material picking process that is arranged in the vertical direction through the X-axis connecting block. The lower part of the piston rod of the Z-axis cylinder (6242) of the material picking process is connected to the material picking process adsorption component (6243). The material picking process adsorption component (6243) includes a Z-axis connecting block that moves along the vertical direction with the piston rod. The lower surface of the Z-axis connecting block is connected to a material picking process suction cup mounting plate (6244) arranged in the horizontal direction. The four corners of the material picking process suction cup mounting plate (6244) are provided with material picking nozzles with the adsorption direction facing downward. The four material picking suction cups of the material picking process cooperate with each other to absorb the material to be detected. The upper side of the material picking process suction cup mounting plate (6244) is installed with an encoder (6245) through an encoder mounting plate. The material taking opening (622) of the material taking bottom plate (621) is provided with a material taking positioning assembly for fixing the topmost material tray in the material tray vertical row on both sides along the x-axis direction; the material taking positioning assembly includes a material taking positioning cylinder (625) arranged along the x-axis direction, the piston rod of the material taking positioning cylinder (625) is connected to a material taking positioning transverse plate (626) extending along the y-axis direction, and the material taking positioning transverse plates (626) at the material taking positioning assemblies on both sides are driven by the cylinder to move to press against the topmost material tray in the material tray vertical row. The uppermost material tray is positioned on both sides thereof; a photoelectric sensor (627) for identifying the uppermost material tray in the vertical row of the sensing material trays is provided on both sides of the material opening (622) at the material taking bottom plate (621) along the x-axis direction; a plurality of material taking guide rods (628) are arranged along the vertical direction at both sides of the material taking opening (622) at the material taking bottom plate (621) along the x-axis direction; the material taking guide rods (628) are used to abut against the vertical row of the material trays to form a vertical guide; The empty tray collection position (630) comprises a collection position bottom plate (631) arranged in a horizontal direction; collection position linear guide rails (632) are arranged on both sides of the upper surface of the collection bottom plate; the collection position linear guide rails (632) on both sides are each provided with a plurality of collection position sliding blocks (633) that slide in cooperation with the collection position linear guide rails (632); the upper surfaces of the plurality of collection position sliding blocks (633) are commonly connected to a collection position annular plate (634); the middle portions of the collection position bottom plate (631) and the collection position annular plate (634) are each formed with a collection opening for the vertical passage of the trays; and empty tray clamping mechanisms (635) are arranged on both sides of the collection opening of the collection position annular plate (634); The empty tray clamping mechanism (635) comprises an empty tray clamping cylinder (6351), the piston rod end of the empty tray clamping cylinder (6351) is connected to an empty tray clamping plate (6352), and the empty tray clamping plate (6352) is L-shaped and comprises a clamping vertical plate (63521) along the vertical direction and a clamping horizontal plate (63522) along the horizontal direction; the clamping horizontal plates (63522) at the empty tray clamping mechanisms (635) on both sides cooperate to abut against the bottom surface of the empty tray at the bottom of the empty tray vertical column to support the empty tray vertical column in the vertical direction, and the clamping vertical plates (63521) at the empty tray clamping mechanisms (635) on both sides abut against the side walls of the empty trays at the empty tray vertical column to form a limit position; A plurality of empty tray limiting plates (636) are provided on the side wall of the mobile phone opening at the collecting position annular plate (634) along the vertical direction; the empty tray limiting rod cooperates with the clamping vertical plate (63521) to form a vertical passage for the empty trays to pass through in the vertical direction.

4. The appearance defect detection device according to claim 1, characterized in that: A detection device (1800) for combined 2D and 3D appearance includes a multi-head material grabbing module (1810) for 2D and 3D combined detection loading and a combined detection unloading conveying shaft (1870) for 2D and 3D combined detection unloading. A combined detection conveying path (1890) arranged along the x-axis direction is arranged on the lower side of the multi-head material grabbing module (1810); a 2D detection module and a 3D detection module (1860) are arranged in sequence on the moving route of the combined detection conveying path (1890) from the multi-head material grabbing module (1810) to the unloading conveying shaft.

