A visual measuring device with a prism module

Abstract

The present invention discloses a visual measuring device with a prism module. The visual measuring device with a prism module comprises a suction head assembly and a prism module. The suction head assembly comprises a suction seat with a hollow interior, a cylindrical cavity is formed in the middle of the suction seat, the right end of the cylindrical cavity is a circular arc opening, a transparent suction nozzle made of optical glass is installed on the lower cavity wall of the cylindrical cavity, the center of the transparent suction nozzle and the output axis of the manipulator are on the same straight line, the lens seat of the prism module comprises a main cavity with an open right end and a lower end, a prism is located in the main cavity, the upper surface of the prism is placed horizontally and the lower inclined surface is a refractive surface, and the CCD camera of the front visual assembly is facing the right end opening of the main cavity. The present invention has the effects of greatly improving the measurement efficiency and accuracy, no shaking caused by eccentricity, optimizing the measurement algorithm of the paste, and the CCD camera is firmly and stably installed.

Description

Technical Field

[0001] The present invention relates to the field of visual inspection of 3C parts, and in particular to a visual measurement device with a prism module. Background Art

[0002] In the production of 3C products, 3C parts often involve the pasting of two or more intermediate products. Before pasting, the intermediate parts need to be visually measured for positioning. The defect is that the material to be pasted needs to be fixed by a suction device, transferred into the field of view of the camera, and placed on the camera's detection table. After measurement and positioning, the material is suctioned and removed. The defect is that the material center may shift after two suctions, resulting in poor pasting. In addition, the process is complicated, time-consuming and inefficient. Summary of the invention

[0003] In order to solve one or more of the above problems, the present invention provides a visual measurement device having a prism module.

[0004] According to one aspect of the present invention, the visual measurement device with a prism module includes a suction head assembly, a prism module fixed on a substrate, a front visual assembly, and a manipulator, wherein the manipulator is connected to the suction head assembly.

[0005] The suction head assembly includes a suction seat with a hollow interior, a cylindrical cavity is formed in the middle of the suction seat, the right end of the cylindrical cavity is an arc opening, and a transparent suction nozzle made of optical glass is installed on the lower cavity wall of the cylindrical cavity. The center of the transparent suction nozzle and the output axis of the manipulator are on the same straight line.

[0006] The prism module includes a lens base and a prism. The lens base includes a main cavity with an open right end and a lower end. The prism is located in the main cavity. The upper surface of the prism is placed horizontally and the lower inclined surface is a refractive surface.

[0007] The front vision component includes a CCD camera, which faces the right end opening of the main cavity, that is, the CCD camera is located right to the refractive surface of the prism;

[0008] The robot can move to the workpiece position, the transparent suction nozzle descends to absorb the parts, and then the robot rises to the detection height and moves horizontally. The prism module can enter the cylindrical cavity through the arc opening, so that the refractive surface of the prism is located directly above the transparent suction nozzle, and the CCD camera collects image data after refraction by the prism.

[0009] In some embodiments, the suction seat includes a disc-shaped upper connecting plate and a lower connecting plate.

[0010] The arc edges of the upper connecting plate and the lower connecting plate are connected by an arc plate to form a circular frame. The cylindrical cavity is a cavity surrounded by the upper connecting plate, the lower connecting plate and the arc plate.

[0011] The arc opening is directly opposite to the arc plate;

[0012] The transparent suction nozzle is installed in the center of the lower connecting plate.

[0013] In some embodiments, an upper positioning circular groove is formed on the upper surface of the lower connecting plate and a lower positioning circular groove is formed on the lower surface, and the centers of the upper positioning circular groove and the lower positioning circular groove are connected through a gas distribution hole.

[0014] The upper positioning circular groove and the lower positioning circular groove are respectively formed with sealing ring grooves on their walls, and a sealing ring is installed in each sealing ring groove.

[0015] The transparent nozzle is placed in the lower positioning circular groove, and a disc-shaped sealing plate made of optical glass is installed in the upper positioning circular groove.

[0016] The annular upper cover plate and lower cover plate are respectively threadedly connected to the two sides of the lower connecting plate, the upper cover plate is closely fitted to the sealing plate, and the inner chamfered hole of the lower cover plate is closely fitted to the chamfer of the lower end of the outer wall of the transparent suction nozzle.

