A method for detecting the appearance of 2D and 3D combination and application

Abstract

The present application relates to electronic product appearance defect detection technical field, specifically, it relates to a kind of appearance 2D and 3D combined detection method and application.The present application provides a kind of appearance 2D and 3D combined detection method, it includes the following steps: step one, 2D and 3D combined detection loading, step two, 2D and 3D combined detection discharge, step three, 2D and 3D combined detection take material, step four, 2D detection, step five, 3D detection, step six, 2D and 3D combined detection unloading.Through the above-mentioned 2D and 3D combined detection method, 2D detection and 3D detection can be preferably completed in turn through single combined detection conveying path, so that the appearance defect that can appear on the detection object can be preferably identified by sampling, the coverage is wider, so that the accuracy of detection result can be preferably ensured, and then the product with appearance defect can be preferably identified by detection.

Description

Technical Field

[0001] The present invention relates to the technical field of electronic product appearance defect detection technology, and in particular to a combined 2D and 3D appearance detection method and application. Background Art

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

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

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

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

[0006] For 2D and 3D detection, on the one hand, the existing detection equipment is difficult to be directly applied to the complete set of detection equipment and adapted to the detection devices of other parts. On the other hand, the existing 2D and 3D detection related layout and detection methods are also difficult to be applied to the objects that need to be detected in the present invention. Summary of the Invention

[0007] In order to solve the technical problems existing in the prior art, the present invention provides a method for detecting a combined 2D and 3D appearance, which comprises the following steps:

[0008] Step 1: Combine 2D and 3D inspection and loading

[0009] The multi-head grabbing module grabs the detected objects which have been dedusted and detected by the area array vision detection;

[0010] Step two, 2D and 3D combined detection of discharging

[0011] The multi-head grabbing module places the grabbed detected objects one by one at the initial position of combined detection;

[0012] Step three, 2D and 3D combined detection of taking

[0013] The combined detection taking assembly grabs the detected objects one by one at the initial position of combined detection and places them at the combined detection conveying path in turn;

[0014] Step four, 2D detection

[0015] The single detected object is conveyed along the combined detection conveying path to the 2D line scanning detection position and the 2D line scanning detection module detects the scratch, stress mark, over / leak washing on the board surface of the detected object;

[0016] Step five, 3D detection

[0017] The detected object is continuously conveyed along the combined detection conveying path to the 3D line laser detection position and the 3D detection module detects the stress mark, concave, surface step, surface over / leak, rebound, surface deformation, over / leak, knife mark on the board surface of the detected object;

[0018] Step six, 2D and 3D combined detection of discharging

[0019] The detected object after 2D and 3D detection is conveyed to the discharging position by the combined detection discharging conveying shaft.

[0020] As a preferred, the appearance 2D and 3D combined detection system is realized based on an appearance 2D and 3D combined detection device, which comprises a multi-head grabbing module for 2D and 3D combined detection of discharging and a combined detection discharging conveying shaft for 2D and 3D combined detection of discharging, the lower side of the multi-head grabbing module is arranged with a combined detection conveying path arranged along the x-axis direction; the 2D detection module and the 3D detection module are arranged in turn on the moving route of the combined detection conveying path from the multi-head grabbing module to the discharging conveying shaft.

[0021] The above-mentioned 2D and 3D combined detection method can preferably complete 2D detection and 3D detection in turn through a single combined detection conveying path, so as to preferably identify the appearance defects of the detected object, cover a wider range, and thus preferably ensure the accuracy of the detection result, and further preferably identify the products with appearance defects through detection.

[0022] Preferably, the multi-head material grabbing module includes a vertically arranged multi-head material grabbing mounting frame, and a material grabbing x-axis linear module driven by an air source is horizontally arranged along the x-axis direction on the upper surface of the multi-head material grabbing mounting frame; the upper part of the material grabbing x-axis mover at the material grabbing x-axis linear module is connected to a material grabbing mounting plate that moves along the x-axis with the material grabbing x-axis mover, and a synchronous belt-type material grabbing z-axis linear module is placed along the z-axis at the material grabbing mounting plate, and a material grabbing z-axis mounting plate facing downward along the z-axis direction is arranged at the material grabbing z-axis mover of the material grabbing z-axis linear module, and a grabbing head mounting plate along the y-axis direction is installed at the lower part of the grabbing z-axis mounting plate, and a plurality of material grabbing heads are evenly spaced along the y-axis direction on the lower side of the grabbing head mounting plate.

