Unmanned aerial vehicle flight control board double-sided appearance defect detection device in assembly line

Abstract

The utility model discloses an unmanned aerial vehicle flight control board double-sided appearance defect detection device in an assembly line, and relates to the technical field of circuit board detection, the unmanned aerial vehicle flight control board double-sided appearance defect detection device comprises a first conveyor belt, a second conveyor belt, a first detection module, a second detection module and a flight control board, the flight control board is divided into a to-be-detected flight control board, an appearance defect-free flight control board and an appearance defect flight control board, the flight control board to be detected is arranged on the first conveying belt, the first detection module and the second detection module are arranged on the front side and the rear side of the first conveying belt respectively, the second conveying belt stretches across the first conveying belt, and the first detection module and the second detection module are matched with each other to achieve double-face appearance defect detection of the flight control board. And the second detection module is used for placing the flight control board with the appearance defect on the second conveying belt. The double-sided appearance defect detection and sorting device can realize double-sided appearance defect detection and sorting of the unmanned aerial vehicle flight control board, is high in detection efficiency, meets the continuous operation requirement of a conveyor belt, and improves the production efficiency.

Description

Technical Field

[0001] This utility model relates to the field of unmanned aerial vehicle (UAV) circuit board testing technology, and in particular to the field of UAV flight control board appearance testing equipment in a production line. Background Technology

[0002] Circuit boards are a common product in the industrial field. By integrating various components onto circuit boards, automated control of various industrial products can be achieved, saving space. The integration of control functions helps to reduce product size and weight. With the rapid development of the low-altitude economy, industrial and consumer-grade drones are experiencing explosive growth. As a highly versatile series of drone flight control systems, production efficiency is a particularly prominent issue. In particular, the drone flight control board is the heart of the drone flight control system. After production, the flight control board needs to undergo multiple inspection processes. Therefore, detecting surface quality defects such as exposed copper, scratches, and component misalignment on the circuit board surface is one of the key steps to ensure circuit board quality, thereby preventing these appearance defects from being carried over to subsequent production processes, which would increase production cycle and inspection costs.

[0003] However, existing methods for detecting visual defects in drone flight control boards have the following drawbacks: After inspecting one side of the board, it's impossible to inspect the other side. The board must be flipped over manually or with a robotic arm for inspection, resulting in long inspection distances and potential for scratches, abrasions, and other uncontrollable factors during transport, increasing the risk of defective products. Furthermore, the visual inspection results of existing drone flight control boards require image comparison using a vision system, manual confirmation, and manual operation to complete the sorting process for boards with visual defects, leading to low production efficiency. Utility Model Content

[0004] Technical problems to be solved

[0005] To address the shortcomings of existing technologies, this utility model provides a double-sided appearance inspection device for UAV flight control boards in an assembly line. This device solves the technical problems of existing UAV flight control boards requiring manual or robotic arm flipping for inspection of the other side after one side has been inspected, resulting in long inspection distances, uncontrollable transport damage, and increased defect rates. It also solves the technical problem of low production efficiency in existing UAV flight control board appearance inspections, which require image comparison through a vision system, manual confirmation, and manual operation to complete the sorting process for flight control boards with appearance defects.

[0006] To achieve the above objectives, this utility model provides the following technical solution:

[0007] A double-sided appearance inspection device for UAV flight control boards in an assembly line includes a first conveyor belt, a second conveyor belt, and flight control boards. The flight control boards are categorized into flight control boards to be inspected, flight control boards with no appearance defects, and flight control boards with appearance defects. A first inspection module is located at the front of the first conveyor belt, and a second inspection module is located at the rear of the first conveyor belt. The flight control boards to be inspected and the flight control boards with no appearance defects are placed on the first conveyor belt. The second conveyor belt crosses over the first conveyor belt and forms a 90° angle with the first conveyor belt. The flight control boards with appearance defects are placed on the second conveyor belt via the second inspection module.

[0008] A further technical solution is that the second conveyor belt spans across the first conveyor belt, the first conveyor belt and the second conveyor belt operate independently, the second conveyor belt forms a 90° angle with the first conveyor belt, and the second conveyor belt receives the flight control board with appearance defects placed on the second detection module.

[0009] A further technical solution is that the first detection module includes a first support frame, on which a translation fixing block is provided, and on which a first guide post and a second guide post are provided, and on which translation sliders are installed.

