A surface detection device

Abstract

The present invention discloses a face detection device, belonging to the field of face detection. It includes a frame, a carrying and conveying platform, a guiding mechanism, a feeding mechanism, a positioning mechanism and a detection mechanism; wherein the carrying and conveying platform includes a first carrying and conveying platform and a second carrying and conveying platform respectively located at two ends of the frame; the guiding mechanism is arranged above the first carrying and conveying platform; the feeding mechanism is located between the first carrying and conveying platform and the second carrying and conveying platform; the positioning mechanism is installed on the frame, and is used to adjust the workpiece to be detected to the same position; the detection mechanism includes a backlight source and a CCD camera respectively located above and on both sides of the positioning mechanism; the present invention projects an image on the workpiece by emitting an image from the backlight source, and after being reflected by the workpiece, the image is distorted, and the CCD camera collects the distorted image, wherein the distorted image reflects the face information of the workpiece, and the surface face data of the workpiece is restored after being solved.

Description

Technical Field

[0001] The invention belongs to the field of face shape detection, in particular to a face shape detection device. Background Art

[0002] As an essential part of a car, the car sunroof is installed on the roof, which can effectively circulate air in the car, increase the entry of fresh air, and bring healthy and comfortable enjoyment to the car owner. In order to improve the lighting and vision of the glass, the existing car sunroofs are generally 3D curved glass. In order to ensure that qualified car sunroofs can be produced, testing equipment is required to test them after they are produced. Therefore, the testing process is different. High-definition cameras or laser sensors are used for testing.

[0003] Existing curved surface detection devices mostly use contact inspection methods, which are to fix the automobile glass and then obtain the positions of multiple points on the automobile glass through several lifting columns. If they all meet the design requirements, it is considered to be a synthetic product. Obviously, the above measurement device can only be used to detect whether the surface shape of the automobile glass meets the design requirements, and cannot obtain the distribution of the curved surface data of the automobile glass. Summary of the invention

[0004] Purpose of the invention: to provide a face detection device to solve the technical problems mentioned in the background technology.

[0005] Technical solution: A face detection device, comprising: a frame, a first carrier platform arranged on one side of the frame and suitable for conveying a workpiece to be detected to the frame, a second carrier platform arranged on the other side of the frame and suitable for conveying the workpiece to be detected to the next station, a guide mechanism arranged at the end of the first carrier platform and suitable for adjusting the workpiece to be detected to a predetermined posture, a cross motion mechanism installed below the frame and suitable for adjusting the workpiece to be detected to a predetermined position, a clamping member arranged on the cross motion mechanism, a backlight source and a CCD camera installed on the frame and respectively located above and on both sides of the positioning mechanism, and a loading mechanism located between the first carrier and the second carrier and the conveying platform and suitable for placing the workpiece to be detected on the clamping member or taking the workpiece to be detected from the clamping member;

[0006] Among them, the installation of the backlight source, the workpiece to be detected and the CCD camera satisfies the law of reflection of light; the image is emitted from the backlight source and projected onto the workpiece to be detected. After being reflected by the workpiece to be detected, the image is distorted, and the CCD camera obtains the distorted image and restores the surface shape data of the workpiece to be detected through solution.

[0007] Preferably or optionally, the image emitted by the backlight can be multiple continuously changing sine fringes, multiple continuously changing cosine fringes, or multiple continuously changing Gray code fringes.

[0008] Preferably or optionally, the carrying and conveying table includes a driving mechanism, a transmission belt connected to the driving mechanism, and a flexible support plate disposed below the transmission belt.

[0009] Preferably or optionally, the cross-sectional shape of the flexible support plate is "concave", the transmission belt is located in the groove of the flexible support plate, and the upper surface of the flexible support plate is flush with the upper surface of the transmission belt.

[0010] Preferably or optionally, the loading mechanism includes: a linear motion module with one end located below the end of the first carrying and conveying table and the other end located at the starting end of the second carrying and conveying table, and two sliding platforms located above the linear motion module;

[0011] And the distance between the two sliding platforms is exactly half of the stroke of the linear motion module.