[0023] Preferably, one end of the grabbing x-axis linear module along the x-axis direction is located on the upper side of the material discharging position of the previous workstation, and a grabbing placement rack corresponding to the grabbing head at the grabbing head mounting plate is arranged at the lower side of the other end, and the upper part of the grabbing placement rack is used to position and cooperate with the detection object; a synchronous belt type combined detection y-axis material picking linear module is arranged along the y-axis direction on the upper side of the grabbing placement rack, and a combined detection y-axis material picking movable element moving along the y-axis direction at the combined detection y-axis material picking linear module is connected to a slide cylinder type combined detection z-axis arranged along the z-axis direction. Axis picking module, a combined detection z-axis picking module that moves along the z-axis direction is connected to a horizontally arranged combined detection picking plate at the lower part of the combined detection z-axis picking mover, and the lower surface of the combined detection picking plate is used to position and loosen the combination with the CG surface of the detection object. The combined detection transport passage is arranged below the combined detection picking plate and is located in the middle position of multiple grabbing placement racks along the y-axis direction; the combined detection picking plate is used to position and cooperate with the detection object to carry it to the combined detection transport passage and loosen it to place it on the combined detection transport passage.

[0024] Preferably, the combined detection transport path includes a combined detection x-axis transport module arranged along the x-axis direction and adopting a double-mover linear motor module, a separation sensor is arranged at the middle position of the combined detection x-axis transport module along the x-direction, and the parts of the combined detection x-axis transport module located on both sides of the separation sensor constitute the first mover moving part and the second mover moving part respectively, and the first mover moving part and the second mover moving part are respectively provided with the first mover and the second mover sliding along the x-axis within their areas; a combined detection transition component is provided at the junction of the first mover moving part and the second mover moving part.

[0025] Preferably, a combination detection positioning component for positioning and releasing the BG surface positioning of the detection object is installed at the upper part of the first mover and the second mover, and one end of the first mover moving part along the x-axis direction is located at the lower side of the combination detection picking plate for receiving the detection object at the combination detection picking plate through the combination detection positioning component at the first mover; a combination detection transition component is arranged on the upper side of the other end of the first mover moving part along the x-axis direction, and the combination detection transition component is installed along the z-axis direction directly above the combination detection conveying path through the combination detection transition mounting frame, and the combination detection transition component includes a combination detection transition z-axis module using a slide cylinder, and a combination detection transition suction plate is horizontally arranged at the lower part of the combination detection transition z-axis mover at the combination detection transition z-axis module, and the combination detection transition suction plate is used to position and release the CG surface of the detection object at the first mover by controlling the vacuum phase.

[0026] Preferably, a 2D detection module is arranged above the middle position of the first movable part along the x-axis direction, and the first movable part located in the detection area of ​​the 2D detection module forms a 2D line scan detection position; the 2D detection module includes a 2D line scan camera and a bionic AOI light source arranged in a ring above the 2D line scan detection position, and the bionic AOI light source is installed through a 2D line scan mounting bracket; a shooting opening is formed on one side of the 2D line scan mounting bracket far from the detection transition component, and the 2D line scan camera is fixedly installed through the 2D camera mounting bracket and its shooting light path passes through the shooting opening and is directly opposite to the 2D line scan detection position at the first movable part.

[0027] Preferably, one end of the second movable part along the x-axis direction is located at the lower side of the combined detection transition suction plate for receiving the detection object at the combined detection transition suction plate through the second movable part, and the other end of the second movable part along the x-axis direction is located at the lower side of the combined detection unloading and handling axis; a 3D detection module is arranged above the middle position of the second movable part along the x-axis direction; the second movable part located in the detection area of ​​the 3D detection module forms a 3D line laser detection position, and the 3D detection module includes a 3D detection y-axis module selected as a linear motor and arranged along the y-axis direction at the combined detection transition mounting frame and across the second movable part; the 3D camera is installed at the lower part of the 3D detection y-axis movable part of the 3D detection y-axis module and moves along the y-axis to perform 3D detection on the detection object at the 3D line laser detection position, and there are 3 3D detection cameras and they are staggered.