[0010] A further technical solution is that the translational fixing block is provided with a translational rack, the translational slider is provided with a motor bracket, the motor bracket is provided with a translational motor, the translational motor is provided with a translational gear, and the translational rack meshes with the translational gear to drive the translational slider and the motor bracket to move left and right.

[0011] A further technical solution is that the motor bracket is provided with a first side rail cylinder, and the first side rail cylinder is provided with a first L-shaped detection bracket.

[0012] A further technical solution is that the first L-shaped detection bracket has multiple sets of through holes, the first laser positioner is installed on the right square hole of the first L-shaped detection bracket, the first industrial camera is installed on a set of circular through holes in the middle of the first L-shaped detection bracket, a first rocker arm bracket is installed on the left side of the first L-shaped detection bracket, a first mini telescopic cylinder is provided on the first rocker arm bracket, the fixed part of the first mini telescopic cylinder is installed at the lower end of the first L-shaped detection bracket, and the upper movable joint of the first mini telescopic cylinder is installed at the lower end of the first rocker arm bracket.

[0013] A further technical solution is that the upper end of the first rocker arm bracket is provided with multiple through holes, the first suction cup mounting seat is installed on the through holes of the first rocker arm bracket, and the end of the first suction cup mounting seat is provided with two first vacuum suction cups suitable for adsorption on the rough surface of the flight control board. The stroke of the first mini telescopic cylinder, combined with the structural dimensions of the first L-shaped detection bracket, allows the two first vacuum suction cups to achieve a 90° rotation movement.

[0014] A further technical solution is that the aforementioned double-sided appearance defect detection device for UAV flight control boards in an assembly line is characterized in that: the second detection module further includes a second support frame and a second L-shaped detection bracket, a rotating bracket is provided on the second support frame, a rotating motor is provided on the lower base plate of the rotating bracket, a second side rail cylinder is installed on the rotating bracket, a drive gear is installed on the rotating motor, a driven gear is fixedly installed on the second support frame, and the drive gear meshes with the driven gear to drive the rotating bracket and the second side rail cylinder to rotate.

[0015] A further technical solution is that the second side rail cylinder is provided with a second L-shaped detection bracket, the second L-shaped detection bracket has multiple sets of through holes, the second laser positioner is installed on the right square hole of the second L-shaped detection bracket, the second industrial camera is installed on the middle set of round holes of the second L-shaped detection bracket, a second rocker arm bracket is installed on the left side of the second L-shaped detection bracket, the second rocker arm bracket is provided with a second mini telescopic cylinder, the fixed part of the second mini telescopic cylinder is installed at the lower end of the second L-shaped detection bracket, and the upper movable joint of the second mini telescopic cylinder is installed at the lower end of the second rocker arm bracket.

[0016] A further technical solution is that the upper end of the second rocker arm bracket is provided with multiple through holes, the second suction cup mounting seat is installed on the through holes of the second rocker arm bracket, and the end of the second suction cup mounting seat is provided with two second vacuum suction cups suitable for adsorption on the rough surface of the flight control board. The stroke of the second mini telescopic cylinder, combined with the structural dimensions of the second L-shaped detection bracket, allows the two first vacuum suction cups to achieve a 90° rotation movement.

[0017] Compared with the prior art, the present invention has the following beneficial effects.

[0018] I. This utility model adopts a dual-module collaborative design by setting a first detection module and a second detection module, which are respectively placed on the front and rear sides of the first conveyor belt. After the first detection module completes the appearance inspection of one side of the flight control board to be inspected with the cooperation of the second detection module, the second detection module completes the appearance inspection of the other side with the cooperation of the first detection module.

[0019] II. This utility model sets up a first conveyor belt and a second conveyor belt spanning the first conveyor belt. After the first and second detection modules complete the double-sided appearance inspection of the flight control board to be inspected, the images captured by the first and second industrial cameras are compared with the images of qualified UAV flight control boards. The result is directly fed back to the second detection module. If the detection result is that there is a defect in appearance, the second detection module places the flight control board with the defect in appearance on the second conveyor belt. If the detection result is that there is no defect in appearance, the second detection module puts the flight control board with no defect in appearance back on the first conveyor belt, thus automatically completing the sorting of flight control boards with defect in appearance. Attached Figure Description

[0020] The above description is only an overview of the technical solution of this utility model. In order to better understand the technical means of this utility model and to implement it in accordance with the contents of the specification, the preferred embodiments of this utility model are described in detail below with reference to the accompanying drawings.