[0012] Preferably or optionally, the linear motion module includes: a lower frame body fixedly installed on the frame and having a "U" cross-sectional shape, a loading motor disposed at one end of the lower frame body, a gear box connected to the loading motor, a synchronous pulley connected to the gear box, a driven pulley located at the other end of the lower frame body, a loading belt sleeved on the synchronous pulley and the driven pulley, an upper cover body located above the loading belt, fixedly connected to the lower frame body at both ends and having a predetermined distance between both sides and the lower frame body, two moving seats fixedly connected to the loading belt at the bottom, passing through the upper cover body in the middle, and connected to the sliding platform at the top, and a plurality of belt pressing blocks disposed on the loading belt.

[0013] Preferably or optionally, the sliding platform includes: a mounting seat fixedly installed on the moving seat, a lifting cylinder installed inside the mounting seat, an output shaft of the lifting cylinder passing through the top of the mounting seat and connected to a lifting plate, a plurality of limit guide columns fixedly installed at the bottom of the lifting plate, the limit guide columns passing through the top of the mounting seat through linear bearings, and a plurality of vacuum suction cups installed at the top of the lifting plate for adsorbing and fixing workpieces.

[0014] Preferably or optionally, the cross motion mechanism is formed by superimposing two groups of linear motion modules perpendicular to each other.

[0015] Preferably or optionally, the guiding mechanism includes: a mounting frame mounted above the first load-carrying and conveying platform, a lifting mechanism arranged on both sides of the first load-carrying and conveying platform, which lifts the workpiece to be inspected to leave the first load-carrying and conveying platform, and a plurality of pushing mechanisms respectively arranged in four directions of the mounting frame and suitable for pushing the inspected workpiece to move toward the center position of the mounting frame.

[0016] Preferably or optionally, the method for solving and restoring comprises the following steps:

[0017] Projecting phase-shifted cosine distribution fringes and correspondingly recording images of the test mirror reflection fringes;

[0018] Then the phase is solved by using the phase shifting method and the phase is unwrapped to convert the phase distribution into position coordinate distribution;

[0019] The position coordinates are converted into tilt angle distribution, and the tilt angle distribution is synthesized into a three-dimensional surface distribution.

[0020] Beneficial effects: The present invention relates to a surface detection device. On the one hand, an image is emitted from a backlight source and projected onto a workpiece. After being reflected by the workpiece, the image is distorted. A CCD camera collects the distorted image, wherein the distorted image reflects the surface information of the workpiece. The surface surface data of the workpiece to be detected is solved and restored, thereby realizing the detection of workpiece defects and improving the detection efficiency of the workpiece. On the other hand, the posture of the workpiece to be detected is adjusted by a guiding mechanism, and the position of the workpiece is further corrected and fixed by a positioning mechanism, thereby realizing the unification of the posture of the workpiece to be detected, thereby improving the detection accuracy of the workpiece and reducing the calculation process of solving and restoring. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the external structure of the present invention.

[0022] Figure 2 It is a schematic diagram of the internal structure of the present invention.

[0023] Figure 3 It is a structural schematic diagram of the carrying and conveying platform in the present invention.

[0024] Figure 4 It is a structural schematic diagram of the guiding mechanism in the present invention.

[0025] Figure 5 It is a structural schematic diagram of the lifting mechanism in the present invention.

[0026] Figure 6 It is a structural schematic diagram of the pushing mechanism in the present invention.

[0027] Figure 7 It is a schematic diagram of the installation of the guide wheel in the present invention.

[0028] Figure 8 It is a structural schematic diagram of the feeding mechanism in the present invention.

[0029] Fig. 9 It is a structural schematic diagram of the positioning mechanism in the present invention.

[0030] Fig.10 It is a structural schematic diagram of the cross motion mechanism in the present invention.

[0031] Fig.11 It is a schematic diagram of the process flow of the method for solving and restoring in the present invention.