[0028] Preferably, the combined detection and blanking conveying axis includes a combined detection and blanking y-axis module located on the upper side of the end of the combined detection passage and arranged across along the y-axis direction and controlled by an air source, a combined detection and blanking z-axis module arranged along the z-axis direction and using a slide cylinder is installed at the combined detection and blanking y-axis mover of the combined detection and blanking z-axis module, a horizontally arranged combined detection and blanking suction plate is installed at the lower part of the combined detection and blanking z-axis mover of the combined detection and blanking z-axis module, and the combined detection and blanking suction plate is used for positioning and loosening the cooperation with the CG surface of the detection object; a combined detection and blanking y-axis module is arranged on one side along the y-axis direction. The combined detection and unloading x-axis module is controlled by an air source at the unloading transition position and along the x-axis direction toward the far 3D detection module. One end of the combined detection and unloading x-axis module along the x-axis direction is located above the combined detection and unloading transition position. The combined detection and unloading x-axis mover of the combined detection and unloading x-axis module is connected to a ball screw type combined detection and transport z-axis module arranged along the z-axis direction. The lower part of the combined detection and transport z-axis mover moving along the z-axis direction at the combined detection and transport z-axis module is connected to a horizontally arranged combined detection and transport suction plate. The combined detection and transport suction plate is positioned and adsorbed with the CG surface to be detected by controlling the vacuum.

[0029] The present invention also provides an appearance 2D and 3D combined detection application, which is implemented based on the aforementioned appearance 2D and 3D combined detection method, and the detection object is the mobile phone middle frame. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 This is a schematic structural diagram of the device body in Example 1; Figure 2 Schematic diagram of the structure of the CG surface positioning tool in Example 2; Figure 3 This is a structural schematic diagram of the CG surface positioning tooling in Example 2 from another perspective; Figure 4 Schematic diagram of the structure of the clamp body in Example 2; Figure 5 for Figure 4 Structural diagram from another perspective; Figure 6 This is a schematic structural diagram of the main body of the feeding device in Example 3; Figure 7 for Figure 6 Schematic diagram of the structure of the feeding part of the medium-full tray; Figure 8 for Figure 7 Structural diagram from another perspective; Figure 9 for Figure 6 Schematic diagram of the structure of the lifting module of the middle loading process; Figure 10 for Figure 6 Structural diagram of the middle material extraction position; Figure 11 for Figure 6 Schematic diagram of the structure of the hollow tray collection position; Figure 12 for Figure 11 Schematic diagram of the structure of the hollow tray clamping mechanism; Figure 13Schematic diagram of the structure of the dust removal device in Example 3; Figure 14 for Figure 13 Structural diagram of the middle turning position; Figure 15 for Figure 13 Structural diagram of the middle material level; Figure 16 for Figure 13 Schematic diagram of the structure of the two-axis module for dust removal; Figure 17 Schematic diagram of the structure of the area array detection device in Example 3; Figure 18 Schematic diagram of the structure of the detection device combining 2D and 3D in Example 4; Figure 19 for Figure 18 Structural diagram from another perspective; Figure 20 for Figure 19 Schematic diagram of the structure of the multi-head material grabbing module; Figure 21 for Figure 19 The structural diagram of the Y-axis material picking linear module combined with the detection; Figure 22 for Figure 19 Schematic diagram of the structure of the combined detection and transport pathway; Figure 23 for Figure 19 Schematic diagram of the structure of the combined detection transition component; Figure 24 for Figure 19 Schematic diagram of the structure of the 2D line scan camera; Figure 25 for Figure 19 Schematic diagram of the structure of the bionic AOI light source and 2D camera mounting frame; Figure 26 for Figure 19 Schematic diagram of the structure of the 3D detection module; Figure 27 for Figure 19 Schematic diagram of the structure of the combined detection and unloading and handling axis; Figure 28 for Figure 19 Schematic diagram of the structure of the x-axis module for combined detection and blanking; Figure 29 Schematic diagram of the structure of the macro camera body in Example 5; Figure 30 This is a schematic structural diagram of the first station of macro detection in Example 5; Figure 31 This is a schematic structural diagram of the second station for macro detection in Example 5; Figure 32 This is a schematic structural diagram of the third station of macro detection in Example 5; Figure 33 This is a schematic structural diagram of the fourth station of macro detection in Example 5; Figure 34 This is a schematic structural diagram of the fifth station of macro detection in Example 5; Figure 35 This is a schematic structural diagram of the sixth station of macro detection in Example 5; Figure 36 Schematic diagram of the structure of the macro device body in Example 6; Figure 37 for Figure 36 Schematic diagram of the structure of the x-axis material moving component for medium and macro detection; Figure 38 for Figure 36 Schematic diagram of the structure of the medium-macro detection flip component;Figure 39 for Figure 36 Schematic diagram of the structure of the Y-axis material moving component for medium and macro detection; Figure 40 This is a structural diagram of the lifting linear module body in Example 6; Figure 41 This is a structural diagram of the BG surface of the mobile phone middle frame; Figure 42 This is a structural diagram of the CG surface of the mobile phone middle frame. DETAILED DESCRIPTION