[0017] In some embodiments, the mirror seat is a rectangular seat formed by two side wall panels, a left side panel, and an upper side panel connected vertically to each other.

[0018] The inner sides of the two side wall panels are symmetrically provided with triangular positioning grooves, the contour of the positioning grooves is the same as the side surface of the prism, the inner spacing of the two positioning grooves is the same as the width of the prism, and the two ends of the prism are fixed in the positioning grooves.

[0019] In some embodiments, an inclined rectangular groove is provided on the lower side of the positioning groove, and an oblong hole-shaped stepped adjustment hole is also provided on the groove wall of the rectangular groove. The inclination of the rectangular groove is the same as the inclination of the hypotenuse of the positioning groove. The center line of the stepped adjustment hole is perpendicular to the hypotenuse of the positioning groove, and the inner side surface of the pressure plate fits the two ends of the inclined surface of the prism.

[0020] In some embodiments, a rectangular light source is further provided between the CCD camera and the prism;

[0021] The front visual component includes a support, which is fixed on the base plate. The support includes two vertical plates parallel to each other. The upper and rear ends of the two vertical plates are provided with a first mounting plate and a second mounting plate is fixed in the middle. The front ends of the vertical plates extend upward to form an upper wing plate.

[0022] The CCD camera is adjustably connected to the first mounting plate via a slide rail slider;

[0023] The rectangular light source is fixed on the second mounting plate.

[0024] Both sides of the rear end of the upper side plate of the mirror seat are respectively fixed on the upper wing plate.

[0025] In some embodiments, the robot includes a Y-axis module for longitudinal linear movement, an X-axis module for lateral linear movement, and a ZR-axis module for axial linear lifting and circular rotation;

[0026] Two support beams are transversely fixed on the base plate, two ends of the Y-axis module are respectively connected to the support beams, the X-axis module is fixed on the moving plate of the Y-axis module, the ZR-axis module is fixed on the moving plate of the X-axis module, and the upper connecting plate is connected to the output shaft of the ZR-axis module;

[0027] The front visual component is located between the two support beams.

[0028] The prism module is located at the left end of the support beam.

[0029] In some embodiments, the Y-axis module and the X-axis module are electric servo linear slides; the ZR-axis module is a spline module;

[0030] There are 2 X-axis modules, 2 ZR-axis modules and 2 suction head assemblies.

[0031] In some embodiments, a lower detection hole is provided in the middle of the substrate, the lower detection hole is located directly below the refractive surface of the prism, and the annular light source is located directly above the lower detection hole.

[0032] The lower visual component includes a vertical connection plate and a CCD camera. The vertical connection plate is connected below the lower detection hole. The CCD camera is adjustably mounted on the vertical connection plate through a slide rail slider. The CCD camera is located directly below the lower detection hole.

[0033] In some implementations, a high-definition lens is also sleeved on the front end of the CCD camera, and the slide rail slider is a dovetail slide rail and a dovetail groove locking slider that cooperate with each other.

[0034] The visual measuring device with a prism module adopts a new type of suction head assembly (a transparent suction nozzle can display the surface features of the material sheet) and is combined with a prism module (a prism converts horizontal plane information into axial plane information). The suction head assembly is provided with a cylindrical cavity and an arc opening, which enables the prism to enter directly above the transparent suction nozzle to complete the conversion of image information, and the front visual assembly is used for data collection. The device realizes that the suction head assembly directly detects the upper surface information when sucking the solid material sheet, and can also collect the lower surface information by setting a CCD camera at the lower end, and locates the collected feature values, thereby realizing automatic online measurement. Moreover, the center of the transparent suction nozzle of the device and the output axis of the manipulator are on the same straight line, avoiding the problem of complicated pasting calculations and low precision caused by the deviation between the two. The beneficial effects are: first, it saves During the two material suction processes, the upper surface data can be collected by moving the device above the transparent suction nozzle, which greatly improves the measurement efficiency and production efficiency. Secondly, when the material is sucked, the data is directly measured without the reference deviation caused by re-positioning, and the positioning accuracy is high. Thirdly, the center of the transparent suction nozzle and the output axis of the manipulator are on the same straight line, and there is no shaking caused by the moving inertia due to eccentricity. At the same time, the position is easier to control, and the measurement algorithm for pasting is optimized, and the calculation speed is greatly improved. Fourthly, the front visual component is placed on the right side, and the CCD camera is installed more firmly and stably, with less jitter and accurate measurement, saving upper space. The material moving device can directly and quickly enter the top of the prism, without obstacles during movement, and avoiding damage to the CCD camera and the material sheet. Fifthly, a prism is used to turn the data information, which has a simple structure, high accuracy and no loss. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 A three-dimensional schematic diagram of a visual measurement device with a prism module according to one embodiment of the present invention;