[0032] The reference numerals are: a frame 100, a housing 110, and a mounting frame 120;

[0033] The first carrying conveying platform 200, the conveying motor 210, the reducer 220, the driving shaft 230, the driven shaft 240, the conveying belt 250, and the flexible support plate 260;

[0034] Feeding mechanism 300, linear motion module 310, sliding platform 320, lower frame 311, feeding motor 312, gear box 313, upper cover 314, mover seat 315, mounting seat 321, lifting cylinder 322, lifting plate 323, limit guide column 324, vacuum suction cup 325;

[0035] Positioning mechanism 400, cross motion mechanism 410, clamping member 420, first servo motor 411, first screw rod 412, first sliding guide rail 413, first sliding seat 414, second servo motor 415, second screw rod 416, second sliding guide rail 417, second sliding seat 418, baffle 421, first buffer spring 422;

[0036] Detection mechanism 500, backlight source 510, CCD camera 520;

[0037] The second carrying and conveying platform 600;

[0038] The guiding mechanism 700, the lifting mechanism 710, the first pushing mechanism 730, the second pushing mechanism 720, the mounting plate 711, the lifting motor 712, the lifting screw rod 713, the lifting guide rail 714, the lifting slider 715, the connecting plate 716, the flexible protrusion 717, the primary linear module 721, the secondary linear module 722, the connecting seat 723, the limiting guide column 724, the connecting block 725, the mounting shaft 726, the second buffer spring 727, and the guiding wheel 728;

[0039] A workpiece 800 to be inspected. DETAILED DESCRIPTION

[0040] In the following description, a large number of specific details are provided to provide a more thorough understanding of the present invention. However, it is apparent to those skilled in the art that the present invention can be implemented without one or more of these details. In other examples, in order to avoid confusion with the present invention, some technical features well known in the art are not described.

[0041] See attached Figures 1 to 2 A surface detection device includes: a frame 100, a first load-carrying and conveying platform 200, a guiding mechanism 700, a feeding mechanism 300, a positioning mechanism 400, a detection mechanism 500 and a second load-carrying and conveying platform 600.

[0042] The frame 100 is formed by overlapping a number of profiles, and mainly plays a supporting role, and is used to support the first load-carrying and conveying platform 200, the feeding mechanism 300, the positioning mechanism 400, the detection mechanism 500, the second load-carrying and conveying platform 600 and the material-dividing mechanism. A housing 110 is installed on the frame 100 to form a dark room to reduce the interference of external light sources. Other auxiliary equipment, such as doors and operating interfaces, are also installed on the housing 110, which will not be described in detail.

[0043] The first carrying and conveying platform 200 is arranged on one side of the frame, and is mainly used to carry and convey the workpiece 800 to be inspected to one end close to the frame 100. The workpiece 800 to be inspected can be a car sunroof glass or other curved glass. For those skilled in the art, the first carrying and conveying platform 200 can be a belt, roller or chain plate assembly line. However, considering that glass is fragile and requires stable transportation, in this embodiment, belt conveyor is preferred. See the attached Figure 3, the first carrying and conveying platform 200 includes: a conveying motor 210, a reducer 220, a driving shaft 230, a driven shaft 240, a conveying belt 250, and a flexible support plate 260. Among them, the conveying motor 210 is arranged at one end of the frame 100, the reducer 220 is connected to the output end of the conveying motor 210, the driving shaft 230 is rotatably mounted at one end of the frame 100, and is in transmission connection with the reducer 220; the driven shaft 240 is rotatably mounted at the other end of the frame 100, the conveying belt 250 is sleeved on the driving shaft 230 and the driven shaft 240, and the flexible support plate 260 is mounted on the frame 100 and is located below the conveying belt 250. Specifically, the cross-sectional shape of the flexible support plate 260 is "concave", the conveying belt 250 is located in the groove of the flexible support plate 260, and the upper surface of the flexible support plate 260 is flush with the upper surface of the conveying belt 250, or slightly lower than the upper surface of the conveying belt. In this way, the flexible support plate 260 can prevent the workpiece 800 to be inspected from directly contacting the frame 100, effectively protect the workpiece 800 to be inspected, and reduce unnecessary damage during the transmission process. In the prior art, when the belt on one side sags, the forward path of the workpiece 800 to be inspected will be further deviated. In this embodiment, the flexible support plate 260 can effectively prevent the workpiece 800 to be inspected from drooping as the belt moves, and the forward path of the workpiece 800 to be inspected will be deviated.