[0031] In order to further understand the content of the present invention, the present invention is described in detail with reference to the embodiments. It should be understood that the embodiments are merely for explanation of the present invention and are not intended to limit the present invention.

[0032] Example 1

[0033] This embodiment provides a method for detecting appearance defects, which is performed based on an appearance defect detection device and specifically includes the following steps:

[0034] Step 1: Loading

[0035] Loading is performed through a loading device for appearance defect detection;

[0036] Step 2: Dust removal and CG surface array detection

[0037] Keep the BG surface of the inspection object facing downwards and pass it through the material surface dust removal device 1300 for dust removal. After dust removal, the CG surface of the inspection object is subjected to area array inspection by the area array inspection device 1700.

[0038] Step 3: Combined 2D and 3D CG surface detection

[0039] Perform CG surface detection on the object after the previous step through a combined 2D and 3D appearance detection system;

[0040] Step 4: Macro detection

[0041] A macro inspection system 150 is used to perform macro inspection of the CG and BG surfaces of the inspection object after the previous step. During the macro inspection process, the inspection object is turned over, and the inspection object after the macro inspection is completed keeps the BG surface facing upwards.

[0042] Step 5: Combined 2D and 3D detection of BG surface

[0043] Perform BG surface detection on the inspection object after the previous step through the combined 2D and 3D appearance inspection system;

[0044] Step 6: BG surface array detection

[0045] Performing area array detection on the BG surface of the detection object by using the area array detection device 1700;

[0046] Step 7: Sorting and cutting

[0047] Therefore, after the test is completed, the test objects are sorted into qualified products and defective products.

[0048] It can be understood that this method can use a complete set of equipment to inspect the BG surface and CG surface of the inspection object, thereby being able to more comprehensively cover the possible appearance defects of the inspection object, thereby being able to efficiently inspect large quantities of inspection objects and sort out defective products.

[0049] In this embodiment, an appearance defect detection device includes an equipment body 100, which includes a loading end and a unloading end. From the loading end to the unloading end, a loading system 110, a dust removal system 120, a CG surface array detection system 130, a 2D and 3D combined CG surface detection system 140, a macro detection system 150, a 2D and 3D combined BG surface detection system 160 and a BG surface array detection system 170 are arranged in sequence.

[0050] Specifically, the device body 100 in this embodiment can better cover all areas of the inspection object with a single device, and use targeted systems to inspect different inspection parts, so it can better improve the defective product detection rate, thereby ensuring product quality.

[0051] In addition, the equipment body 100 in this embodiment can complete all the processes from loading to dust removal to targeted inspection of each area and even unloading through a single device, so that the entire inspection process can be more compact with less idle time in the middle, thereby better improving the overall inspection efficiency and ensuring high inspection efficiency, thereby meeting the inspection needs of large production volumes.

[0052] Example 2

[0053] This embodiment provides a CG surface positioning tool 200 for positioning and cooperating with the CG surface of the detection object used in Example 1, and a BG surface product positioning fixture for positioning and cooperating with the BG surface of the mobile phone middle frame.

[0054] The CG surface positioning tooling 200 includes a CG surface positioning base plate 210 for connecting and arranging an air path. A CG surface suction head arrangement plate 220 is arranged on the upper end surface of the CG surface positioning base plate 210. A CG surface adsorption position is formed on the upper end surface of the CG surface suction head arrangement plate 220. A plurality of CG surface suction nozzles 221 connected to the air path are arranged on the CG surface suction head arrangement plate 220. The plurality of CG surface suction nozzles 221 work together to adsorb the detection object at the CG surface adsorption position.

