An appearance inspection device

Abstract

The application discloses an appearance detection device and belongs to the technical field of appearance detection. The appearance detection device comprises a feeding mechanism, a CCD detection mechanism, an appearance detection module and a multi-motor linear module. The CCD detection mechanism is used to obtain image information of the product fed by the feeding mechanism, and then obtain the offset of the product relative to the preset position. The appearance detection module is used to obtain the appearance image of the product. The multi-motor linear module comprises a motor sliding along a first direction. A bearing mechanism is arranged on the motor. The bearing mechanism comprises a linear driving part, a rotary driving part and a bearing suction cup. The linear driving part is arranged on the motor, and the driving direction of the linear driving part is along a second direction. The rotary driving part is arranged on the output end of the linear driving part. The bearing suction cup is arranged on the output end of the rotary driving part. The multi-motor linear module is used to convey the product between the feeding mechanism and the appearance detection module. The application can solve the problem that the existing technology cannot obtain accurate appearance images due to the offset between the product feeding position and the preset position.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of appearance detection, and in particular to an appearance detection device. BACKGROUND

[0002] In the process of appearance detection of mobile phone products, the mobile phone is transmitted between different stations by a conveying mechanism. Due to the limited transmission accuracy of the conveying mechanism, the loading position of the mobile phone during appearance detection may deviate from the preset position, which may result in inaccurate appearance images and affect the smooth progress of the appearance detection process.

[0003] Therefore, there is an urgent need to provide an appearance detection device to solve the above problems. SUMMARY

[0004] The present application aims to provide an appearance detection device that can solve the problem of inaccurate appearance images due to the deviation of the loading position of the product from the preset position in the prior art, and ensure the smooth progress of the appearance detection work.

[0005] To achieve the above-mentioned purpose, the following technical solutions are provided:

[0006] An appearance detection device comprises:

[0007] a loading mechanism;

[0008] a CCD detection mechanism arranged at the loading mechanism, configured to obtain image information of the product loaded by the loading mechanism, and further obtain the deviation of the product from the preset position;

[0009] an appearance detection module configured to obtain the appearance image of the product;

[0010] a multi-motor linear module comprising a base and a motor sliding along a first direction on the base; a carrying mechanism is arranged on the motor; the carrying mechanism comprises a linear driving part, a rotary driving part and a carrying suction cup; the linear driving part is arranged on the motor, and the driving direction of the linear driving part is along a second direction; the first direction is perpendicular to the second direction; the rotary driving part is arranged on the output end of the linear driving part; and the carrying suction cup is arranged on the output end of the rotary driving part and configured to suck the product;

[0011] The multi-motor linear module is configured to convey the product between the loading mechanism and the appearance detection module.

[0012] Further, the rotary axis of the carrying suction cup passes through the center of the carried product.

[0013] Further, the CCD detection mechanism comprises a detection support and two CCD cameras arranged on the detection support, and the CCD cameras are arranged to obtain image information of two opposite corners of the rectangular product respectively.

[0014] Further, the feeding mechanism comprises a lifting suction disc, a transfer support, a lifting support and a lifting driving element arranged on the lifting support, the output end of the lifting driving element is connected to the transfer support, and the lifting suction disc is arranged on the transfer support.

[0015] Further, the CCD camera is vertically downward in the recording direction.

[0016] Further, the lifting suction disc and the detection support are respectively located at the bottom and the top of the transfer support.

[0017] Further, the transfer support is provided with a hollow structure, and at least one of the two CCD cameras is recorded by the hollow structure.

[0018] Further, the mover is provided with two fourth movers and fifth movers, and the bearing mechanism is also provided with two fourth bearing mechanisms and fifth bearing mechanisms, the fourth bearing mechanism is arranged on the fourth mover, and the fifth bearing mechanism is arranged on the fifth mover.

[0019] The appearance detection device further comprises, arranged in sequence along the first direction:

[0020] The second lifting mechanism is used for sucking and lifting the product conveyed from outside and placing it on the fourth bearing mechanism.

[0021] The first corner detection module is used for obtaining the line-scan image of part of the corner of the product carried by the fourth bearing mechanism.

[0022] The third lifting mechanism is used for sucking and lifting the product on the fourth bearing mechanism and placing it on the fifth bearing mechanism.

[0023] The second corner detection module is used for obtaining the line-scan image of the remaining corner of the product carried by the fifth bearing mechanism.

[0024] Further, the feeding mechanism is the second lifting mechanism, the appearance detection module is the first corner detection module, and the CCD detection mechanism is located at the second lifting mechanism; or

[0025] The feeding mechanism is the third lifting mechanism, the appearance detection module is the second corner detection module, and the CCD detection mechanism is located at the third lifting mechanism.

[0026] Further, the feeding mechanism comprises the second lifting mechanism and the third lifting mechanism, the appearance detection module comprises the first angle detection module and the second angle detection module; the CCD detection mechanism is provided with two and is located at the second lifting mechanism and the third lifting mechanism respectively.

[0027] Compared with the prior art, the present application has the following beneficial effects:

[0028] Firstly, the CCD detection mechanism obtains the image information of the product fed by the feeding mechanism, and then the offset of the product relative to the preset position is obtained; then, the freedom in the first direction of the product is given by the mover of the multi-mover linear module, the freedom in the second direction of the product is given by the linear driving part, and the rotation freedom of the product is given by the rotary driving part, so that the product completes the relevant motion compensation before being conveyed to the appearance detection module, and the product feeding position is at the preset position each time, thereby helping to obtain accurate appearance images and ensuring the smooth progress of the appearance detection work. BRIEF DESCRIPTION OF DRAWINGS

[0029] Figure 1 It is a partial structure diagram of an appearance detection equipment in an embodiment of the present application Figure 1 ;

[0030] Figure 2 It is a partial structure diagram of an appearance detection equipment in an embodiment of the present application Figure 2 ;

[0031] Figure 3 It is a structure diagram of a first multi-mover linear module in an embodiment of the present application;

[0032] Figure 4 It is a structure diagram of a lifting and overturning mechanism in an embodiment of the present application;

[0033] Figure 5 It is Figure 4 a local enlarged diagram of A in the figure;

[0034] Figure 6 It is a partial structure diagram of an appearance detection equipment in an embodiment of the present application Figure 3 ;

[0035] Figure 7 It is a structure diagram of a second multi-mover linear module in an embodiment of the present application;

[0036] Figure 8 It is a structure diagram of a second lifting mechanism and a CCD detection mechanism in an embodiment of the present application;

[0037] Figure 9 It is a structure diagram of a third lifting mechanism in an embodiment of the present application;

[0038] Figure 10 Fig. 1 is a structural schematic diagram of a blanking mechanism in an embodiment of the present application;

[0039] Figure 11 Fig. 2 is a structural schematic diagram of a carrier in an embodiment of the present application;

[0040] Figure 12 Fig. 3 is a partial structural schematic diagram of a carrier in an embodiment of the present application;

[0041] Figure 13 Fig. 4 is a structural schematic diagram of a second light source assembly in an embodiment of the present application;

[0042] Figure 14 Fig. 5 is an exploded schematic diagram of a second light source assembly in an embodiment of the present application;

[0043] Figure 15 Fig. 6 is a structural schematic diagram of a CCD detection mechanism in an embodiment of the present application.