[0044] The guiding mechanism 700 is disposed above the first carrying and conveying platform 200 and is suitable for adjusting the workpieces 800 to be inspected to the same posture; Figure 4 The guiding mechanism 700 includes: a mounting frame 120 mounted above the first load-carrying and conveying platform 200, a lifting mechanism 710 arranged on both sides of the first load-carrying and conveying platform 200, which lifts the workpiece to be inspected to be away from the first load-carrying and conveying platform 200, and a plurality of pushing mechanisms respectively arranged in four directions of the mounting frame 120 and suitable for pushing the inspected workpiece 800 to move toward the center position of the mounting frame 120.

[0045] See attached Figure 5The lifting mechanism 710 includes two lifting units of the same frequency, which are respectively located on both sides of the first carrying and conveying platform 200. In this embodiment, the lifting unit includes: a mounting plate 711, a lifting motor 712, a lifting screw 713, a lifting guide rail 714, a lifting slider 715, a connecting plate 716, and a flexible protrusion 717. Among them, the mounting plate 711 is fixedly mounted on the frame 100 through a truss, the lifting motor 712 is mounted at the bottom of the mounting plate 711, the lifting screw 713 is connected to the output end of the lifting motor 712, lifting guide rails 714 are arranged on both sides of the lifting screw 713, the lifting slider 715 is mounted on the lifting screw 713 and the lifting guide rail 714 through a ball bearing, the connecting plate 716 is mounted on the lifting slider 715, and a plurality of flexible protrusions 717 are arranged on the top of the connecting plate 716. When the sensor detects that the workpiece 800 to be inspected enters the area of ​​the lifting mechanism 710, the lifting motor 712 drives the lifting screw 713 to move, and then drives the lifting slider 715, the connecting plate 716 and the flexible protrusion 717 to move upward, lifts the workpiece 800 to be inspected, and moves upward to the pushing mechanism.

[0046] The pushing mechanism is provided with four groups, which are respectively arranged in four directions of the mounting frame 120; the pushing mechanism includes: a secondary linear module 722 and a guide wheel 728. The secondary linear module 722 is installed on the mounting frame 120, and the guide wheel 728 is arranged on the output end of the secondary linear module 722 and faces the first carrying and conveying platform 200. When it is detected that the workpiece 800 to be inspected enters the lifting mechanism 710, the secondary linear module 722 drives the guide wheel 728 to move toward the center position of the mounting frame 120, and pushes the workpiece 800 to be inspected to move to one side of the mounting frame 120, until all the guide wheels are in contact with the outer edge of the workpiece 800 to be inspected, so that the workpiece 800 to be inspected maintains the same posture, and the workpiece 800 to be inspected is guided.

[0047] See attached Figure 6 According to the different installation positions of the pushing assembly, the pushing assembly can be divided into a first pushing mechanism 730 and a second pushing mechanism 720. The first pushing mechanism 730 is installed on the mounting frame 120, located at the midpoint of the side of the mounting frame 120, and its movement is perpendicular to the transmission direction of the first load-carrying and conveying platform 200. Since the length of the automobile glass is relatively large, two sets of second pushing mechanisms 720 are arranged in a direction parallel to the length of the workpiece to be inspected. The second pushing mechanism 730 is installed on the mounting frame 120, and its movement is parallel to the transmission direction of the first load-carrying and conveying platform 200.

[0048] In addition, the second pushing mechanisms 720 are all arranged at the output end of the primary linear module 721, and the primary linear module 721 is installed on the side of the mounting frame 120 and perpendicular to the transmission direction of the conveyor belt, so the distance between the two sets of second pushing mechanisms 720 can be adjusted. When processing different specifications of the workpieces 800 to be inspected, there is no need to change the overall structure of the equipment. The user only needs to adjust the number and position of the pushing mechanisms according to the needs to meet the guidance processing of the workpieces 800 to be inspected of different specifications.