[0021] Figure 1 This is a schematic diagram of the structure of this utility model;

[0022] Figure 2 This is a schematic diagram of the structure of the first detection module of this utility model;

[0023] Figure 3 This is a schematic diagram of the structure of the second detection module of this utility model;

[0024] Figure 4 for Figure 3 Enlarged view of point A in the middle.

[0025] Legend: 101. Flight control board to be tested; 102. Flight control board with no defects in appearance; 103. Flight control board with defects in appearance; 2. First conveyor belt; 3. Second conveyor belt; 4. First detection module; 401. First support frame; 402. Translation fixing block; 403. First guide post; 404. Second guide post; 405. Translation slider; 406. Translation rack; 407. Motor bracket; 408. Translation motor; 409. Translation gear; 410. First side rail cylinder; 411. First L-shaped detection bracket; 412. First laser positioner; 413. First industrial phase 414. First rocker arm bracket; 415. First mini telescopic cylinder; 416. First suction cup mounting base; 417. First vacuum suction cup; 5. Second detection module; 501. Second support frame; 502. Rotary bracket; 503. Rotary motor; 504. Drive gear; 505. Driven gear; 506. Second side rail cylinder; 507. Second L-shaped detection bracket; 508. Second laser positioner; 509. Second industrial camera; 510. Second rocker arm bracket; 511. Second mini telescopic cylinder; 512. Second suction cup mounting base; 513. Second vacuum suction cup. Detailed Implementation

[0026] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. The components of the embodiments of this utility model described and shown in the accompanying drawings can typically be arranged and designed in various different configurations.

[0027] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0028] In the description of this utility model, it should be noted that the terms "middle," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this utility model is in use, or the orientation or positional relationship commonly understood by those skilled in the art. They are only used for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. In addition, the terms "first," "second," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0029] This application provides a double-sided appearance inspection device for UAV flight control boards in a production line. It effectively solves the technical problems of existing UAV flight control boards requiring manual or robotic arm flipping for inspection of the other side after one side's appearance inspection, resulting in long inspection distances, uncontrollable transport damage, and increased defect rates. This device employs a dual-module collaborative design, with a first inspection module and a second inspection module positioned at the front and rear of the first conveyor belt, respectively. The first inspection module, in cooperation with the second module, completes the appearance inspection of one side of the flight control board, while the second module, in cooperation with the first module, completes the inspection of the other side. This application also effectively solves the technical problem of low production efficiency in existing UAV flight control board appearance inspection methods, which require image comparison using a vision system, manual confirmation, and manual operation to sort flight control boards with appearance defects. This device uses a first conveyor belt and a second conveyor belt spanning the first conveyor belt. After the first and second detection modules complete the double-sided appearance inspection of the flight control board to be inspected, the images captured by the first and second industrial cameras are compared with the images of qualified UAV flight control boards. The result is directly fed back to the second detection module. If the detection result indicates that there is an appearance defect, the second detection module places the flight control board with the appearance defect on the second conveyor belt. If the detection result indicates that there is no appearance defect, the second detection module puts the flight control board with the appearance defect back on the first conveyor belt, thus automatically completing the sorting of flight control boards with appearance defects. Example

[0030] like Figure 1 , Figure 2 , Figure 3 and Figure 4The technical solution in this application effectively solves the technical problems of existing UAV flight control boards requiring manual or robotic arm flipping for inspection of the other side after one side of the appearance inspection is completed, resulting in long inspection distances, uncontrollable transport damage, and increased defect rate. It also solves the technical problem of low production efficiency where the appearance inspection results of existing UAV flight control boards require image comparison through a vision system, manual operation confirmation, and manual operation to complete the sorting of flight control boards with appearance defects. The overall idea is as follows: A double-sided appearance inspection device for UAV flight control boards in an assembly line, including a first conveyor belt 2, a second conveyor belt 3, a first inspection module 4, a second inspection module 5, and a flight control board. The first inspection module 4 is located in front of the first conveyor belt 2, and the second inspection module 5 is located behind it. The flight control board 101 to be inspected moves from left to right with the conveyor belt. After being picked up and photographed by the first inspection module 4 and the second inspection module 5 in sequence, the flight control board 102 that is determined to be without defects is placed back onto the first conveyor belt 2 by the second inspection module 5 and enters the next process. The flight control board 103 that is determined to be defective is placed onto the second conveyor belt 3 by the second inspection module 5 and transferred to other processes for processing. The second conveyor belt 3 spans across the first conveyor belt 2. The first conveyor belt 2 and the second conveyor belt 3 operate independently, and the second conveyor belt 3 forms a 90° angle with the first conveyor belt 2.