[0044] Reference signs:

[0045] 100, first multi-motor linear module; 101, first motor; 102, second motor; 103, third motor; 104, first base;

[0046] 200, second multi-motor linear module; 201, fourth motor; 202, fifth motor; 203, second base;

[0047] 300, blanking mechanism; 301, blanking conveying line body; 302, horizontal driving member; 303, vertical driving member; 304, blanking suction cup;

[0048] 401, first bearing mechanism; 4011, first mounting seat; 402, second bearing mechanism; 4021, second mounting seat; 4022, first rotary driving member; 4023, first bearing suction cup; 4024, first light source assembly; 403, third bearing mechanism; 404, fourth bearing mechanism; 4041, third mounting seat; 4042, linear driving member; 4043, second rotary driving member; 4044, second bearing suction cup; 405, fifth bearing mechanism;

[0049] 500, carrier; 501, bearing plate; 5011, groove; 5012, first through hole; 5013, fourth through hole; 5014, weight-reducing hole; 502, carrier suction cup; 503, first hollow structure; 504, first limiting mechanism; 505, second limiting mechanism; 506, limiting groove; 507, second light source assembly; 5071, fixed upper plate; 5072, fixed lower plate; 5073, annular light source; 5074, first groove body; 5075, second groove body; 5076, second through hole; 5077, third through hole; 5078, positioning boss;

[0050] 600, information input mechanism; 601, scanner;

[0051] 700, offset detection module; 701, third camera;

[0052] 800, supplementary detection module; 801, fourth camera;

[0053] 900, CCD detection mechanism; 901, detection support; 902, CCD camera;

[0054] 10, surface detection module; 11, first camera; 12, second camera;

[0055] 20, first lifting mechanism;

[0056] 30, first line scanning module;

[0057] 40, lifting and turning mechanism; 41, first lifting driving member; 42, turning driving member; 43, clamping member; 431, clamping driving member; 432, clamping jaw; 4321, clamping groove; 433, pushing member; 4331, pushing driving member; 4332, pushing block; 44, first transfer support; 45, second transfer support;

[0058] 50, second line scanning module;

[0059] 60, second lifting mechanism; 61, first lifting support; 62, second lifting driving member; 63, first lifting suction disc; 64, third transfer support; 641, second hollow structure;

[0060] 70, first angle detection module;

[0061] 80, third lifting mechanism; 81, second lifting support; 82, third lifting driving member; 83, second lifting suction disc;

[0062] 90, second angle detection module. DETAILED DESCRIPTION

[0063] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some of the embodiments of the present application, not all the embodiments of the present application. The components of the embodiments of the present application described and shown in the drawings herein can be arranged and designed in various different configurations.

[0064] Therefore, the following detailed description of the embodiments of the application provided in the accompanying drawings is not intended to limit the scope of the application as claimed, but merely represents selected embodiments of the application. All other embodiments obtained by persons of ordinary skill in the art based on the embodiments of the application without creative labor fall within the scope of protection of the application.

[0065] It should be noted that similar reference numbers and letters refer to similar items in the following drawings, and therefore, once an item is defined in one drawing, it need not be further defined and explained in subsequent drawings.

[0066] In the description of the application, it should be noted that the terms "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the product of the application is usually placed, and are only for the convenience of describing the application and simplifying the description, and therefore cannot be understood as indicating or implying that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the application. In addition, the terms "first", "second", "third" and the like are only used to distinguish the description and cannot be understood as indicating or implying relative importance. In the description of the application, unless otherwise specified, the meaning of "a plurality of" is two or more.

[0067] In the description of the application, it should also be noted that, unless otherwise specified and limited, the terms "provided", "connected" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected. For those of ordinary skill in the art, the specific meaning of the above terms in the application can be understood according to the specific circumstances.

[0068] In the present application, unless otherwise specified and limited, the "upper" or "lower" of the first feature in relation to the second feature can include that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, the "over", "above" and "on" of the first feature in relation to the second feature includes that the first feature is directly above and obliquely above the second feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. The "under", "below" and "under" of the first feature in relation to the second feature includes that the first feature is directly below and obliquely below the second feature, or only indicates that the horizontal height of the first feature is less than that of the second feature.

[0069] Embodiments of the present application are described below in the accompanying drawings, in which like or similar designations denote like or similar elements or components throughout the various figures. The embodiments described below are exemplary and are not intended to be limiting of the present application, unless otherwise specified.

[0070] Embodiment One

[0071] The present embodiment discloses an appearance detection device, which is mainly used for appearance detection of mobile phones. Of course, in specific implementation, mobile phones can be replaced by other products such as tablets, and the present embodiment mainly takes mobile phones as an example for illustration.

[0072] Specifically, referring to Figure 1 and Figure 2 , the appearance detection device comprises a first multi-actuator linear module 100, a first bearing mechanism 401, a second bearing mechanism 402 and a third bearing mechanism 403; referring to Figure 3 , the first multi-actuator linear module 100 comprises a first base 104, a first actuator 101, a second actuator 102 and a third actuator 103 which are sequentially arranged on the first base 104 along a first direction (i.e. the X-axis direction in the drawings); the first bearing mechanism 401, the second bearing mechanism 402 and the third bearing mechanism 403 are all used for bearing products; the first bearing mechanism 401, the second bearing mechanism 402 and the third bearing mechanism 403 are respectively arranged on the first actuator 101, the second actuator 102 and the third actuator 103. The appearance detection device further comprises a face detection module 10, a first lifting mechanism 20, a first line scanning module 30, a lifting and overturning mechanism 40 and a second line scanning module 50 which are sequentially arranged along the first direction: the face detection module 10 is used for obtaining partial images of the front and back of the product borne by the first bearing mechanism 401; the first lifting mechanism 20 is used for sucking and lifting the product on the first bearing mechanism 401 and placing it on the second bearing mechanism 402; the first line scanning module 30 is used for obtaining line scanning images of one of the front and back of the product borne by the second bearing mechanism 402; the lifting and overturning mechanism 40 is used for lifting and overturning the product on the second bearing mechanism 402 and placing it on the third bearing mechanism 403; the second line scanning module 50 is used for obtaining line scanning images of the other of the front and back of the product borne by the third bearing mechanism 403.

[0073] In this embodiment, the mobile phone is upside down on the first bearing mechanism 401, that is, the screen of the mobile phone is arranged downward; the mobile phone is also upside down on the second bearing mechanism 402, the first line scanning module 30 is used for line scanning the back of the mobile phone to obtain the image of the back of the mobile phone, and then the appearance detection of the back of the mobile phone is performed, such as whether the position of the LOGO on the back of the mobile phone is accurate or not; after the mobile phone is flipped by the flipping mechanism 40, the mobile phone is turned to be right side up on the third bearing mechanism 403, and the second line scanning module 50 is used for line scanning the front of the mobile phone to obtain the image of the front of the mobile phone, and then the appearance detection of the front of the mobile phone is performed, such as whether the screen of the mobile phone is assembled regularly or not. The face detection module 10 is mainly used for photographing the front camera and the rear camera of the mobile phone to perform more detailed appearance detection on the front camera and the rear camera. Specifically, referring to Figure 2 , the face detection module 10 includes a first camera 11 at the upper part and a second camera 12 at the lower part, the lens of the first camera 11 is vertically downward, and is used for photographing the rear camera of the mobile phone; the lens of the second camera 12 is vertically upward, and is used for photographing the front camera of the mobile phone. Further, the first camera 11 and the second camera 12 are both area array cameras, and the first line scanning module 30 and the second line scanning module 50 both adopt line array cameras; the line array camera can better meet the image photographing requirements of large field of view and high precision compared with the area array camera; for the mobile phone which is a product with a certain area, the area array camera is sufficient for photographing the front camera or the rear camera, but if the image of the entire mobile phone is obtained by the area array camera, the image precision cannot meet the detection requirements, and therefore the line array camera needs to be used. When the area array camera is used, the product remains stationary, and the product is moved after the photographing of the area array camera is completed; when the line array camera is used, the product needs to be moved to facilitate the line array camera to complete the scanning of the entire product; in this embodiment, the mover carries the corresponding product along the first direction from the first lifting mechanism 20 to the lifting and flipping mechanism 40, and the product passes through the line array camera of the first line scanning module 30 at a certain moving speed to complete the line scanning process of the front; similarly, when the mover continues to carry the product to pass through the second line scanning module 50, the product passes through the line array camera of the second line scanning module 50 at a certain moving speed to complete the line scanning process of the back.