[0036] Figure 2 for Figure 1 A three-dimensional schematic diagram of the suction tip assembly shown;

[0037] Figure 3 for Figure 2 A schematic front view of the suction tip assembly shown;

[0038] Figure 4 for Figure 3 A-A cross-sectional schematic diagram of the suction tip assembly shown;

[0039] Figure 5 for Figure 1 A three-dimensional schematic diagram of the prism module and the front vision components shown;

[0040] Figure 6 for Figure 5 A schematic top view of the prism module and the front vision assembly shown;

[0041] Figure 7 for Figure 6 B-B schematic diagram of the prism module and the front vision assembly shown;

[0042] Figure 8 for Figure 1 A three-dimensional schematic diagram of the lower visual assembly shown;

[0043] Suction head assembly 1, suction seat 10, cylindrical cavity 100, upper connecting plate 101, lower connecting plate 102, arc plate 103, upper positioning circular groove 104, lower positioning circular groove 105, air distribution hole 106, radial through hole 107, sealing ring groove 108, arc opening 11, transparent suction nozzle 12, chamfer 121, sealing plate 13, upper cover plate 14, threaded air joint 15, sealing ring 16, lower cover plate 17, inner chamfer 171;

[0044] Prism module 2, main cavity 20, lens seat 21, side wall plate 211, left side plate 212, upper side plate 213, positioning groove 214, rectangular groove 215, step adjustment hole 216, prism 22, pressing plate 23;

[0045] Front vision component 3, support 30, vertical plate 301, first mounting plate 302, second mounting plate 303, upper wing plate 304, CCD camera 31, high-definition lens 32, rectangular light source 33;

[0046] Base plate 4, lower detection hole 41; robot 5, support beam 50, Y-axis module 51, X-axis module 52, ZR-axis module 53; lower visual component 6, vertical connecting plate 60; annular light source 7; slide rail slider 8, dovetail slide rail 81, dovetail groove locking slider 82. DETAILED DESCRIPTION

[0047] The present invention will be further described in detail below with reference to the accompanying drawings. It should be noted that the words "front", "rear", "left", "right", "upper" and "lower" used in the following description refer to directions in the accompanying drawings, and the words "inner" and "outer" refer to directions toward or away from the geometric center of a specific component, respectively.

[0048] Figures 1 to 8 A visual measurement device with a prism module according to an embodiment of the present invention is schematically shown. As shown in the figure, the device includes a suction head assembly 1, a prism module 2 fixed on a substrate 4, a front vision assembly 3, and a manipulator 5. The manipulator 5 is connected to the suction head assembly 1.

[0049] The suction head assembly 1 includes a suction seat 10 with a hollow interior, a cylindrical cavity 100 is formed in the middle of the suction seat 10, the right end of the cylindrical cavity 100 is an arc opening 11, and a transparent suction nozzle 12 made of optical glass is installed on the lower cavity wall of the cylindrical cavity 100. The center of the transparent suction nozzle 12 and the output axis of the manipulator 5 are on the same straight line. The prism module 2 includes a lens seat 21 and a prism 22. The lens seat 21 includes a main cavity 20 with an open right end and a lower end. The prism 22 is located in the main cavity 20. The upper surface of the prism 22 is placed horizontally and the lower inclined surface is a refractive surface.