[0031] The first detection module 4 includes a first support frame 401, on which a translation fixing block 402 is provided. The first guide post 403 and the second guide post 404 guide the translation slider 405 mounted on the first guide post 403 and the second guide post 404 to move left and right. A translation rack 406 is mounted on the translation fixing block 402. A translation motor 408 is mounted on a motor bracket 407. The motor bracket 407 is mounted on the translation slider 405. A translation gear 409 mounted on the translation motor 408 meshes with the translation rack 406 to drive the translation slider 405 and the motor bracket 407 to achieve left and right translational movement. The motor bracket 407 is equipped with a first side rail cylinder 410, and a first L-shaped detection bracket 411 is installed on the first side rail cylinder 410. The first L-shaped detection bracket 411 has multiple sets of through holes. The first laser positioner 412 and the first industrial camera 413 are horizontally installed on the right side and the middle through hole of the first L-shaped detection bracket 411 to realize the positioning and photographic detection of the reverse side of the flight control board grasped by the second detection module 5. A first rocker arm bracket 414 is installed on the left side of the first L-shaped detection bracket 411. The fixed part of the first mini telescopic cylinder 415 is installed at the lower end of the first L-shaped detection bracket 411, and the upper movable joint is installed at the lower end of the first rocker arm bracket 414. The stroke of the first mini telescopic cylinder 415 is matched with the structural dimensions of the first L-shaped detection bracket 411 so that the two first vacuum suction cups 417 can complete a 90° rotation movement to realize the grasping, detection and placement of the flight control board. The upper end of the first rocker arm bracket 414 is provided with multiple through holes. The first suction cup mounting seat 416 is installed on the through holes of the first rocker arm bracket 414. The end of the first suction cup mounting seat 416 is provided with two first vacuum suction cups 417 suitable for adsorption on the rough surface of the flight control board, for gripping and putting down the flight control board.

[0032] The second detection module 5 includes a second support frame 501 and a second L-shaped detection bracket 507. A rotating bracket 502 is provided on the second support frame 501. A rotating motor 503 is installed on the lower base plate of the rotating bracket 502. A second side rail cylinder 506 is installed on the upper end face of the rotating bracket 502. A drive gear 504 installed on the shaft of the rotating motor 503 meshes with a driven gear 505 fixedly installed on the second support frame 501, driving the rotating bracket 502 and the second side rail cylinder 506 to rotate. The second L-shaped inspection bracket 507 is mounted on the second side rail cylinder 506. The second laser positioner 508 and the second industrial camera 509 are horizontally mounted on the right side and the middle through hole of the second L-shaped inspection bracket 507 to realize the positioning and photographic inspection of the front of the flight control board grasped by the first inspection module 4. The second rocker arm bracket 510 is mounted on the left side of the second L-shaped inspection bracket 507. The fixed part of the second mini telescopic cylinder 511 is mounted on the lower end of the second L-shaped inspection bracket 507, and the upper movable joint is mounted on the lower end of the second rocker arm bracket 510. The stroke of the second mini telescopic cylinder 511 is matched with the structural dimensions of the second L-shaped inspection bracket 507 so that the two second vacuum suction cups 513 can complete a 90° rotation movement to realize the grasping, inspection and placement of the flight control board. The upper end of the second rocker arm bracket 510 has multiple through holes. The second suction cup mounting seat 512 is installed on the through holes of the second rocker arm bracket 510. The end of the second suction cup mounting seat 512 is provided with two second vacuum suction cups 513 suitable for adsorption on the rough surface of the flight control board, for gripping and putting down the flight control board.

[0033] Flight control board: This is the object of production line inspection. It is a general term for the flight control board 101 to be inspected, the flight control board 102 with no defects in appearance, and the flight control board 103 with defects in appearance.

[0034] Flight control board 101 to be inspected: This is the flight control board that needs to be visually inspected. It enters the inspection area from the left side along the first conveyor belt 2.

[0035] Flight control board 102 with no appearance defects: Flight control boards that have completed appearance inspection and whose front and back are consistent with those that meet the qualification standards are judged to be without appearance defects. After completing appearance inspection, they will be returned to the first conveyor belt 2 and enter the next process.