[0074] The plurality of movers on the first multi-mover linear module 100 synchronously perform reciprocating motion in the entire appearance detection process, and then drive the bearing mechanism thereon to shift between different detection modules to continuously complete the appearance detection of a large number of products. The specific appearance detection process will be described below according to the motion position of the mover of the first multi-mover linear module 100:

[0075] The mover of the first multi-mover linear module 100 is located at the first position: the first carrying mechanism 401 is located at the front end of the surface inspection module 10, and the first carrying mechanism 401 receives a first product to be detected, that is, product feeding;

[0076] The mover of the first multi-mover linear module 100 is located at the second position: the first carrying mechanism 401 is located at the surface inspection module 10, and the surface inspection module 10 performs a surface inspection process on the first product;

[0077] The mover of the first multi-mover linear module 100 is located at the third position: the first carrying mechanism 401 is located at the first lifting mechanism 20, and the first lifting mechanism 20 sucks and lifts the first product on the first carrying mechanism 401;

[0078] The mover of the first multi-mover linear module 100 returns to the first position: the first carrying mechanism 401 continues to receive a second product to be detected; the second carrying mechanism 402 is located at the first lifting mechanism 20, and the first lifting mechanism 20 places the first product on the second carrying mechanism 402;

[0079] The mover of the first multi-mover linear module 100 reaches the second position for the second time: the first carrying mechanism 401 is located at the surface inspection module 10, and the surface inspection module 10 performs a surface inspection process on the second product; the second carrying mechanism 402 reaches the first line scanning module 30, and the first line scanning module 30 starts a line scanning process on the first product;

[0080] The mover of the first multi-mover linear module 100 reaches the third position for the second time: the first carrying mechanism 401 is located at the first lifting mechanism 20, and the first lifting mechanism 20 continues to suck and lift the second product on the first carrying mechanism 401; the second carrying mechanism 402 reaches the lifting and overturning mechanism 40, and the lifting and overturning mechanism 40 lifts and overturns the first product on the second carrying mechanism 402;

[0081] The mover of the first multi-mover linear module 100 returns to the first position: the first carrying mechanism 401 continues to receive a third product to be detected; the second carrying mechanism 402 is located at the first lifting mechanism 20, and the first lifting mechanism 20 places the second product on the second carrying mechanism 402; the third carrying mechanism 403 is located at the lifting and overturning mechanism 40, and the lifting and overturning mechanism 40 places the first product on the third carrying mechanism 403;

[0082] The mover of the first multi-mover linear module 100 reaches the second position for the third time: the surface inspection module 10 performs a surface inspection process on the third product; the second carrying mechanism 402 reaches the first line scanning module 30, and the first line scanning module 30 starts a line scanning process on the second product; the third carrying mechanism 403 reaches the second line scanning module 50, and the second line scanning module 50 starts a line scanning process on the first product;

[0083] The third time the mover of the first multi-mover linear module 100 reaches the third position: the first carrying mechanism 401 is located at the first lifting mechanism 20, and the first lifting mechanism 20 continues to suck and lift the third product on the first carrying mechanism 401; the second carrying mechanism 402 reaches the lifting and overturning mechanism 40, and the lifting and overturning mechanism 40 lifts and overturns the second product on the second carrying mechanism 402; the first product on the third carrying mechanism 403 is discharged, and thus all detection procedures of the first product are completed;

[0084] The mover of the first multi-mover linear module 100 returns to the first position: the first carrying mechanism 401 continues to receive the fourth product to be detected; the second carrying mechanism 402 is located at the first lifting mechanism 20, and the first lifting mechanism 20 places the third product on the second carrying mechanism 402; the third carrying mechanism 403 is located at the lifting and overturning mechanism 40, and the lifting and overturning mechanism 40 places the second product on the third carrying mechanism 403;

[0085] The fourth time the mover of the first multi-mover linear module 100 reaches the second position: the surface inspection module 10 performs a surface inspection procedure on the fourth product; the second carrying mechanism 402 reaches the first line scanning module 30, and the first line scanning module 30 starts to perform a line scanning procedure on the third product; the third carrying mechanism 403 reaches the second line scanning module 50, and the second line scanning module 50 starts to perform a line scanning procedure on the second product;

[0086] The fourth time the mover of the first multi-mover linear module 100 reaches the third position: the first carrying mechanism 401 is located at the first lifting mechanism 20, and the first lifting mechanism 20 continues to suck and lift the fourth product on the first carrying mechanism 401; the second carrying mechanism 402 reaches the lifting and overturning mechanism 40, and the lifting and overturning mechanism 40 lifts and overturns the third product on the second carrying mechanism 402; the second product on the third carrying mechanism 403 is discharged, and thus all detection procedures of the second product are completed;

[0087] …

[0088] The above procedures are sequentially repeated.

[0089] The appearance detection process of the product is continuously performed through the continuous reciprocating movement of the three movers of the first multi-mover linear module 100; the first lifting mechanism 20 and the lifting and overturning mechanism 40 perform lifting or lifting and overturning operation on the product on the other bearing mechanisms corresponding thereto when the first bearing mechanism 401 is loading at the same time; the first line scanning module 30 and the second line scanning module 50 perform line scanning operation at the same time when the face detection module 10 is performing face detection work; the product on the third bearing mechanism 403 is completely detected and unloaded when the first bearing mechanism 401 reaches the first lifting mechanism 20. That is, the three movers of the first multi-mover linear module 100 move synchronously with the product on the bearing mechanism, realize multi-station synchronous detection, and the lifting operation of the product by the first lifting mechanism 20 or the lifting and overturning mechanism 40 is coordinated with the movement of the mover to realize the transfer of the product on different bearing mechanisms, shorten the detection cycle of each product, and improve the detection efficiency; at the same time, the whole detection process omits the carrying mechanism, and further eliminates the carrying process, solves the problems of poor movement precision and long detection process time caused by the carrying mechanism.

[0090] Further, with reference to Figure 1 , the appearance detection device can further include an information input mechanism 600 arranged at the front end of the face detection module 10, for inputting information of the product. Optionally, the information input mechanism 600 includes a scanner 601; a two-dimensional code can be displayed on the screen of the mobile phone, the two-dimensional code contains specific parameters of the mobile phone, each mobile phone has its own unique two-dimensional code, the scanner 601 scans the two-dimensional code on the screen of the mobile phone, and the related information of the mobile phone is input into the system, and any detection information about the mobile phone can be input correspondingly, which is convenient for unified management of the product. The information input process is a preceding process of the face detection process; in specific implementation, when the mover of the first multi-mover linear module 100 is located at the first position, the first bearing mechanism 401 is located at the information input mechanism 600, and the information input mechanism 600 completes information input of the loaded product. Specifically, since the screen of the mobile phone is placed downward on the first bearing mechanism 401, the scanner 601 scans upward.