[0050] The front vision component 3 includes a CCD camera 31, and the CCD camera 31 is directly opposite to the right end opening of the main cavity 20, that is, the CCD camera 31 is located directly to the right of the refractive surface of the prism 22;

[0051] The robot 5 can move to the workpiece position, the transparent suction nozzle 12 descends to absorb the parts, and then the robot 5 rises to the detection height and moves horizontally. The prism module 2 can enter the cylindrical cavity 100 through the arc opening 11, so that the refractive surface of the prism 22 is located directly above the transparent suction nozzle 12, and the CCD camera 31 collects image data after refraction by the prism 22.

[0052] The visual measuring device with a prism module adopts a new type of suction head assembly 1 (a transparent suction nozzle 12 can display the surface features of the material sheet) and is combined with a prism module 2 (a prism 22 converts horizontal plane information into axial plane information). The suction head assembly 1 is provided with a cylindrical cavity 100 and an arc opening 11, which can enable the prism 22 to enter directly above the transparent suction nozzle 12 to complete the conversion of image information, and the front visual assembly 3 is used for data collection. The device realizes that the suction head assembly 1 directly detects the upper surface information when sucking the solid material sheet, and can also collect the lower surface information by setting a CCD camera at the lower end, and performs the collection feature value positioning, thereby realizing automatic online measurement. Moreover, the center of the transparent suction nozzle 12 of the device and the output axis of the manipulator 5 are on the same straight line, avoiding the problem of complicated pasting calculation and low precision caused by the deviation between the two. The beneficial effects are: first, It saves two material suction processes, and by moving to the top of the transparent suction nozzle 12, the upper surface data can be collected, which greatly improves the measurement efficiency and production efficiency; secondly, when the material is sucked, the data is directly measured without the reference deviation caused by re-positioning, and the positioning accuracy is high; thirdly, the center of the transparent suction nozzle 12 and the output axis of the manipulator 5 are on the same straight line, and there is no shaking caused by the moving inertia due to eccentricity. At the same time, the position is easier to control, and the measurement algorithm for pasting is optimized, and the calculation speed is greatly improved; fourthly, the front visual component 3 is placed on the right side, and the CCD camera 31 is installed more firmly and stably, with less jitter and accurate measurement, saving upper space, and the material moving device can directly and quickly enter the top of the prism 22, without obstacles during movement, and avoiding damage to the CCD camera 31 and the material sheet; fifthly, the prism 22 is used to turn the data information, which has a simple structure, high accuracy and no loss.

[0053] Preferably, the suction seat 10 includes a disc-shaped upper connecting plate 101 and a lower connecting plate 102.

[0054] The arc edges of the upper connecting plate 101 and the lower connecting plate 102 are connected by an arc plate 103 to form a circular frame.

[0055] The cylindrical cavity 100 is a cavity surrounded by the upper connecting plate 101, the lower connecting plate 102 and the arc plate 103, and the arc opening 11 is directly opposite to the arc plate 103;

[0056] The transparent suction nozzle 12 is installed at the center of the lower connecting plate 102. The beneficial effect is that the device has a simple structure and is convenient for the prism module 2 to enter the cylindrical cavity 100 to collect information.

[0057] Preferably, the upper connecting plate 101 has a plurality of circular through holes arranged in a circumferential array; the lower connecting plate 102 has a plurality of arc holes arranged in a circumferential array; the arc plate 103 has a plurality of oblong holes symmetrically formed thereon, and the circular through holes, arc holes and oblong holes are holes for reducing material and weight. The beneficial effects thereof are: reducing the weight of the suction head assembly 1, and reducing the shaking caused by inertial kinetic energy.

[0058] The upper connecting plate 101, the lower connecting plate 102 and the arc plate 103 are made of POM polyoxymethylene plastic. The beneficial effect is that the POM polyoxymethylene plastic has high strength and can be used for a long time without deformation.

[0059] Preferably, an upper positioning circular groove 104 is formed on the upper surface of the lower connecting plate 102, and a lower positioning circular groove 105 is formed on the lower surface. The centers of the upper positioning circular groove 104 and the lower positioning circular groove 105 are connected through a gas distribution hole 106. A radial through hole 107 is formed on the hole wall of the gas distribution hole 106. A threaded gas joint 15 is installed in the radial through hole 107.

[0060] Sealing ring grooves 108 are formed on the groove walls of the upper positioning circular groove 104 and the lower positioning circular groove 105 , respectively. A sealing ring 16 is installed in each sealing ring groove 108 . The beneficial effect is that the sealing ring 16 can increase the vacuuming speed.