[0036] Flight controller board 103 with appearance defects: After completing the appearance inspection and comparing the front and back images of the flight controller board that meets the qualification standards, at least one side has an appearance defect. The flight controller board is judged to be defective and will be transferred to the second conveyor belt 3 after the appearance inspection is completed, and will enter other processes.

[0037] First conveyor belt 2: serves as a transport carrier for the flight control board 101 to be inspected and the flight control board 102 with no appearance defects, providing a basic platform for movement.

[0038] Second conveyor belt 3: serves as a transport carrier for the defective flight control board 103, providing a basic platform for movement.

[0039] First detection module 4: Located in front of the first conveyor belt 2, it is an important component of the flight control board grabbing, reverse detection, and handover to the second detection module 5 for grabbing.

[0040] First support frame 401: Installed on the ground, it serves as the supporting foundation for the main part of the first detection module 4, ensuring stability during operation.

[0041] Translation fixing block 402: Installed on the first support frame 401, it is a fixed structural component that supports the first guide post 403 and the second guide post 404, ensuring that the translation slider 405 can achieve translation.

[0042] First guide post 403: serves as a support for mounting translation slider 405, enabling translation slider 405 to complete stable translation according to a specified length and direction.

[0043] The second guide post 404 serves as another support for mounting the translation slider 405, and together with the first guide post 403, it enables the translation slider 405 to move stably along a specified length and direction.

[0044] Translation slider 405: Installed on the first guide post 403 and the second guide post 404, it is a moving structural component with translation function, which carries and drives the structural components installed on the translation slider 405 to achieve stable translation.

[0045] Translation rack 406: It is fixedly installed on the outside of translation block 402 and meshes with translation gear 409. It is the main functional part that realizes the translation movement of translation slider 405.

[0046] Motor bracket 407: Fixedly installed on the translation slider 405, used to install the first side rail cylinder 410 and the translation motor 408.

[0047] Translation motor 408: Mounted on motor bracket 407, it is the power source for translational movement and drives translation gear 409 to rotate after being powered on.

[0048] Translation gear 409: Installed on the output shaft of translation motor 408, it is a transmission input component for translational motion. It meshes with translation rack 406 to realize the translational motion of translation slider 405.

[0049] First side rail cylinder 410: mounted on motor bracket 407, it is an actuator for back-and-forth movement, used to adjust the appropriate position for gripping and transferring flight control board and first industrial camera 413 to capture image data.

[0050] The first L-shaped detection bracket 411 is installed on the first side rail cylinder 410 and serves as the mounting base for the first laser positioner 412, the first industrial camera 413, the first rocker arm bracket 414, and the first mini telescopic cylinder 415.

[0051] First laser locator 412: Installed on the first L-shaped detection bracket 411, it is used to provide a positioning reference when inspecting the reverse side of the flight control board.

[0052] First industrial camera 413: mounted on the first L-shaped inspection bracket 411, used to inspect and photograph the reverse side of the flight control board and collect image data.

[0053] First rocker arm bracket 414: Installed on the first L-shaped detection bracket 411, the lower end of the rocker arm is connected to the movable joint of the first mini telescopic cylinder 415, and the upper end of the rocker arm is connected to the first suction cup mounting base 416. It is the main structural component for the first vacuum suction cup 417 to achieve rotation. The position and size of its two connecting joints are key parameters to ensure precise control of the rotation angle of the first vacuum suction cup 417.

[0054] The first mini telescopic cylinder 415 is an actuator that enables the first vacuum suction cup 417 to flip. When the stroke is extended to its maximum, the first suction cup mounting base 416 to the first vacuum suction cup 417 is in a vertical position to grip the flight control board. When the stroke is shortened to its minimum, the first suction cup mounting base 416 to the first vacuum suction cup 417 is in a horizontal position to allow the flight control board to be inspected and handed over to the second detection module 5.

[0055] First suction cup mounting base 416: Installed on the upper end of the first rocker arm bracket 414, used to connect the first vacuum suction cup 417 and the first rocker arm bracket 414. Its bending shape and length are also key parameters to ensure precise control of the flipping angle of the first vacuum suction cup 417.

[0056] First vacuum suction cup 417: Generates adsorption force through vacuum generator, contacts and adsorbs the flight control board surface to fix and release the flight control board, completes the handover of the flight control board between the first detection module 4 and the second detection module 5, and controls the transfer of the flight control board through adsorption and release actions.

[0057] The second detection module 5 is located behind the first conveyor belt 2 and is an important component for grabbing the flight control board, inspecting it from the front, returning the flight control board 102 with no defects to the first conveyor belt 2, and transferring the flight control board 103 with defects to the second conveyor belt 3.