[0091] Specifically, with reference to Figure 4The lifting and overturning mechanism 40 comprises a first lifting driving member 41, an overturning driving member 42 and a clamping member 43. The output end of the first lifting driving member 41 is provided with a first transfer support 44. The overturning driving member 42 is arranged on the first transfer support 44, and the output end of the overturning driving member 42 is provided with a second transfer support 45. The clamping member 43 is arranged on the second transfer support 45. The clamping member 43 comprises a clamping driving member 431 and two clamping jaws 432 arranged at the output end of the clamping driving member 431. The two clamping jaws 432 are oppositely arranged along a first direction and can approach or move away from each other under the driving of the clamping driving member 431. In the specific implementation, the first lifting driving member 41 drives the clamping jaws 432 to move downward, and the two clamping jaws 432 approach each other along the first direction to clamp the two side edges of the mobile phone carried by the second bearing mechanism 402. The first lifting driving member 41 drives the clamping jaws 432 to move upward, and at the same time, the overturning driving member 42 drives the second transfer support 45 and the clamping member 43 arranged thereon to overturn 180 degrees, so as to overturn the mobile phone from the back side to the front side. After the third bearing mechanism 403 is in place, the first lifting driving member 41 drives the clamping jaws 432 to move downward again until the mobile phone is placed on the third bearing mechanism 403, and the clamping jaws 432 are released. Further, since the mobile phone has a rectangular structure, in order to more stably clamp the product, the two clamping jaws 432 clamp the two side edges with relatively longer length of the mobile phone respectively. Optionally, the clamping driving member 431 is a finger air cylinder. Optionally, the first lifting driving member 41 is a linear slide table, and the overturning driving member 42 is a hollow rotating platform. Both of them are standard components.

[0092] Specifically, referring to Figure 4 and Figure 5 , one side of the two clamping jaws 432 oppositely arranged is provided with a clamping groove 4321. One of the two clamping jaws 432 is provided with a pushing member 433. The pushing member 433 comprises a pushing driving member 4331 and a pushing block 4332 arranged at the output end of the pushing driving member 4331. The pushing block 4332 can horizontally extend out of the clamping groove 4321. Since the screen of the mobile phone will be brightened when it is triggered during the overturning process, which will affect the second line scanning module 50 to obtain a clear appearance detection image, it is necessary to press the key of the mobile phone to turn off the screen. The clamping groove 4321 is arranged on the clamping jaw 432, so that the side of the mobile phone can be clamped in the clamping groove 4321. At this time, the key of the mobile phone is also located in the clamping groove 4321. The pushing driving member 4331 is used to drive the pushing block 4332 to move horizontally, so that the pushing block 4332 extends out of the clamping groove 4321 to smoothly press the key, and then the pushing block 4332 is retracted into the clamping jaw 432 to turn off the screen. Specifically, the pushing driving member 4331 is arranged on the side of the two clamping jaws 432 oppositely arranged. Optionally, the pushing driving member 4331 is an air cylinder.

[0093] Referring to Figure 1 and Figure 2The appearance detection device further comprises an offset detection module 700 arranged between the first line scanning module 30 and the second line scanning module 50, and the offset detection module 700 is used to detect the offset of the product carried by the second carrying mechanism 402 in the first direction after the second carrying mechanism 402 reaches the lifting and overturning mechanism 40. Due to the existence of certain movement errors in the mover conveying process, the product has an offset in the first direction on the corresponding carrying mechanism. This offset has little effect on the face detection process and the line scanning process, but for the lifting and overturning mechanism 40, the clamping action of the clamping jaw 432 is fixed. If the position of the mobile phone is accurate, the two clamping jaws 432 can accurately clamp the two sides of the mobile phone in the first direction each time, but if the mobile phone has an offset in the first direction, even if the offset is small, the clamping jaw 432 may not be able to clamp or stably clamp the mobile phone, which is extremely easy to cause the mobile phone to slip or fail to be smoothly transferred. Therefore, when the mover of the first multi-mover linear module 100 reaches the third position, before the lifting and overturning mechanism 40 completes the lifting and overturning operation, it is necessary to ensure that there is no offset of the mobile phone in the first direction. Specifically, the offset detection module 700 comprises a third camera 701, and the third camera 701 is used to shoot an image of the product carried by the second carrying mechanism 402 when the mover of the first multi-mover linear module 100 reaches the third position, and then the offset of the product in the first direction can be obtained through corresponding image analysis. Further, the offset can be compensated by the movement of the mover in the first direction, that is, before the lifting and overturning mechanism 40 clamps the product, the second mover 102 carries out movement offset compensation with the second carrying mechanism 402. Since the offset of the product is generally small, the movement of the mover does not affect the action of other processes. The appearance detection device compensates for the offset by setting the offset detection module 700 and fully utilizing the structure of the first multi-mover linear module 100, which helps to smoothly complete the lifting and overturning operation of the product and ensures that the detection process continues in an orderly manner. Optionally, the third camera 701 can be a face array camera.

[0094] Specifically, referring to Figure 3 The first carrying mechanism 401 comprises a first mounting seat 4011 and a carrier 500 arranged on the first mounting seat 4011, the first mounting seat 4011 is arranged on the first mover 101, and the carrier 500 is used to carry the product, facilitating the first camera 11 and the second camera 12 to complete the related shooting.

[0095] Still referring to Figure 3The second bearing mechanism 402 and the third bearing mechanism 403 are structurally identical, and each includes a second mounting seat 4021, a first rotary driving member 4022, a first bearing suction cup 4023, and a first light source assembly 4024. The second mounting seat 4021 is arranged on the corresponding mover of the first multi-mover linear module 100. The first rotary driving member 4022 is arranged on the second mounting seat 4021, and the output end of the first rotary driving member 4022 is arranged vertically upward. The first bearing suction cup 4023 is arranged on the output end of the first rotary driving member 4022, and is used for sucking the product. Two first light source assemblies 4024 are arranged, and the two first light source assemblies 4024 are respectively located on both sides of the first rotary driving member 4022 along the first direction. The first light source assembly 4024 can provide light compensation for the product sucked on the first bearing suction cup 4023, and ensure that the linear array camera of the line scanning module obtains a clear image. Optionally, the first rotary driving member 4022 is selected as an inner rotor torque motor.

[0096] In specific implementation, the product is transported along the first direction. When the mobile phone is subjected to line scanning by the first line scanning module 30 and the second line scanning module 50, the length direction of the mobile phone when placed on the bearing mechanism is consistent with the conveying direction, that is, the length direction of the mobile phone is parallel to the first direction. However, at the lifting and turning mechanism 40, the clamping jaw 432 clamps the long side of the product, and therefore the first rotary driving member 4022 is arranged, so that when the second bearing mechanism 402 is operated to the lifting and turning mechanism 40, the first rotary driving member 4022 drives the mobile phone to rotate by 90 degrees, and then clamps the mobile phone. Meanwhile, after the lifting and turning mechanism 40 completes the turning of the mobile phone and places the mobile phone on the third bearing mechanism 403, the first rotary driving member 4022 of the third bearing mechanism 403 drives the mobile phone to rotate by 90 degrees, so that the mobile phone returns to the original placement direction, and then is subjected to line scanning by the second line scanning module 50.