5. The appearance defect detection device according to claim 4, characterized in that: The multi-head material grabbing module (1810) includes a vertically arranged multi-head material grabbing mounting frame (1811), and a material grabbing x-axis linear module (1812) driven by an air source is arranged horizontally along the x-axis direction on the upper surface of the multi-head material grabbing mounting frame (1811); a material grabbing mounting plate (1813) that moves along the x-axis with the material grabbing x-axis mover is connected to the upper part of the material grabbing x-axis linear module (1812), and the material grabbing mounting plate (1813) moves along the z-axis. A material grabbing z-axis linear module (1814) using an electric cylinder is placed and arranged, a material grabbing z-axis mounting plate (1815) facing downward along the z-axis direction is arranged at the material grabbing z-axis mover of the material grabbing z-axis linear module (1814), a grabbing head mounting plate (1816) along the y-axis direction is mounted on the lower part of the material grabbing z-axis mounting plate (1815), and a plurality of material grabbing heads (1817) are evenly spaced and mounted on the lower side of the grabbing head mounting plate (1816) along the y-axis direction; One end of the grabbing x-axis linear module (1812) along the x-axis direction is located on the upper side of the material discharging position of the previous workstation, and a grabbing placement rack (1818) corresponding to the grabbing head (1817) at the grabbing head mounting plate (1816) is arranged at the lower side of the other end. The upper part of the grabbing placement rack (1818) is used to position and cooperate with the detection object; the upper side of the grabbing placement rack (1818) is arranged with a combined detection y-axis material picking linear module (1820) using an electric cylinder along the y-axis direction, and the combined detection y-axis material picking movable element at the combined detection y-axis material picking linear module (1820) moving along the y-axis direction is connected to a slide cylinder type combined detection z-axis material picking module (1820) arranged along the z-axis direction. 21), the lower part of the combined detection z-axis material picking mover moving along the z-axis direction at the combined detection z-axis material picking module (1821) is connected to a horizontally arranged combined detection material picking plate (1822), the lower surface of the combined detection material picking plate (1822) is used for positioning and loosening with the CG surface of the detection object, the combined detection conveying path (1890) is arranged below the combined detection material picking plate (1822) and is located in the middle position of the multiple grabbing and placing racks (1818) along the y-axis direction; the combined detection material picking plate (1822) is used to position and cooperate with the detection object to carry it to the combined detection conveying path (1890) and loosen it to place it on the combined detection conveying path (1890); The combined detection transport passage (1890) comprises a combined detection x-axis transport module (1891) arranged along the x-axis direction and using a double-motor linear motor module. A separation sensor is arranged at the middle position of the combined detection x-axis transport module (1891) along the x-direction. The parts of the combined detection x-axis transport module (1891) located on both sides of the separation sensor respectively constitute a first mover moving part (18911) and a second mover moving part (18912). The first mover moving part (18911) and the second mover moving part (18912) are respectively provided with a first mover and a second mover that slide along the x-axis within their regions. A combined detection transition component (1850) is provided at the intersection of the first mover moving part (18911) and the second mover. A combined detection positioning assembly (1892) for positioning and releasing the BG surface of the detection object is installed on the upper parts of the first mover and the second mover, and one end of the first mover moving part (18911) along the x-axis direction is located on the lower side of the combined detection material picking plate (1822) for receiving the detection object at the combined detection material picking plate (1822) through the combined detection positioning assembly (1892) at the first mover; A combination detection transition assembly (1850) is arranged on the upper side of the other end of the first movable member moving portion (18911) in the x-axis direction. The combination detection transition assembly (1850) is installed in the z-axis direction directly above the combination detection transport path (1890) via a combination detection transition mounting frame (1851). The combination detection transition assembly (1850) includes a combination detection transition z-axis module (1852) using a slide cylinder. A combination detection transition suction plate (1853) is horizontally arranged at the lower part of the combination detection transition z-axis mover at the combination detection transition z-axis module (1852). The combination detection transition suction plate (1853) is used to position and release the detection object CG surface at the first movable member by controlling the vacuum phase. A 2D detection module is arranged above the middle position of the first movable part (18911) along the x-axis direction, and the first movable part (18911) located in the detection area of ​​the 2D detection module forms a 2D line scan detection position; the 2D detection module includes a 2D line scan camera (1840) and a bionic AOI light source (1832) arranged in a ring shape around the 2D line scan detection position, and is installed through a 2D camera mounting frame (1830) in combination with the bionic AOI light source (1832); a shooting opening (1831) is formed on one side of the 2D line scan mounting frame far from the detection transition component (1850), and the 2D line scan camera (1840) is fixedly installed through the 2D camera mounting frame (1830), and its shooting light path passes through the shooting opening (1831) and is directly opposite to the 2D line scan detection position at the first movable part (18911); One end of the second movable member (18912) along the x-axis direction is located at the lower side of the combined detection transition suction plate (1853) for receiving