[0049] Since there is an interaction force between the guide wheel and the workpiece 800 to be inspected, in order to reduce the probability of damage or scratching of the workpiece 800 to be inspected, refer to the attached Figure 7 A connection seat 723 is installed on the output end of the secondary linear module 722, and the connection seat 723 is used to install the guide wheel 728. A mounting groove is provided at the bottom of the connection seat 723, and three mounting guide posts 724 are provided in the mounting groove. A connection block 725 is slidably mounted on the mounting guide posts 724. A first buffer spring 422 is provided on the side of the mounting guide post 724 away from the mounting frame 120, and a mounting shaft 726 is provided perpendicular to the connection block 725 downward, and the guide wheel 728 is installed on the mounting shaft 726. In this way, the first buffer spring 422 can play a shock-absorbing role to prevent the workpiece 800 to be detected from being damaged or scratched.

[0050] For those skilled in the art, the primary linear module 721 and the secondary linear module 722 can be various types such as cylinder motion modules, screw motion modules, etc. In the present embodiment, most of the primary linear modules 721 and the secondary motion modules use screw motion mechanisms. For example, the secondary linear module 722 includes: a mounting cover installed on one side of the mounting frame 120 or sleeved on the output end of the primary linear module 721, a servo motor arranged on one side of the mounting cover, a ball screw installed in the mounting cover and connected to the servo motor, sliding guide rails arranged on both sides of the ball screw, and a connecting seat 723 sleeved on the ball screw and the sliding guide rail.

[0051] The loading mechanism 300 is located between the first carrying and conveying platform 200 and the second carrying and conveying platform 600. Figure 8, the feeding mechanism 300 includes: a linear motion module 310 and a sliding platform 320. Among them, one end of the linear motion module 310 is located below the end of the first carrying conveyor 200, and the other end is located at the starting end of the second carrying conveyor 600. There are two groups of sliding platforms 320 arranged above the linear motion module 310, and the distance between the two groups of sliding platforms 320 is exactly half of the stroke of the linear motion module 310. When one of the sliding platforms 320 is located below the first carrying platform for feeding, the other sliding platform 320 is exactly located below the positioning mechanism 400 to detect the workpiece 800 to be detected; similarly, when one of the sliding platforms 320 moves below the positioning mechanism 400 to detect the workpiece 800 to be detected, the other sliding platform 320 can just transfer the workpiece 800 to be detected that has been detected to the second carrying conveyor 600, realizing automatic discharging. By reciprocating in this way, the automatic feeding and discharging of the workpiece 800 to be detected are realized.

[0052] Similarly, the linear motion module 310 can be a lead screw motion mechanism, a cylinder motion mechanism, a belt motion mechanism, and a rack and pinion motion mechanism. In this embodiment, the present invention adopts a belt motion mechanism; refer to the attached Figure 8 , the linear motion module 310 includes: a lower frame body 311, a feeding motor 312, a gear box 313, an upper cover body 314, and a mover seat 315. Among them, the lower frame body 311 with a "U" - shaped cross - section is fixedly installed on the frame 100. The feeding motor 312 is arranged at one end of the lower frame body 311. The gear box 313 is connected to the output end of the feeding motor 312. The synchronous pulley is connected to the connected gear box 313. The driven pulley is located at the other end of the lower frame body 311. The feeding belt is sleeved on the synchronous pulley and the driven pulley. The upper cover body 314 is located above the feeding belt, and its two ends are fixedly connected to the lower frame body 311, and there is a predetermined distance between its two sides and the lower frame body 311; the bottoms of the two mover seats 315 are fixedly connected to the feeding belt, the middles pass through the upper cover body 314, and the tops are connected to the sliding platform 320. There are a plurality of belt pressing blocks arranged on the feeding belt. Among them, on the one hand, the upper cover body 314 can seal the lower frame body 311 to play a dust - proof role. Since the mover seat 315 is slidably connected to the upper cover body 314, it can also play the role of a slide rail. Of course, the purpose of setting the belt pressing blocks is to increase the tension of the conveyor belt 250 and improve the feeding accuracy. In other embodiments, when the tension of the transmission belt is large enough, the belt pressing blocks can be omitted.