[0097] Reference Figure 6 and Figure 7The appearance detection device further comprises a second multi-actuator linear module 200, a fourth bearing mechanism 404 and a fifth bearing mechanism 405. The second multi-actuator linear module 200 comprises a second base 203, a fourth actuator 201 and a fifth actuator 202 which are sequentially arranged on the second base 203 in a first direction, and the fourth bearing mechanism 404 and the fifth bearing mechanism 405 are respectively arranged on the fourth actuator 201 and the fifth actuator 202. The appearance detection device further comprises a second lifting mechanism 60, a first corner detection module 70, a third lifting mechanism 80 and a second corner detection module 90 which are sequentially arranged in the first direction. The second lifting mechanism 60 is used to suck and lift the product carried on the third bearing mechanism 403, and place the product on the fourth bearing mechanism 404. The first corner detection module 70 is used to obtain the line-scan image of part of the corners of the product carried on the fourth bearing mechanism 404. The third lifting mechanism 80 is used to suck and lift the product on the fourth bearing mechanism 404, and place the product on the fifth bearing mechanism 405. The second corner detection module 90 is used to obtain the line-scan image of the remaining corners of the product carried on the fifth bearing mechanism 405. Since the mobile phone is a three-dimensional structure, the mobile phone frame has some appearance characteristics on the four corners, so appearance detection of the front and back surfaces is not perfect, and appearance detection of the corners of the mobile phone is also needed. Specifically, since the length of the mobile phone is large, the first corner detection module 70 and the second corner detection module 90 also use line array cameras. The first corner detection module 70 is used to obtain the line-scan image of any two adjacent corners of the mobile phone, and the second corner detection module 90 is used to obtain the line-scan image of the remaining two adjacent corners of the mobile phone. At the same time, the lenses of the line array cameras of the first line-scan module 30 and the second line-scan module 50 are downward, and the lenses of the line array cameras of the first corner detection module 70 and the second corner detection module 90 are horizontally oriented.

[0098] Similarly to the first multi-actuator linear module 100, the plurality of actuators on the second multi-actuator linear module 200 also perform synchronous reciprocating motion during the entire appearance detection process, thereby driving the bearing mechanism thereon to switch between different corner detection modules. This process can be connected with the previous appearance detection process. The motion positions of the actuators of the first multi-actuator linear module 100 and the motion positions of the actuators of the second multi-actuator linear module 200 will be combined below to describe the related appearance detection process in detail.

[0099] When the actuators of the first multi-actuator linear module 100 are at the third position and the actuators of the second multi-actuator linear module 200 are at the fourth position, the third bearing mechanism 403 is at the second lifting mechanism 60, the second lifting mechanism 60 sucks and lifts the first product on the third bearing mechanism 403, and the first product is discharged from the third bearing mechanism 403. The fourth bearing mechanism 404 is at the third lifting mechanism 80.

[0100] When the mover of the first multi-mover linear module 100 returns to the first position, the mover of the second multi-mover linear module 200 is located at the fifth position: the fourth carrying mechanism 404 reaches the second lifting mechanism 60, and the second lifting mechanism 60 places the first product on the fourth carrying mechanism 404;

[0101] When the mover of the first multi-mover linear module 100 reaches the second position, the mover of the second multi-mover linear module 200 is located at the sixth position: the fourth carrying mechanism 404 reaches the first angle inspection module 70, and the first angle inspection module 70 performs a line scanning process on the first product;

[0102] When the mover of the first multi-mover linear module 100 reaches the third position, the mover of the second multi-mover linear module 200 returns to the fourth position: the third carrying mechanism 403 is at the second lifting mechanism 60, the second lifting mechanism 60 sucks and lifts the second product on the third carrying mechanism 403, and the second product is discharged from the third carrying mechanism 403; the fourth carrying mechanism 404 is located at the third lifting mechanism 80, and the third lifting mechanism 80 sucks and lifts the first product;

[0103] When the mover of the first multi-mover linear module 100 returns to the first position, the mover of the second multi-mover linear module 200 reaches the fifth position: the fourth carrying mechanism 404 reaches the second lifting mechanism 60, and the second lifting mechanism 60 places the second product on the fourth carrying mechanism 404; the fifth carrying mechanism 405 reaches the third lifting mechanism 80, and the third lifting mechanism 80 places the first product on the fifth carrying mechanism 405;

[0104] When the mover of the first multi-mover linear module 100 reaches the second position, the mover of the second multi-mover linear module 200 reaches the sixth position: the fourth carrying mechanism 404 reaches the first angle inspection module 70, and the first angle inspection module 70 performs a line scanning process on the second product; the fifth carrying mechanism 405 reaches the second angle inspection module 90, and the second angle inspection module 90 performs a line scanning process on the first product;

[0105] When the mover of the first multi-mover linear module 100 reaches the third position, the mover of the second multi-mover linear module 200 returns to the fourth position: the third carrying mechanism 403 is at the second lifting mechanism 60, the second lifting mechanism 60 sucks and lifts the third product on the third carrying mechanism 403, and the third product is discharged from the third carrying mechanism 403; the fourth carrying mechanism 404 is located at the third lifting mechanism 80, and the third lifting mechanism 80 sucks and lifts the second product on the fourth carrying mechanism 404; the first product carried on the fifth carrying mechanism 405 is discharged;

[0106] …

[0107] and so on.

[0108] That is, the two movers of the second multi-mover linear module 200 move synchronously with the product through the bearing mechanism, the synchronous detection of the two corner detection stations can be realized, the suction and lifting of the product by the second lifting mechanism 60 and the third lifting mechanism 80 are matched with the movement of the movers, and the transfer of the product between the fourth bearing mechanism 404 and the fifth bearing mechanism 405 can be realized; through the continuous and reciprocating movement of the two movers of the second multi-mover linear module 200, the corner detection process can be orderly connected with the previous process to continuously complete the appearance detection of a large number of mobile phones.

[0109] Optionally, referring to Figure 8 , the second lifting mechanism 60 includes a first lifting support 61 and a second lifting driving member 62 arranged on the first lifting support 61, and the output end of the second lifting driving member 62 is provided with a first lifting suction cup 63. Optionally, the second lifting driving member 62 is a linear slide.

[0110] Referring to Figure 6 and Figure 9 , the appearance detection device further includes a supplementary detection module 800 arranged at the third lifting mechanism 80, and the supplementary detection module 800 is used to obtain image information of a certain frame of the product. In the embodiment, the supplementary detection module 800 includes a fourth camera 801, and the fourth camera 801 is a plane array camera and is mainly used for image acquisition of the bottom frame of the mobile phone. Since the bottom frame of the mobile phone is usually arranged with a charging port, mounting screws and the like, the image information of the place can be obtained through the fourth camera 801, and related appearance detection can be performed.

[0111] Specifically, the third lifting mechanism 80 includes a second lifting support 81 and a third lifting driving member 82 arranged on the second lifting support 81, and the output end of the third lifting driving member 82 is provided with a second lifting suction cup 83. Further, the supplementary detection module 800 is arranged on the second lifting support 81; that is, the supplementary detection module 800 is relatively fixed with the second lifting support 81. After the second lifting suction cup 83 of the third lifting mechanism 80 sucks the product from the fourth bearing mechanism 404, the third lifting driving member 82 drives the product to lift, and at a certain height, the fourth camera 801 performs image acquisition on the bottom frame of the mobile phone.