[0058] Second support frame 501: Installed on the ground, it serves as the supporting foundation for the main part of the second detection module 5, ensuring stability during operation.

[0059] Rotary bracket 502: It is installed on the second support frame 501 and forms a hole-shaft fit with the second support frame 501 at the center. It is an important structural component of the rotary support.

[0060] Rotary motor 503: Mounted on the rotating bracket 502, it is the power source for rotational motion. When energized, it causes the drive gear 504 to rotate.

[0061] Drive gear 504: Mounted on the output shaft of rotary motor 503, it is a transmission input component for rotary motion, meshing with driven gear 505 to realize the rotational motion of rotary support 502.

[0062] Driven gear 505: Fixedly mounted on the second support frame 501, driven gear 505 itself does not rotate, but meshes with drive gear 504, driving the rotating bracket 502 to rotate in the opposite direction, rotating to a position suitable for transferring the defective flight control board 103 to the second conveyor belt 3.

[0063] Second side rail cylinder 506: mounted on rotating bracket 502, it is an actuator for back-and-forth movement, used to adjust the flight control board handed over by the first detection module 4 and to place the flight control board 103 with appearance defects on the second conveyor belt 3.

[0064] The second L-shaped detection bracket 507 is installed on the second side rail cylinder 506 and serves as the mounting base for the second laser positioner 508, the second industrial camera 509, the second rocker arm bracket 510, and the second mini telescopic cylinder 511.

[0065] Second laser locator 508: Installed on the second L-shaped detection bracket 507, it is used to provide a positioning reference when inspecting the front of the flight control board.

[0066] Second industrial camera 509: Installed on the second L-shaped inspection bracket 507, used to inspect and photograph the reverse side of the flight control board and collect image data.

[0067] Second rocker arm bracket 510: Installed on the second L-shaped detection bracket 507, the lower end of the rocker arm is connected to the movable joint of the second mini telescopic cylinder 511, and the upper end of the rocker arm is connected to the second suction cup mounting base 512. It is the main structural component for the second vacuum suction cup 513 to achieve rotation. The position and size of its two connecting joints are key parameters to ensure precise control of the rotation angle of the second vacuum suction cup 513.

[0068] The second mini telescopic cylinder 511 is an actuator that enables the second vacuum suction cup 513 to flip. When the stroke is shortened to its shortest position, the second suction cup mounting base 512 to the second vacuum suction cup 513 is in a horizontal position to receive the flight control board and the back of the flight control board to be inspected from the first detection module 4. When the stroke is extended to its longest position, the second suction cup mounting base 512 to the second vacuum suction cup 513 is in a vertical position to lower the flight control board onto the second conveyor belt 3.

[0069] Second suction cup mounting base 512: Installed on the upper end of the second rocker arm bracket 510, used to connect the second vacuum suction cup 513 and the second rocker arm bracket 510. Its bending shape and length are also key parameters to ensure precise control of the flipping angle of the second vacuum suction cup 513.

[0070] The second vacuum suction cup 513 generates an adsorption force through a vacuum generator, contacts the surface of the flight control board, adsorbs and fixes the flight control board, and releases the flight control board. It completes the handover of the flight control board between the first detection module 4 and the second detection module 5, and the adsorption and release actions control the transfer of the flight control board.

[0071] Working principle:

[0072] When the flight control board 101 to be tested on the first conveyor belt 2 reaches the designated position, the translation motor 408 of the first detection module 4 drives the translation slider 405 to move to the left, the first mini telescopic cylinder 415 extends to its maximum length, the first vacuum suction cup 417 flips downward to a vertical position, and the front and rear positions of the first side rail cylinder 410 are adjusted. The suction force generated by the vacuum generator fixes the flight control board 101 to be tested. Then, the first mini telescopic cylinder 415 is shortened to its shortest stroke, and the translation slider 405 moves to the right until the second laser positioner 508 of the second detection module 5 detects the designated positioning point of the flight control board and stops moving. After receiving the photo-taking command issued by the background control system, the second industrial camera 509 collects the front image data of the flight control board and compares and analyzes the collected image with the image of a qualified UAV flight control board. The background control system records the front detection result of the flight control board. The translation slider 405 continues to move to the right until it reaches a position directly opposite the second vacuum suction cup 513 of the second detection module 5 and stops moving. The positions of the first side rail cylinder 410 and the second side rail cylinder 506 are adjusted so that the second vacuum suction cup 513 contacts the surface of the flight control board. The vacuum generator connected to the second vacuum suction cup 513 generates an adsorption force to fix the flight control board, and the vacuum generator connected to the first vacuum suction cup 417 releases the flight control board, completing the handover and surface-changing adsorption of the flight control board. Then, the translation slider 405 continues to move to the left until the first laser positioner 412 of the first detection module 4 detects the designated positioning point of the flight control board and stops moving. After receiving the photo-taking command from the background control system, the first industrial camera 413 collects the image data of the back of the flight control board and compares and analyzes the collected image with the image of a qualified UAV flight control board. The background control system records the detection results of the back of the flight control board and, by combining the detection results of the front and back sides, determines whether there are any defects in the appearance of the flight control board. If there are no defects in the flight control board, a command is sent to the second detection module 5 to extend the second mini telescopic cylinder 511 to its maximum length, flip the second vacuum suction cup 513 downward to a vertical position, and adjust the front and rear positions of the second side rail cylinder 506. The suction force is disconnected by the vacuum generator, and the flight control board with no defects is then removed. The flight control board 102 is placed back on the first conveyor belt 2. If the flight control board is defective, a command is sent to the second detection module 5 to make the rotary motor 503 work, driving the gear 504 to rotate. Under the meshing action of the driven gear 505, the rotating bracket 502 drives the second side rail cylinder 506 and the structural components mounted on it to turn to the second conveyor belt 3. After rotating 90°, it stops, and the second mini telescopic cylinder 511 is extended to its maximum length. The second vacuum suction cup 513 flips downward to a vertical position, and the front and rear positions of the second side rail cylinder 506 are adjusted. The suction force is disconnected by the vacuum generator, and the defective flight control board 103 is transferred to the second conveyor belt 3. Thus, the double-sided appearance defect detection and sorting of defective flight control boards 103 of the UAV flight control board in the production line are automatically realized.After completing the above actions, the first detection module 4 and the second detection module 5 return to their initial state and prepare for the next test of the flight control board 101.

[0073] Finally, it should be noted that the above embodiments are merely examples for clearly illustrating the present invention and are not intended to limit the implementation. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations. However, obvious variations or modifications derived therefrom are still within the protection scope of this invention.

Claims

1. A double-sided appearance defect detection device for a UAV flight control board in an assembly line, comprising a first conveyor belt (2), a second conveyor belt (3), a first detection module (4), a second detection module (5), and a flight control board, wherein, The flight control board is divided into a flight control board to be tested (101), a flight control board without defects in appearance (102), and a flight control board with defects in appearance (103). The system is characterized by: a first detection module (4) on the front side of the first conveyor belt (2), and a second detection module (5) on the rear side of the first conveyor belt (2). The flight control board to be tested (101) and the flight control board without defects in appearance (102) are placed on the first conveyor belt (2). The second conveyor belt (3) runs independently across the first conveyor belt (2) and forms a 90° angle with the first conveyor belt (2). The flight control board with defects in appearance (103) is placed on the second conveyor belt (3). The first detection module (4) includes a first support frame (401), a translation fixing block (402), a first guide post (403), a second guide post (404), a translation slider (405), a translation rack (406), and an electric... The second detection module (5) includes a machine bracket (407), a translation motor (408), a translation gear (409), a first side rail cylinder (410), a first L-shaped detection bracket (411), a first laser positioner (412), a first industrial camera (413), a first rocker arm bracket (414), a first mini telescopic cylinder (415), a first suction cup mounting base (416), and a first vacuum suction cup (417). The second detection module (5) includes a second support frame (501), a rotating bracket (502), a rotating motor (503), a drive gear (504), a driven gear (505), a second side rail cylinder (506), a second L-shaped detection bracket (507), a second laser positioner (508), a second industrial camera (509), a second rocker arm bracket (510), a second mini telescopic cylinder (511), a second suction cup mounting base (512), and a second vacuum suction cup (513).

2. The device for detecting double-sided appearance defects of UAV flight control boards in an assembly line as described in claim 1, characterized in that: The second conveyor belt (3) spans across the first conveyor belt (2). The first conveyor belt (2) and the second conveyor belt (3) operate independently. The second conveyor belt (3) forms a 90° angle with the first conveyor belt (2). The second conveyor belt (3) receives the defective flight control board (103) placed by the second detection module (5).