[0053] Refer to the attached Figure 8, the sliding platform 320 includes: a first lifting mechanism 710 and a plurality of vacuum suction cups 325 connected to the output end of the first lifting mechanism 710. In this embodiment, the first lifting mechanism 710 includes: a mounting seat 321 fixedly mounted on the mover seat 315, a lifting cylinder 322 installed inside the mounting seat 321, the output shaft of the lifting cylinder 322 passes through the top of the mounting seat 321 and is connected to the lifting plate 323, a plurality of limiting guide pillars 324 are fixedly mounted at the bottom of the lifting plate 323, the limiting guide pillars 324 pass through the top of the mounting seat 321 through a linear bearing, and a plurality of vacuum suction cups 325 are installed on the top of the lifting plate 323 for adsorbing and fixing the workpiece 800 to be inspected.

[0054] See attached Fig. 9 The positioning mechanism 400 is located above the feeding mechanism 300, and the center of the positioning mechanism 400 is exactly located at the midpoint of the linear motion module 310, which is suitable for adjusting the workpiece 800 to be inspected to the same position. The positioning mechanism 400 includes a cross motion mechanism 410 installed on the frame 100, and a clamping member 420 arranged on the cross motion mechanism 410.

[0055] The cross motion mechanism 410 is composed of two sets of mutually perpendicular linear motion modules 310 stacked together. Fig.10The cross motion mechanism 410 includes: a fixed plate, a first servo motor 411, a first screw rod 412, a first sliding guide rail 413, a first sliding seat 414, a second servo motor 415, a second screw rod 416, a second sliding guide rail 417, and a second sliding seat 418. The fixing plate is mounted on the frame 100, the first servo motor 411 is mounted on one end of the fixing plate, the first screw rod 412 is connected to the output shaft of the first servo motor 411, the first sliding guide rail 413 is arranged on both sides of the screw rod, the first sliding seat 414 is sleeved on the first screw rod 412 through a ball bearing, and is limited by the first sliding guide rail 413; at the same time, a second servo motor 415 is mounted on one side of the first sliding seat 414, a second screw rod 416 is connected to the output shaft of the second servo motor 415, a second sliding guide rail 417 is arranged on both sides of the screw rod, a second sliding seat 418 is sleeved on the second screw rod 416 through a ball bearing, and is limited by the second sliding guide rail 417, and a clamping member 420 is mounted on the second sliding seat 418. The first screw rod 412 and the second screw rod 416 are perpendicular to each other. The first sliding seat 414 is a rectangular second sliding seat 418, which performs reciprocating linear motion along the first screw rod 412, and the second sliding seat 418 performs reciprocating linear motion along the second screw rod 416, forming a coordinate system to adjust the position of the clamping member 420. When replacing different types of workpieces 800 to be detected, it is only necessary to adjust the position of the sensor through the cross motion mechanism 410 without changing other mechanical structures. When detecting some products that are updated quickly, the effect is more significant.

[0056] Among them, the clamping member 420 can be a vacuum suction cup 325 and a claw. In the present embodiment, the clamping member 420 is a claw. The claw is a "∟"-shaped slot, and four slots form a rectangular clamp. During the positioning process, the slot is pre-adjusted according to the workpiece 800 to be detected by the cross motion mechanism 410, so that the position of the baffle 421 is slightly larger than the outer contour of the workpiece 800 to be detected, and then the fit between the workpiece 800 to be detected and the clamping member 420 is detected by a pressure sensor or a distance sensor to ensure that the placement of the workpiece 800 to be detected meets the detection requirements, and then the cross motion mechanism 410 is further adjusted until all baffles 421 are in contact with the outer edge of the workpiece 800 to complete the positioning process.