[0061] The transparent suction nozzle 12 is a disc suction nozzle, and a plurality of suction holes are evenly distributed on the disc suction nozzle, and the suction holes are connected to the air distribution hole 106. The transparent suction nozzle 12 has the same size and profile as the lower positioning circular groove 105, and the transparent suction nozzle 12 is placed in the lower positioning circular groove 105. The upper positioning circular groove 104 and the sealing plate 13 have the same profile and size, and a disc-shaped sealing plate 13 made of optical glass is installed in the upper positioning circular groove 104.

[0062] The annular upper cover plate 14 and lower cover plate 17 are respectively threadedly connected to both sides of the lower connecting plate 102, the upper cover plate 14 is closely fitted to the sealing plate 13 and the inner chamfered hole 171 of the lower cover plate 17 is closely fitted to the chamfer 121 of the lower end of the outer wall of the transparent suction nozzle 12. The beneficial effect is that the device is easy to install.

[0063] Preferably, the mirror seat 21 is a rectangular seat formed by two side wall panels 211, a left side panel 212 and an upper side panel 213 connected vertically to each other, and its beneficial effects are: the rectangular seat has high strength and good rigidity, and can effectively reduce shaking and deformation;

[0064] The inner side surfaces of the two side wall panels 211 are symmetrically provided with triangular positioning grooves 214, the contour of the positioning grooves 214 is the same as the side surface of the prism 22, the inner spacing of the two positioning grooves 214 is the same as the width of the prism 22, and the prism 22 is installed and fixed in the positioning grooves 214. The beneficial effect is that the positioning grooves 214 can improve the installation accuracy of the prism 22.

[0065] Preferably, an inclined rectangular groove 215 is provided at the lower side of the positioning groove 214, and an oblong hole-shaped stepped adjustment hole 216 is also provided on the groove wall of the rectangular groove 215. The inclination of the rectangular groove 215 is the same as the inclination of the hypotenuse of the positioning groove 214, and the center line of the stepped adjustment hole 216 is perpendicular to the hypotenuse of the positioning groove 214.

[0066] The inner side of the pressing plate 23 fits the two ends of the inclined surface of the prism 22; the screws are screwed into the threaded holes of the pressing plate 23 through the step adjustment holes 216, so that the pressing plate 23 can be adjusted and installed in the rectangular groove 215. The beneficial effect is that the setting of the pressing plate 23 and the step adjustment holes 216 can ensure the fixing firmness of the prism 22 and prevent the prism 22 from shifting after long-term use.

[0067] Preferably, a rectangular light source 33 is further provided between the CCD camera 31 and the prism 22; the beneficial effect thereof is that the rectangular light source 3 can improve the image clarity and the acquisition accuracy;

[0068] The front visual component 3 includes a support 30, which is fixed on the base plate 4. The support 30 includes two vertical plates 301 parallel to each other. The upper and rear ends of the two vertical plates 301 are provided with a first mounting plate 302 and a second mounting plate 303 is fixed in the middle. The front ends of the vertical plates 301 extend upward to form an upper wing plate 304.

[0069] The CCD camera 31 is adjustably connected to the first mounting plate 302 via a slide rail slider 8;

[0070] The rectangular light source 33 is fixed on the second mounting plate 303.

[0071] Both sides of the rear end of the upper side plate 213 of the mirror base 21 are fixed to an upper wing plate 304 respectively.

[0072] Preferably, the manipulator 5 includes a Y-axis module 51 for longitudinal linear movement, an X-axis module 52 for transverse linear movement, and a ZR-axis module 53 for axial linear lifting and circular rotation;

[0073] Two support beams 50 are transversely fixed on the base plate 4, two ends of the Y-axis module 51 are respectively connected to the support beams 50, the X-axis module 52 is fixed on the moving plate of the Y-axis module 51, the ZR-axis module 53 is fixed on the moving plate of the X-axis module 52, and the upper connecting plate 11 is connected to the output shaft of the ZR-axis module 53;

[0074] The front vision component 3 is located between the two support beams 50, and the prism module 2 is located at the left end of the support beam 50. The beneficial effects are: the structure is simple and the four-axis motion output has high precision.