the detection object at the combined detection transition suction plate (1853) through the second movable member, and the other end of the second movable member (18912) along the x-axis direction is located at the lower side of the combined detection blanking and handling shaft (1870); a 3D detection module (1860) is arranged above the middle position of the second movable member (18912) along the x-axis direction; the second movable member (18912) located in the detection area of ​​the 3D detection module (1860) The movable part (18912) forms a 3D line laser detection position. The 3D detection module (1860) includes a 3D detection y-axis linear module (1861) which is arranged along the y-axis direction and is selected as a linear motor and is arranged at the combined detection transition mounting frame (1851) across the second movable part (18912). The 3D camera (1862) is installed at the lower part of the 3D detection y-axis movable part of the 3D detection y-axis module and moves along the y-axis to perform 3D detection on the detection object at the 3D line laser detection position. Three 3D detection cameras are provided and are staggered. The combined detection and unloading material handling axis (1870) includes a combined detection and unloading material y-axis module (1871) which is located on the upper side of the end of the combined detection and unloading conveying passage (1890) and is arranged across the y-axis direction and is controlled by an air source; a combined detection and unloading material z-axis module (1872) which is arranged along the z-axis direction and is a slide cylinder is installed at the combined detection and unloading material y-axis mover (18711) of the combined detection and unloading material y-axis module (1871); a combined detection and unloading material suction plate (18722) which is arranged horizontally is installed at the lower part of the combined detection and unloading material z-axis mover (18721) of the combined detection and unloading material z-axis module (1872); the combined detection and unloading material suction plate (18722) is used for positioning and loosening the combination with the CG surface of the detection object; The combined detection and unloading y-axis module (1871) is provided with a combined detection and unloading transition position on one side along the y-axis direction and a combined detection and unloading x-axis module (1880) controlled by an air source on the side along the x-axis direction facing the far 3D detection module. One end of the combined detection and unloading x-axis module (1880) along the x-axis direction is located above the combined detection and unloading transition position. The combined detection and unloading x-axis mover (1881) of the combined detection and unloading x-axis module (1880) is connected to a ball screw type combined detection and transport z-axis module (1882) arranged along the z-axis direction. The combined detection and transport z-axis mover (18821) moving along the z-axis direction at the combined detection and transport z-axis module (1882) is connected to a horizontally arranged combined detection and transport suction plate (1883). The combined detection and transport suction plate (1883) is positioned and adsorbed with the CG surface to be detected by controlling the vacuum.

6. The appearance defect detection device according to claim 1, characterized in that: The macro detection system includes a macro detection device, which includes a macro BG surface detection part and a macro CG surface detection part; a macro detection first station (3000) and a macro detection second station (3100) are arranged at the macro CG surface detection part; a macro detection third station (3200), a macro detection fourth station (3300), a macro detection fifth station (3400) and a macro detection sixth station (3500) are arranged at the macro BG surface detection part.

7. The appearance defect detection device according to claim 6, characterized in that: The first macro detection station (3000) and the second macro detection station (3100) both include positioning fixtures for adsorbing and releasing the CG surface of the detection object by cooperating with the CG surface of the detection object, and the third macro detection station (3200), the fourth macro detection station (3300), the fifth macro detection station (3400) and the sixth macro detection station (3500) both include positioning fixtures for adsorbing and releasing the BG surface of the detection object by cooperating with the BG surface of the detection object; the lower sides of the CG surface positioning fixture and the BG surface positioning fixture are both provided with a macro detection z-axis lifting module using an electric cylinder for lifting the detection object, and the macro BG surface detection section and the macro CG surface detection section both use multiple macro detection cameras arranged in a coordinated manner to perform macro detection of the BG surface and CG surface of the detection object; The macro detection camera comprises a macro camera body (2900), a macro camera mounting block (2910) is formed on the upper side wall of the macro camera body (2900), the macro camera mounting block (2910) is used to cooperate with the macro camera mounting holes at each macro detection station for arrangement and installation, a first macro shooting lens (2920) with a shooting light path facing downward is arranged on the lowermost end surface of the macro camera body (2900), and a second macro shooting lens (2930) with a shooting light path facing outward is arranged on the lower part of the side wall of the macro camera body (2900) opposite to the one provided with the macro camera mounting block (2910); the lens axes of the first macro shooting lens (2920) and the second macro shooting lens (2930) are perpendicular to each other; The first macro detection station (3000) also includes a macro detection first camera assembly located directly above the CG surface positioning tooling at the station, multiple macro detection cameras at the first macro detection camera assembly cooperate to form a macro detection first detection position, and the macro detection z-axis lifting module can drive the CG surface positioning tooling at the station and the detection object to move upward to the macro detection first detection position. The first macro detection camera assembly includes multiple macro detection cameras respectively arranged on the outside of the two wide edges of the CG surface of the