[0057] The detection assembly includes a backlight source 510 and a CCD camera 520 respectively located above and on the left and right sides of the positioning mechanism 400; and the installation of the backlight source 510 and the CCD camera 520 meets the law of light reflection. Sinusoidal fringes are emitted from the screen of the backlight source 510 and projected onto the workpiece 800 to be detected. After being reflected by the workpiece 800 to be detected, the image is distorted. The CCD camera 520 collects the distorted image, wherein the distorted image reflects the surface information of the workpiece 800 to be detected, and the surface shape data of the workpiece 800 to be detected is restored after calculation. See the attached Fig.11 The specific three-dimensional surface restoration method includes the following steps: S100, projecting phase-shifted cosine distribution fringes, and correspondingly recording the image of the test mirror reflection fringes; S200, then using the phase shifting method to solve the phase, and performing phase unwrapping to convert the phase distribution into a position coordinate distribution; S300, converting the position coordinates into a tilt angle distribution, and synthesizing the tilt angle distribution into a three-dimensional surface distribution.

[0058] Similarly, the second carrying and conveying platform 600 is mainly used to carry and convey the workpiece 800 to be inspected from the loading mechanism 300 to the next workstation. Its specific structure is the same as that of the first carrying and conveying platform 200, and will not be described in detail here.

[0059] In order to facilitate the understanding of the technical solution of the surface detection device, a brief description of its working principle is given:

[0060] Turn on the conveying motor 210 of the first carrying conveying platform 200, thereby driving the transmission belt to rotate along the driving shaft 230 and the driven shaft 240, and convey the workpiece 800 to be inspected to the top of the guiding mechanism 700 through the flexible support plate 260 and the transmission belt;

[0061] The lifting motor 712 drives the lifting screw 713 to move, thereby driving the lifting slider 715, the connecting plate 716 and the flexible protrusion 717 to move upward, lifting the workpiece 800 to be inspected, and moving upward to the same level as the pushing mechanism;

[0062] When the lifting mechanism 710 rises to be level with the guide wheel, the secondary linear module 722 drives the guide wheel to move toward the center of the mounting frame 120. When the guide wheel on one side contacts the outer edge of the workpiece 800 to be detected, it continues to move toward the center of the mounting frame 120 and pushes the workpiece 800 to move toward the other side of the mounting frame 120 until all the guide wheels contact the outer edge of the workpiece 800 to be detected. The pushing mechanism stops moving, so that the workpieces 800 to be detected all maintain the same posture.

[0063] The vacuum suction cup 325 is lifted to the back of the workpiece 800 to be inspected by the lifting cylinder 322 of the sliding platform 320, and the workpiece 800 to be inspected is fixed; then the linear motion module 310 is driven to move by the feeding motor 312, and the sliding platform 320 and the workpiece 800 to be inspected are driven to move to the positioning mechanism 400;

[0064] The position of the second sliding seat 418 is pre-adjusted by the cross motion mechanism 410 so that the position of the baffle 421 is slightly larger than the outer contour of the workpiece 800 to be detected. Then, the fit between the workpiece 800 to be detected and the clamping member 420 is measured by a pressure sensor or a distance sensor to ensure that the placement of the workpiece 800 to be detected meets the detection requirements. The cross motion mechanism 410 is further adjusted until all baffles 421 are in contact with the outer edge of the workpiece 800 to complete the positioning process.

[0065] Sinusoidal fringes are emitted from the screen of the backlight source 510 and projected onto the workpiece 800 to be inspected. After being reflected by the workpiece 800 to be inspected, image distortion is caused. The CCD camera 520 collects the distorted image, wherein the distorted image reflects the surface information of the workpiece 800 to be inspected. The surface surface data of the workpiece 800 to be inspected is restored by calculation to confirm whether there are defects on the surface of the workpiece 800 to be inspected.

[0066] During the inspection process, the loading motor 312 reverses to drive the linear motion module 310 to move, driving the sliding platform 320 and the workpiece to be inspected 800 to return to the first load-carrying conveying platform 200. At the same time, the other sliding platform 320 just returns to the positioning mechanism 400; then the workpiece to be inspected 800 is adsorbed and fixed by the other sliding platform 320, and then the loading motor 312 drives the linear motion module 310 to move, driving the other sliding platform 320 and the workpiece to be inspected 800 to move above the second load-carrying conveying platform 600, and the workpiece to be inspected is transported to the next workstation.

[0067] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, the present invention will not further describe various possible combinations.