[0112] Specifically, referring to Figure 7The fourth bearing mechanism 404 and the fifth bearing mechanism 405 are structurally identical, and each includes a third mounting base 4041, a linear driving element 4042, a second rotary driving element 4043, and a second bearing suction disc 4044. The third mounting base 4041 is arranged on the mover of the second multi-mover linear module 200. The linear driving element 4042 is arranged on the third mounting base 4041, and the driving direction of the linear driving element 4042 is along the second direction (i.e., the Y-axis direction in the drawing). The second rotary driving element 4043 is arranged on the output end of the linear driving element 4042. The second bearing suction disc 4044 is arranged on the output end of the second rotary driving element 4043, and is used to suck the product. Optionally, the linear driving element 4042 is a linear sliding table, and the second rotary driving element 4043 is an inner-rotor torque motor.

[0113] The fourth bearing mechanism 404 and the fifth bearing mechanism 405 are arranged on the mover of the second multi-mover linear module 200, so that the product adsorbed on the second bearing suction disc 4044 has the freedom of movement along the X-axis. The arrangement of the linear driving element 4042 enables the product adsorbed on the second bearing suction disc 4044 to have the freedom of movement along the Y-axis. The arrangement of the second rotary driving element 4043 enables the product to have the freedom of rotation around the R-axis, which represents the vertical axis of the product when it rotates. In a specific implementation, since the four corners of the mobile phone are not standard rounded corners, when the corner inspection module scans the corners of the mobile phone, the mover, the linear driving element 4042, and the second rotary driving element 4043 need to be linked to enable the product to move along a specific track when it is scanned, so as to ensure that the four corners pass through the linear array camera at an equal linear speed, thereby obtaining a regular scanning image that is not stretched.

[0114] Reference Figure 6 and Figure 10The appearance detection device further comprises a discharging mechanism 300, the discharging mechanism 300 comprising two discharging conveying lines 301 arranged in the second direction and used for receiving qualified products and unqualified products respectively; the discharging mechanism 300 further comprises a discharging driving module, the discharging driving module comprising a horizontal driving member 302 and a vertical driving member 303 arranged at the driving end of the horizontal driving member 302, the driving direction of the horizontal driving member 302 being the second direction; the output end of the vertical driving member 303 is provided with a discharging suction cup 304, the discharging suction cup 304 being used for sucking the product on the fifth carrying mechanism 405 to complete discharging. In specific implementation, each time the mover of the second multi-mover linear module 200 returns to the fourth position, the discharging mechanism 300 acts, the discharging suction cup 304 is first driven to descend by the vertical driving member 303, the product on the fifth carrying mechanism 405 is sucked, then the vertical driving member 303 drives the product to ascend, the horizontal driving member 302 drives the vertical driving member 303 to move in the second direction, so that the vertical driving member 303 carries the product to the corresponding discharging conveying line 301, then the vertical driving member 303 drives the product to descend, and the product is discharged onto the discharging conveying line 301. Alternatively, the vertical driving member 303 and the horizontal driving member 302 both adopt linear sliding tables.

[0115] Embodiment two

[0116] The embodiment discloses a carrier which can be used on the first carrying mechanism 401 in embodiment one to meet the image acquisition needs of the face detection module 10. The carrier in the prior art cannot stably support the mobile phone during transportation, resulting in poor stability of the mobile phone, affecting the accuracy of image acquisition, and causing the appearance detection to fail to be successfully completed.

[0117] Specifically, referring to Figure 11 and Figure 12 , the carrier 500 comprises a carrying plate 501, the carrying plate 501 having a first carrying part and a second carrying part arranged in the first direction in sequence, the upper surface of the first carrying part being provided with a carrier suction cup 502 for adsorbing the product; the second carrying part having a first hollow structure 503, part of the structure of the product being exposed from the bottom of the carrier 500 through the first hollow structure 503; the carrier 500 further comprises a first limiting mechanism 504 and a second limiting mechanism 505, the first limiting mechanism 504 being arranged at the first carrying part and comprising two first limiting blocks arranged opposite in the second direction; the second limiting mechanism 505 being arranged at the second carrying part and comprising two second limiting blocks arranged opposite in the second direction; the first limiting block and the second limiting block can surround to form a limiting groove 506, and the product is limited in the limiting groove 506.

[0118] In this embodiment, the bearing plate 501 is divided into a first bearing part and a second bearing part, the first hollow structure 503 is arranged on the second bearing part, the top surface structure of the product is directly exposed, and the image can be directly collected, and part of the structure of the bottom surface of the product is exposed by the first hollow structure 503 for image collection; due to the arrangement of the first hollow structure 503, only the carrier suction cup 502 can be arranged on the first bearing part, the carrier suction cup 502 can be designed to be large enough to increase the suction area, stably suck the product, and ensure the stability of the product placed on the carrier 500; at the same time, the four limiting blocks form the limiting groove 506, and the side wall of the limiting block can be used as the groove wall of the limiting groove 506 to limit the product; in summary, the entire carrier 500 can accurately limit and stably support the product, which helps to smoothly and accurately complete image collection and appearance detection. In specific implementation, the mobile phone is placed on the carrier 500 with the front face downward, and therefore the front camera of the mobile phone is exposed by the first hollow structure 503 for shooting, and the rear camera of the mobile phone is placed upward on the carrier 500 and directly shot by the first camera 11 on the upper part.

[0119] Specifically, the first limiting block is in an L-shaped structure, and the second limiting block is also in an L-shaped structure, so that the limiting groove 506 formed by the first limiting block and the second limiting block is in a rectangular shape, and the product is limited in the rectangular limiting groove 506. For mobile phone products, the mobile phone is generally in a cuboid structure, so the limiting groove 506 is generally in a rectangular structure, and the mobile phone is arranged in the rectangular limiting groove 506 and can be limited in the first direction and the second direction by the side walls of the first limiting block and the second limiting block.

[0120] The upper surface of the first bearing part of the bearing plate 501 is provided with a groove 5011, and the carrier suction cup 502 and the first limiting mechanism 504 are arranged on the groove bottom of the groove 5011; the second bearing part of the bearing plate 501 is provided with a first through hole 5012, the first through hole 5012 penetrates the bearing plate 501 along the vertical direction to form the first hollow structure 503; the groove 5011 and the first through hole 5012 are communicated along the first direction. That is, through the design of the groove and the hole, the first limiting block, the carrier suction cup 502 and other structures are built-in on the bearing plate 501, and the mobile phone is also placed horizontally in the groove 5011, which facilitates the installation of various parts and also thins the thickness of the bearing plate 501 as much as possible.