detection object; the macro detection cameras on both sides are arranged in parallel and spaced between the two ends in the width direction of the CG surface of the detection object, and the macro detection cameras are all tilted by the adapter plate. The outer wall planes of the macro detection cameras at the first macro detection camera assembly maintain an inclination angle of (20)-(30) degrees relative to the CG surface of the detection object; the first macro shooting lens (2920) and the second macro shooting lens (2930) of each macro detection camera at the station are both oriented toward the side of the wide side edge of the CG surface middle plate for macro detection of the CG middle plate edge; The second macro detection station (3100) further includes a macro detection second camera assembly located directly above the CG surface positioning tooling at the station, a macro detection second detection position is formed at the macro detection second camera assembly, a macro detection z-axis lifting module can drive the CG surface positioning tooling at the station and the detection object to move upward to the macro detection second detection position, the macro detection second camera assembly includes two rows of macro detection cameras respectively arranged in parallel between the two long sides of the CG surface, the two rows of macro detection cameras are respectively parallel to the two long sides of the CG surface of the detection object, a single row of macro detection cameras are arranged in parallel from one wide side of the CG surface to the other wide side to cover the entire CG waterproof surface, the first macro shooting lens (2920) of each macro detection camera in the two rows of macro detection cameras are both vertically facing the bottom plane of the CG surface, and the second macro shooting lens (2930) are both facing the long side of the CG surface for macro detection of the CG waterproof surface; The third macro detection station (3200) also includes a third macro detection camera assembly located directly above the BG surface positioning fixture at the station. Multiple macro detection cameras at the third macro detection camera assembly cooperate to form a third macro detection position. The macro detection z-axis lifting module can drive the CG surface positioning fixture at the station and the detection object to move upward to the third macro detection position. The third macro detection camera assembly includes two rows of macro detection cameras respectively arranged in parallel between the two long sides of the BG surface inner cavity of the detection object. Each row of macro detection cameras is arranged in parallel and spaced from one wide side to the other wide side of the BG surface inner cavity. The first macro shooting lens (2920) of each macro detection camera at the station is perpendicular to the bottom plane of the BG surface inner cavity, and the second macro shooting lens (2930) is perpendicular to the inner side wall of the long side protruding perpendicular to the bottom plane of the BG surface inner cavity for macro detection of the nut position on the BG inner cavity surface. The fourth macro detection station (3300) also includes a fourth macro detection camera assembly located directly above the BG surface positioning fixture at the station. Multiple macro detection cameras at the fourth macro detection camera assembly cooperate to form a fourth macro detection position. The macro detection z-axis lifting module can drive the CG surface positioning fixture and the detection object at the station to move upward to the fourth macro detection position. The fourth macro detection camera assembly includes two rows of macro detection cameras arranged in parallel with the two wide sides of the BG surface cavity, and each row of macro detection cameras is arranged in parallel and spaced from one wide side to the other wide side of the BG surface cavity. The first macro shooting lens (2920) of each macro detection camera at the station is perpendicular to the bottom plane of the BG surface cavity, and the second macro shooting lens (2930) is perpendicular to the inner side wall of the wide side of the BG surface cavity that protrudes perpendicular to the bottom plane for macro detection of the upper and lower U areas of the BG cavity surface. The fifth macro detection station (3400) further includes a fifth macro detection camera assembly located directly above the BG surface positioning fixture at the station, multiple macro detection cameras at the fifth macro detection camera assembly cooperate to form a fifth detection position for macro detection, and the macro detection z-axis lifting module can drive the CG surface positioning fixture and the detection object at the station to move upward to the fifth macro detection position. The fifth macro detection camera assembly includes four macro detection cameras respectively arranged on the inner sides of the four corners of the BG surface cavity, the first macro shooting lens (2920) of each macro detection camera is vertically facing the bottom plane of the BG surface cavity, and the second macro shooting lens (2930) is facing the inner wall of the corner of the BG surface cavity for macro detection of the four corners of the upper and lower U areas of the BG cavity surface; The sixth macro detection station (3500) also includes a sixth macro detection camera assembly located directly above the BG surface positioning fixture at the station. Multiple macro detection cameras at the sixth macro detection camera assembly cooperate to form the sixth detection position of macro detection. The macro detection z-axis lifting module can drive the CG surface positioning fixture and the detection object at the station to move upward to the sixth macro detection position. The sixth macro detection camera assembly includes two rows of macro detection cameras arranged parallel to the two long sides of the inner wall of the BG surface, and each row of macro detection cameras is arranged in parallel from one wide side to the other wide side of the BG surface cavity. The first macro shooting lens (2920) of each macro detection camera at the station is perpendicular to the bottom plane of the BG surface cavity, and the second macro shooting lens (2930) is perpendicular to the inner side wall of the long side protruding perpendicular to the bottom plane of the BG surface cavity for macro detection of the T-slot area of ​​the BG inner cavity surface.

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