[0075] Preferably, the Y-axis module 51 and the X-axis module 52 are electric servo linear slides; the ZR-axis module 53 is a spline module; the beneficial effect is that the output precision of this setting is high.

[0076] There are two X-axis modules 52, two ZR-axis modules 53 and two suction head assemblies 1. The beneficial effect is that two sets of suction devices share one set of prism modules, which further improves the detection efficiency and saves space and cost.

[0077] Preferably, a lower detection hole 41 is provided in the middle of the substrate 4, the lower detection hole 41 is located directly below the refractive surface of the prism 22, and the annular light source 7 is located directly above the lower detection hole 41.

[0078] The lower visual component 6 includes a vertical connection plate 60 and a CCD camera 31. The vertical connection plate 60 is connected below the lower detection hole 41. The CCD camera 31 is adjustably mounted on the vertical connection plate 60 through a slide rail slider 8. The CCD camera 31 is located directly below the lower detection hole 41. The beneficial effect is that the lower visual component 6 allows the image features of the upper and lower surfaces of the sheet to be measured simultaneously, with high speed and high precision, avoiding position defects caused by separate detection and repositioning.

[0079] Preferably, the front end of the CCD camera 31 is also sleeved with a high-definition lens 32, and the slide rail slider 8 is a dovetail slide rail 81 and a dovetail groove locking slider 82 that cooperate with each other. The beneficial effect is that the high-definition lens 32 can further improve the data acquisition accuracy, and the dovetail slide rail 81 and the dovetail groove locking slider 82 can achieve the acquisition and fixation of the best position for data acquisition of the CCD camera 31.

[0080] The above are only some embodiments of the present invention. For those skilled in the art, several modifications and improvements can be made without departing from the creative concept of the present invention, which all belong to the protection scope of the present invention.

Claims

1. A visual measurement device with a prism module, characterized in that: The device comprises a suction head assembly (1), a prism module (2) fixed on a base plate (4), a front vision assembly (3), and a manipulator (5), wherein the manipulator (5) is connected to the suction head assembly (1). The suction head assembly (1) comprises a suction seat (10) with a hollow interior, a cylindrical cavity (100) being formed in the middle of the suction seat (10), the right end of the cylindrical cavity (100) being a circular arc opening (11), a transparent suction nozzle (12) made of optical glass being installed on the lower cavity wall of the cylindrical cavity (100), the center of the transparent suction nozzle (12) and the output axis of the manipulator (5) being on the same straight line, The prism module (2) comprises a lens seat (21) and a prism (22); the lens seat (21) comprises a main cavity (20) with open right and lower ends; the prism (22) is located in the main cavity (20); the upper surface of the prism (22) is placed horizontally and the lower inclined surface is a refractive surface; The front vision component (3) comprises a CCD camera (31), and the CCD camera (31) is directly opposite to the right end opening of the main cavity (20), that is, the CCD camera (31) is located directly to the right of the refractive surface of the prism (22); The manipulator (5) can move to the position of the workpiece, the transparent suction nozzle (12) descends to absorb the part, and then the manipulator (5) rises to a detection height and moves horizontally, the prism module (2) can enter the cylindrical cavity (100) through the arc opening (11), so that the refractive surface of the prism (22) is located directly above the transparent suction nozzle (12), and the CCD camera (31) collects image data after refraction by the prism (22); The material suction seat (10) comprises a disc-shaped upper connecting plate (101) and a lower connecting plate (102). The arc edges of the upper connecting plate (101) and the lower connecting plate (102) are connected via an arc plate (103) to form a circular frame. The cylindrical cavity (100) is a cavity surrounded by the upper connecting plate (101), the lower connecting plate (102) and the arc plate (103). The arc opening (11) is directly opposite to the arc plate (103); The transparent nozzle (12) is mounted at the center of the lower connecting plate (102); An upper positioning circular groove (104) is formed on the upper surface of the lower connecting plate (102), and a lower positioning circular groove (105) is formed on the lower surface. The centers of the upper positioning circular groove (104) and the lower positioning circular groove (105) are connected via an air distribution hole (106). A sealing ring groove (108) is formed on the groove wall of the upper positioning circular groove (104) and the lower positioning circular groove (105), and a sealing ring (16) is installed in each of the sealing ring grooves (108). The transparent suction nozzle (12) is placed in the lower positioning circular groove (105), and a disc-shaped sealing plate (13) made of optical glass is installed in the upper positioning circular groove (104). The annular upper cover plate (14) and the lower cover plate (17) are respectively threadedly connected to both sides of the lower connecting plate (102); the upper cover plate (14) is tightly fitted to the sealing plate (13); and the inner chamfered hole (171) of the lower cover plate (17) is tightly fitted to the chamfer (121) of the lower end of the outer wall of the transparent suction nozzle (12); A rectangular light source (33) is also provided between the CCD camera (31) and the prism (22); The front visual component (3) comprises a support (30), the support (30) being fixed on the base plate (4), the support (30) comprising two mutually parallel vertical plates (301), the upper rear ends of the two vertical plates (301) being provided with a first mounting plate (302) and a second mounting plate (303) being fixed in the middle, the front ends of the vertical plates (301) extending upwards to form an upper wing plate (304), The CCD camera (31) is adjustably connected to the first mounting plate (302) via a slide rail and a slider (8); The rectangular light source (33) is fixed on the second mounting plate (303), The rear ends of the upper side plate (213) of the mirror base (21) are respectively fixed on the upper wing plate (304); The robot (5) comprises a Y-axis module (51) for longitudinal linear movement, an X-axis module (52) for transverse linear movement, and a ZR-axis module (53) for axial linear lifting and circular rotation; Two support beams (50) are transversely fixed on the base plate (4); two ends of the Y-axis module (51) are respectively connected to the support beams (50); the X-axis module (52) is fixed on the moving plate of the Y-axis module (51); the ZR-axis module (53) is fixed on the moving plate of the X-axis module (52); and the upper connecting plate (101) is connected to the output shaft of the ZR-axis module (53); The front visual component (3) is located between the two support beams (50), The prism module (2) is located at the left end of the support beam (50).