[0121] Reference Figure 13 and Figure 14The carrier 500 further comprises a second light source assembly 507 arranged at the first through hole 5012, the second light source assembly 507 comprising a fixed upper plate 5071 and a fixed lower plate 5072, and an annular light source 5073 arranged between the fixed upper plate 5071 and the fixed lower plate 5072; the fixed lower plate 5072 is connected with the bearing plate 501, and the fixed upper plate 5071 and the fixed lower plate 5072 are respectively provided with a second through hole 5076 and a third through hole 5077, both of which are communicated with the first through hole 5012. In specific implementation, the mobile phone is placed on the carrier 500 with the front side facing downward, and thus the front camera of the mobile phone is shot by the second camera 12 at the lower part. Since the screen of the mobile phone is black, the image shot in a dark environment is unclear, and a clear image of the front camera of the mobile phone cannot be obtained, which is not conducive to appearance detection. Therefore, the second light source assembly 507 arranged at the first through hole 5012 can improve the ambient brightness of the product placed on the carrier 500, which is helpful to obtain a clear appearance detection image. In order not to interfere with shooting, the light source adopts the annular light source 5073 which can surround the front camera of the mobile phone and provide light in a targeted manner; the through holes communicated with the first through hole 5012 are arranged on the fixed upper plate 5071 and the fixed lower plate 5072, which always ensures the hollow design of the first hollow structure 503 and does not interfere with the exposure of the front camera of the mobile phone; the annular light source 5073 arranged between the fixed upper plate 5071 and the fixed lower plate 5072 can also avoid the leakage of light of the annular light source 5073 as much as possible, and the light is concentrated on the outer periphery of the front camera of the mobile phone.

[0122] Specifically, in some other embodiments, a containing groove (not shown in the drawings) is arranged on the hole wall of the third through hole 5077 of the fixed lower plate 5072, the annular light source 5073 is contained in the containing groove and supported on the groove bottom of the containing groove. Arranging the containing groove on the fixed lower plate 5072 to contain the annular light source 5073 can realize stable placement of the light source. At the same time, since the containing groove is arranged on the hole wall of the third through hole 5077, that is, the light of the annular light source 5073 can be transmitted to the first hollow structure 503 without obstruction.

[0123] In the embodiment, reference is made to Figure 13 and 14The hole wall of the third through hole 5077 of the fixed lower plate 5072 is provided with a stepped groove, including a first groove body 5074 and a second groove body 5075 arranged in sequence from top to bottom, and the annular light source 5073 is supported on the groove bottom of the second groove body 5075; the bottom surface of the fixed upper plate 5071 is provided with a positioning boss 5078, the positioning boss 5078 is located in the first groove body 5074 and can be limited between the groove wall of the first groove body 5074 and the annular light source 5073. The above setting can realize quick positioning and installation of the fixed upper plate 5071, and at the same time, the thickness of the whole second light source assembly 507 is compressed. The second groove body 5075 here can be understood as the above-mentioned accommodating groove.

[0124] In the embodiment, reference is made to Figure 13 The fixed upper plate 5071 is connected to the fixed lower plate 5072, and the fixed upper plate 5071 is used to support the product. That is, the product is only supported by the second light source assembly 507 in the second bearing part, at this time, the first through hole 5012 can be designed to be large enough to reduce the weight of the carrier 500. Further, the second limiting mechanism 505 is arranged on the fixed upper plate 5071. Further, the first through hole 5012 is formed with two hole walls arranged opposite to each other along the first direction on the bearing plate 501, and the second limiting block is limited between the two hole walls; the above-mentioned first through hole 5012 is used to limit the position of the second limiting block, which is more conducive to the accurate installation and stability of the second limiting block.

[0125] Optionally, reference is made to Figure 14 The groove bottom of the groove 5011 is provided with a fourth through hole 5013, and the fourth through hole 5013 is communicated with the first through hole 5012 along the first direction. The fourth through hole 5013 is helpful to further reduce the weight of the carrier 500, at this time, the product can be directly supported on the fixed upper plate 5071 and the groove bottom of the groove 5011. In combination with the information input mechanism 600 in Embodiment One, the fourth through hole 5013 can be used to expose the two-dimensional code of the mobile phone screen, which is convenient for the scanner 601 to scan.

[0126] Further, the groove bottom of the groove 5011 is also provided with a weight-reducing hole 5014 for reducing the weight of the carrier 500. Optionally, the weight-reducing hole 5014 is arranged with two holes spaced apart along the second direction; the two weight-reducing holes 5014 are respectively located on the two sides of the fourth through hole 5013.

[0127] Embodiment Three

[0128] The embodiment discloses an appearance detection device, specifically including a feeding mechanism, a CCD detection mechanism 900 (reference Figure 15), an appearance detection module, a multi-motor linear module and a bearing mechanism; the CCD detection mechanism 900 is located at the feeding mechanism and is used to obtain image information of the product fed by the feeding mechanism, and then obtain the offset of the product relative to the preset position; the appearance detection module is used to obtain the appearance image of the product; the multi-motor linear module comprises a base and a motor provided on the base, and the bearing mechanism is provided on the motor; the multi-motor linear module is used to convey the product between the CCD detection mechanism 900 and the appearance detection module.

[0129] In one embodiment, the first corner detection module 70 in Embodiment One is used as the appearance detection module, the second multi-motor linear module 200 in Embodiment One is used as the multi-motor linear module, the fourth bearing mechanism 404 in Embodiment One is used as the bearing mechanism, and the second lifting mechanism 60 in Embodiment One is used as the feeding mechanism, that is, the feeding of the appearance detection device in this embodiment is completed when the second lifting mechanism 60 sucks and lifts the product on the third bearing mechanism 403. Figure 6 According to the description in Embodiment One, since the product is sucked and released multiple times in the previous appearance detection process, the movement of the motor of the first multi-motor linear module 100 also has errors, so that the feeding position of the product relative to the preset position will be offset after the product is sucked and lifted by the second lifting mechanism 60. This offset can be linear offset in the X-axis or Y-axis direction, or can be deflection around the R-axis. At this time, if the motor of the second multi-motor linear module 200 and the linear driving part 4042 and the second rotary driving part 4043 thereon continue to drive the product in the original linkage mode, the trajectory of the product will change, and the obtained scanning image will be stretched and distorted, which is not conducive to obtaining accurate edge scanning images. At this time, the freedom degree of the product in the X-axis given by the motor of the second multi-motor linear module 200, the freedom degree of the product in the Y-axis given by the linear driving part 4042, and the freedom degree of the product in the R-axis given by the second rotary driving part 4043 can be directly utilized, so that the relevant movement compensation is completed before the fourth bearing mechanism 404 bears the product, that is, before the fourth bearing mechanism 404 reaches the second lifting mechanism 60. The position of the product on the second bearing suction disc 4044 is fixed each time, that is, the feeding position is consistent with the preset position. The motor of the second multi-motor linear module 200 and the linear driving part 4042 and the second rotary driving part 4043 thereon continue to drive the product in the original linkage mode to complete the line scanning, the trajectories of the products during the line scanning are consistent, so that the torque stretching does not occur, the scanning image is regular and accurate, and the accuracy of the appearance detection is improved.

[0130] Specifically, when the product is on the second carrying chuck 4044, the rotation axis of the second carrying chuck 4044 passes through the center of the product. That is, the product is placed in the middle position of the second carrying chuck 4044, the R axis of the second carrying chuck 4044 coincides with the R axis of the product, the degrees of freedom of the second carrying chuck 4044 are consistent with the product, and the product movement trajectory is more convenient and reasonable to set.

[0131] In a specific implementation, the CCD detection mechanism 900 is configured to obtain image information of the product at the second lifting mechanism 60, and then obtain offset of the product relative to the preset position through relevant image analysis; after the offsets are fed back to the second multi-actuator linear module 200, the fourth actuator 201 and the linear driving member 4042 and the second rotary driving member 4043 thereon perform relevant compensation. Specifically, referring to Figure 8 and Figure 15 The CCD detection mechanism 900 includes a detection support 901 and a CCD camera 902 arranged on the detection support 901. For a mobile phone product, two CCD cameras 902 are arranged to obtain image information of two opposite corners of the rectangular product, respectively. Since there are two sets of opposite corners in the mobile phone, as long as the image of any one set of opposite corners is obtained, the offsets of the entire mobile phone in the X axis, the Y axis and the R axis can be finally obtained; the two opposite corner images of each set are obtained by the two CCD cameras 902, respectively.