Claims

1. A face shape detection device, characterized in that: Including: A frame, a first load transfer table disposed on one side of the frame and adapted to transfer a workpiece to be detected to the frame, a second load transfer table disposed on the other side of the frame and adapted to transfer the workpiece to be detected to the next working station, a guiding mechanism disposed at the end of the first load transfer table and adapted to adjust the workpiece to be detected to a predetermined posture, a cross movement mechanism installed below the frame and applicable to adjust the workpiece to be detected to a predetermined position, a clamping member disposed on the cross movement mechanism, a backlight and a CCD camera installed on the frame and respectively located above, on both sides of the cross movement mechanism, and a loading mechanism located between the first load transfer table and the second load transfer table and adapted to place the workpiece to be detected on the clamping member or take the workpiece to be detected out from the clamping member; The loading mechanism includes: a linear motion module with one end located below the end of the first load transfer table and the other end located at the starting end of the second load transfer table, and two sliding platforms located above the linear motion module; and the distance between the two sliding platforms is exactly half of the stroke of the linear motion module; The linear motion module includes: a lower frame body fixedly installed on the frame and having a "U" - shaped cross - section, a loading motor disposed at one end of the lower frame body, a gear box connected to the loading motor, a synchronous pulley connected to the gear box, a driven pulley located at the other end of the lower frame body, a loading belt sleeved on the synchronous pulley and the driven pulley, an upper cover body located above the loading belt, fixedly connected to the lower frame body at both ends and having a predetermined distance between both sides and the lower frame body, two mover seats with the bottom fixedly connected to the loading belt, passing through the upper cover body in the middle and having the top connected to the sliding platform, and a plurality of belt pressing blocks disposed on the loading belt; The sliding platform includes: a mounting seat fixedly installed on the mover seat, a lifting cylinder installed inside the mounting seat, an output shaft of the lifting cylinder passing through the top of the mounting seat and connected to a lifting plate, a plurality of limit guide columns fixedly installed at the bottom of the lifting plate, passing through the top of the mounting seat through linear bearings, and a plurality of vacuum suction cups installed at the top of the lifting plate for adsorbing and fixing the workpiece to be detected; Wherein, the installation of the backlight, the workpiece to be detected and the CCD camera satisfies the law of reflection of light; an image is emitted from the backlight and projected onto the workpiece to be detected. After being reflected by the workpiece to be detected, image distortion occurs. The CCD camera obtains the distorted image and restores the surface profile data of the workpiece to be detected through calculation. The method of calculation and restoration includes the following steps: projecting a cosine - distributed fringe with phase - shifting and correspondingly recording the image of the test mirror reflection fringe; then using the phase - shifting method to solve the phase and performing phase unwrapping to convert the phase distribution into a position coordinate distribution; converting the position coordinates into an inclination angle distribution and synthesizing the inclination angle distribution into a three - dimensional surface distribution.

2. The face shape detection device according to claim 1, characterized in that: The image emitted from the backlight is a plurality of continuously changing sine fringes or a plurality of continuously changing cosine fringes or a plurality of continuously changing Gray - code fringes.

3. The face shape detection device according to claim 1, characterized in that: The first carrying and conveying platform comprises: a driving mechanism, a conveying belt connected to the driving mechanism, and a flexible support plate is arranged below the conveying belt.

4. The face shape detection device according to claim 3, characterized in that: The cross-sectional shape of the flexible support plate is a "concave" shape, the conveyor belt is located in the groove of the flexible support plate, and the upper surface of the flexible support plate is flush with the upper surface of the conveyor belt.

5. The face shape detection device according to claim 1, characterized in that: The cross motion mechanism is formed by superposition of two groups of mutually perpendicular linear motion modules.

6. The face shape detection device according to claim 1, characterized in that: The guiding mechanism includes: a mounting frame mounted above the first load-carrying and conveying platform, a lifting mechanism arranged on both sides of the first load-carrying and conveying platform, which lifts the workpiece to be inspected to leave the first load-carrying and conveying platform, and a plurality of pushing mechanisms respectively arranged in four directions of the mounting frame and suitable for pushing the inspected workpiece to move toward the center position of the mounting frame.

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