2. A visual measurement device with a prism module according to claim 1, characterized in that: The mirror seat (21) is a rectangular seat formed by two side wall panels (211), a left side panel (212) and an upper side panel (213) connected vertically to each other. The inner side surfaces of the two side wall panels (211) are symmetrically provided with triangular positioning grooves (214); the contour of the positioning grooves (214) is the same as the side surface of the prism (22); the inner spacing between the two positioning grooves (214) is the same as the width of the prism (22); and both ends of the prism (22) are mounted and fixed in the positioning grooves (214).

3. A visual measurement device with a prism module according to claim 2, characterized in that: An inclined rectangular groove (215) is provided at the lower side of the positioning groove (214); a slot wall of the rectangular groove (215) is also provided with an oblong hole-shaped stepped adjustment hole (216); the inclination of the rectangular groove (215) is the same as the inclination of the hypotenuse of the positioning groove (214); the center line of the stepped adjustment hole (216) is perpendicular to the hypotenuse of the positioning groove (214); and the inner side surface of the pressing plate (23) fits the two ends of the inclined surface of the prism (22).

4. The visual measurement device with a prism module according to claim 1, characterized in that: The Y-axis module (51) and the X-axis module (52) are electric servo linear slides; the ZR-axis module (53) is a spline module; The X-axis module (52), the ZR-axis module (53) and the suction head assembly (1) are respectively two in number.

5. The visual measurement device with a prism module according to claim 1, characterized in that: A lower detection hole (41) is provided in the middle of the substrate (4), the lower detection hole (41) is located directly below the refractive surface of the prism (22), and the annular light source (7) is located directly above the lower detection hole (41). The lower visual component (6) comprises a vertical connecting plate (60) and a CCD camera (31), wherein the vertical connecting plate (60) is connected below the lower detection hole (41), and the CCD camera (31) is adjustably mounted on the vertical connecting plate (60) via a slide rail slider (8), and the CCD camera (31) is located directly below the lower detection hole (41).

6. The visual measurement device with a prism module according to claim 1, characterized in that: The front end of the CCD camera (31) is also sleeved with a high-definition lens (32), and the slide rail slider (8) is a dovetail slide rail (81) and a dovetail groove locking slider (82) that cooperate with each other.

Images