[0132] Optionally, the second lifting mechanism 60 further includes a third transfer support 64, the output end of the second lifting driving member 62 is connected to the third transfer support 64, and the first lifting chuck 63 is arranged on the third transfer support 64. In order not to interfere with the product suction of the first lifting chuck 63, the recording direction of the CCD camera 902 is vertically downward; the first lifting chuck 63 and the detection support 901 are respectively located at the bottom and the top of the third transfer support 64. More specifically, the third transfer support 64 is provided with a second hollow structure 641, and at least one of the two CCD cameras 902 is recorded by the second hollow structure 641.

[0133] In another embodiment, the appearance detection module is the second angle detection module 90 in embodiment one, the multi-motor linear module is the second multi-motor linear module 200 in embodiment one, the bearing mechanism is the fifth bearing mechanism 405 in embodiment one, and the feeding mechanism is the third lifting mechanism 80 in embodiment one; the CCD detection mechanism 900 is arranged at the third lifting mechanism 80; when the third lifting mechanism 80 sucks and lifts the product on the fourth bearing mechanism 404, the product is fed. According to the content in embodiment one, the actions of the second angle detection module 90 and the first angle detection module 70 are similar, and the structures of the fourth bearing mechanism 404 and the fifth bearing mechanism 405 are also the same. Therefore, the offset of the product can be obtained by the CCD detection mechanism 900 before the line scanning process of the second angle detection module 90 is performed, and after the offset is fed back to the second multi-motor linear module 200, the fifth motor 202 and the linear driving part 4042 and the second rotary driving part 4043 thereon perform relevant compensation, so that the trajectory of the product during the line scanning of the second angle detection module 90 is consistent, torque stretching does not occur, accurate scanning images are obtained, and the accuracy of appearance detection is improved.

[0134] Optionally, the third lifting mechanism 80 comprises a fourth transfer bracket (not shown in the drawings), and the second lifting suction cup 83 is arranged on the fourth transfer bracket. Like the CCD detection mechanism 900 arranged at the second lifting mechanism 60, the recording direction of the CCD camera 902 is also vertically downward; the second lifting suction cup 83 and the detection bracket 901 are respectively arranged at the bottom and the top of the fourth transfer bracket; the fourth transfer bracket is provided with a third hollow structure, and at least one of the two CCD cameras 902 records through the third hollow structure.

[0135] In another embodiment, the appearance detection module is the first angle detection module 70 and the second angle detection module 90 in embodiment one, the multi-motor linear module is the second multi-motor linear module 200 in embodiment one, the bearing mechanism is the fourth bearing mechanism 404 and the fifth bearing mechanism 405 in embodiment one, and the feeding mechanism is provided with two, which are the second lifting mechanism 60 and the third lifting mechanism 80; the CCD detection mechanism 900 is also provided with two, which are respectively arranged at the second lifting mechanism 60 and the third lifting mechanism 80. According to the foregoing description in embodiment one and this embodiment, relevant offset detection and motion compensation are performed before the product enters the first angle detection module 70 and the second angle detection module 90, which helps to improve the appearance detection accuracy of the two angle detection modules.

[0136] Note that the above merely describes preferred embodiments of the present application and the principles of the technology applied. Those skilled in the art will understand that the present application is not limited to the specific embodiments described herein, and that various obvious changes, modifications and substitutions can be made without departing from the scope of the present application. Therefore, although the present application has been described in detail through the above embodiments, the present application is not limited to the above embodiments, and can include more other equivalent embodiments without departing from the concept of the present application, and the scope of the present application is determined by the scope of the claims.

Claims

1. An appearance inspection apparatus characterized by comprising: The application relates to a product appearance detection device. The device comprises: a feeding mechanism; a CCD detection mechanism (900) arranged at the feeding mechanism, which is used for obtaining image information of products fed by the feeding mechanism, and further obtaining an offset of the products relative to a preset position; an appearance detection module, which is used for obtaining an appearance image of the products; a multi-motor linear module, which comprises a base and a motor sliding along a first direction on the base; a bearing mechanism is arranged on the motor; the bearing mechanism comprises a linear driving part (4042), a rotary driving part and a bearing suction disc; the linear driving part (4042) is arranged on the motor, and the driving direction of the linear driving part (4042) is along a second direction; the rotary driving part is arranged at the output end of the linear driving part (4042); and the bearing suction disc is arranged at the output end of the rotary driving part and is used for sucking the products; the multi-motor linear module is used for conveying the products between the feeding mechanism and the appearance detection module; the CCD detection mechanism (900) comprises a detection support (901) and CCD cameras (902) arranged on the detection support (901); two CCD cameras (902) are arranged and are used for respectively obtaining image information of two opposite corners of a rectangular product; and the shooting direction of the CCD cameras (902) is vertically downward; two motors are arranged, which are a fourth motor (201) and a fifth motor (202); and two bearing mechanisms are arranged, which are a fourth bearing mechanism (404) and a fifth bearing mechanism (405); the fourth bearing mechanism (404) is arranged on the fourth motor (201); and the fifth bearing mechanism (405) is arranged on the fifth motor (202); the appearance detection device further comprises, arranged along the first direction in sequence: a second lifting mechanism (60), which is used for sucking and lifting products conveyed from outside and placing the products on the fourth bearing mechanism (404); a first corner detection module (70), which is used for obtaining a line-scan image of part of the corners of the products carried by the fourth bearing mechanism (404); a third lifting mechanism (80), which is used for sucking and lifting the products on the fourth bearing mechanism (404) and placing the products on the fifth bearing mechanism (405); a second corner detection module (90), which is used for obtaining a line-scan image of the remaining corners of the products carried by the fifth bearing mechanism (405); 2. The appearance inspection apparatus according to claim 1, characterized by the feeding mechanism comprises the second lifting mechanism (60) and the third lifting mechanism (80); the appearance detection module comprises the first corner detection module (70) and the second corner detection module (90); and two CCD detection mechanisms (900) are arranged and are respectively located at the second lifting mechanism (60) and the third lifting mechanism (80).

3. The appearance inspection apparatus according to claim 1, wherein The rotary axis of the bearing suction disc passes through the center of the carried products. The feeding mechanism comprises a lifting suction disc, a transfer support, a lifting support and a lifting driving part arranged on the lifting support; the output end of the lifting driving part is connected with the transfer support; and the lifting suction disc is arranged on the transfer support.

4. The appearance inspection apparatus according to claim 3, wherein The lifting suction cup and the detection support (901) are respectively located at the bottom and the top of the transfer support.

5. The appearance inspection apparatus according to claim 4, wherein The transfer support is provided with a hollow structure, and at least one of the two CCD cameras (902) is recorded by the hollow structure.

6. The appearance inspection apparatus according to claim 1, wherein The feeding mechanism is the second lifting mechanism (60), the appearance detection module is the first angle detection module (70), and the CCD detection mechanism (900) is located at the second lifting mechanism (60); or The feeding mechanism is the third lifting mechanism (80), the appearance detection module is the second angle detection module (90), and the CCD detection mechanism (900) is located at the third lifting mechanism (80).

Images