3. The double-sided appearance defect detection device for UAV flight control boards in an assembly line as described in claim 1, characterized in that: The first detection module (4) includes a first support frame (401), on which a translation fixing block (402) is provided. The translation fixing block (402) is provided with a first guide post (403) and a second guide post (404). Translation sliders (405) are installed on the first guide post (403) and the second guide post (404).

4. The double-sided appearance defect detection device for UAV flight control boards in an assembly line as described in claim 3, characterized in that: The translation fixing block (402) is provided with a translation rack (406), the translation slider (405) is provided with a motor bracket (407), the motor bracket (407) is provided with a translation motor (408), the translation motor (408) is provided with a translation gear (409), and the translation rack (406) meshes with the translation gear (409) to drive the translation slider (405) and the motor bracket (407) to move left and right.

5. The double-sided appearance defect detection device for UAV flight control boards in an assembly line as described in claim 4, characterized in that: The motor bracket (407) is provided with a first side rail cylinder (410), and the first side rail cylinder (410) is provided with a first L-shaped detection bracket (411).

6. The double-sided appearance defect detection device for UAV flight control boards in an assembly line as described in claim 5, characterized in that: The first L-shaped detection bracket (411) has multiple sets of through holes. The first laser positioner (412) is installed on the right square hole of the first L-shaped detection bracket (411). The first industrial camera (413) is installed on a set of circular through holes in the middle of the first L-shaped detection bracket (411). The first rocker arm bracket (414) is installed on the left side of the first L-shaped detection bracket (411). The first rocker arm bracket is provided with a first mini telescopic cylinder (415). The fixed part of the first mini telescopic cylinder (415) is installed at the lower end of the first L-shaped detection bracket (411). The upper movable joint of the first mini telescopic cylinder (415) is installed at the lower end of the first rocker arm bracket (414).

7. The double-sided appearance defect detection device for UAV flight control boards in an assembly line as described in claim 6, characterized in that: The upper end of the first rocker arm bracket (414) is provided with multiple through holes. The first suction cup mounting seat (416) is installed on the through holes of the first rocker arm bracket (414). The end of the first suction cup mounting seat (416) is provided with two first vacuum suction cups (417) suitable for adsorption on the rough surface of the flight control board. The stroke of the first mini telescopic cylinder (415) is matched with the structural dimensions of the first L-shaped detection bracket (411) so that the two first vacuum suction cups (417) can achieve a 90° rotation movement.

8. The double-sided appearance defect detection device for UAV flight control boards in an assembly line as described in claim 1, characterized in that: The second detection module (5) further includes a second support frame (501) and a second L-shaped detection bracket (507). The second support frame (501) is provided with a rotating bracket (502). A rotating motor (503) is provided on the lower base plate of the rotating bracket (502). A second side rail cylinder (506) is installed on the rotating bracket (502). A drive gear (504) is installed on the rotating motor (503). A driven gear (505) is fixedly installed on the second support frame (501). The drive gear (504) meshes with the driven gear (505) to drive the rotating bracket (502) and the second side rail cylinder (506) to rotate.

9. The double-sided appearance defect detection device for UAV flight control boards in an assembly line as described in claim 8, characterized in that: The second side rail cylinder (506) is provided with a second L-shaped detection bracket (507). The second L-shaped detection bracket (507) has multiple sets of through holes. The second laser positioner (508) is installed on the right square hole of the second L-shaped detection bracket (507). The second industrial camera (509) is installed on a set of round holes in the middle of the second L-shaped detection bracket (507). The second rocker arm bracket (510) is installed on the left side of the second L-shaped detection bracket (507). The second rocker arm bracket (510) is provided with a second mini telescopic cylinder (511). The fixed part of the second mini telescopic cylinder (511) is installed at the lower end of the second L-shaped detection bracket (507). The upper movable joint of the second mini telescopic cylinder (511) is installed at the lower end of the second rocker arm bracket (510).

10. The double-sided appearance defect detection device for UAV flight control boards in an assembly line as described in claim 9, characterized in that: The upper end of the second rocker arm bracket (510) is provided with multiple through holes. The second suction cup mounting seat (512) is installed on the through holes of the second rocker arm bracket (510). The end of the second suction cup mounting seat (512) is provided with two second vacuum suction cups (513) suitable for adsorption on the rough surface of the flight control board (). The stroke of the second mini telescopic cylinder (511) is matched with the structural dimensions of the second L-shaped detection bracket (507) so that the two second vacuum suction cups (513) can achieve a 90° flipping motion.

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