[0055] A CG surface mounting groove 222 is formed on the long side wall of the CG surface suction head arrangement plate 220. A CG surface proximity sensor 223 is installed in the CG surface mounting groove 222. The sensing direction of the CG surface proximity sensor 223 is toward the CG surface suction position for sensing and identification. Two CG surface air passage openings 211 are respectively arranged at the center of the side wall and bottom wall of the CG surface positioning base plate 210. The CG surface air passage opening 211 at the center of the bottom wall of the CG surface positioning base plate 210 is arranged with an O-ring 212 for sealing.

[0056] The CG surface positioning base plate 210 is provided with a CG surface air path opening 211, and a CG surface process hole 213 for processing the internal air path is formed on the side wall. After the processing and assembly are completed, the process hole is blocked by a screw, and the CG surface air path opening 211 is connected to the CG surface suction nozzle 221 through the internal air path.

[0057] There are four suction nozzles at the CG surface suction head arrangement plate 220, and the four suction nozzles are arranged at positions close to the four corners relative to the center position of the CG surface suction head arrangement plate 220. A wiring groove is formed at the corner of the outer wall of the CG surface positioning base plate 210 close to the CG surface proximity sensor 223. The wiring groove extends along the corner to the CG surface mounting groove 222 where the proximity sensor is located and forms a connection. The connection area between the wiring groove and the CG surface mounting groove 222 is formed with a rounded corner.

[0058] Through screw holes 213 are formed at the four corners where the CG surface positioning base plate 210 and the CG surface suction nozzle arrangement plate 220 are attached. The screw holes 213 are used to screw in screws to position and connect the CG surface positioning base plate 210 and the CG surface suction nozzle 221.

[0059] The BG surface product positioning fixture includes a fixture body 400, and the fixture body 400 includes a BG surface placement base plate 410 arranged at the bottom thereof and arranged horizontally. The upper part of the BG surface placement base plate 410 is provided with a BG surface placement rack 420 arranged in a vertical direction. A BG surface placement position for placing a detection object is formed at the upper end surface of the BG surface placement rack 420. The BG surface placement rack 420 is provided with a BG surface adsorption component and a BG surface internal limit component for positioning the detection object at the BG surface placement position.

[0060] The BG surface adsorption component is used to cooperate with the bottom wall of the BG surface of the detection object to achieve adsorption, and the BG surface internal limit component is used to abut against the side wall of the BG surface of the detection object to form an internal limit cooperation; the BG surface placement rack 420 is in the shape of a four-legged stool; the BG surface internal limit component includes a four-claw cylinder 430 arranged in the middle of the lower side of the BG surface placement rack 420, and the four claws 431 of the four-claw cylinder 430 are distributed in a ring relative to the center position of the BG surface placement position; the four claws 431 are respectively perpendicular to the four side lines of the detection object corresponding to the BG surface placement position and are arranged to move along the vertical direction.

[0061] A BG surface positioning pin 4311 is vertically arranged on one side of the four claw bodies 431 far from the center of the BG surface placement position. Each claw body 431 is provided with two BG surface positioning pins 4311 and is symmetrically arranged on both sides of the middle of the corresponding edge line; the BG surface positioning pins 4311 at the four claw bodies 431 are respectively used to abut against and cooperate with the corresponding BG surface side walls of the detection object to form an internal expansion positioning; an air source interface 421 for connecting the air source pipeline is provided on the side wall of the BG surface placement rack 420.

[0062] A BG surface suction head arrangement plate 440 is provided in the area surrounded by the four claws 431 of the four-claw cylinder 430 at the BG surface placement position; BG surface suction nozzles 441 are respectively installed at the four corner areas of the BG surface suction head arrangement plate 440; the BG surface suction nozzles 441 at the four corner areas are used to cooperate with the bottom wall of the BG surface to achieve adsorption and release of the detection object; a BG surface proximity sensor 442 for identifying the detection object is also installed on the BG surface suction cup mounting plate at one of the corner areas.

[0063] Example 3

[0064] This embodiment provides a loading device and method for appearance defect detection applicable to embodiment 1, wherein a loading method for appearance defect detection specifically includes the following steps:

[0065] Step 1: Loading the full tray

[0066] Stack the trays fully loaded with the materials to be tested vertically to form a vertical row of trays and place them at the bottom of the loading device;

[0067] Step 2: Lifting the tray

[0068] The entire tray is lifted vertically upward to the material removal position by the lifting module 640 during the loading process;

[0069] Step 3: Take the material from the top tray in the vertical row

[0070] The loading process picking assembly arranged above the picking position picks up the material from the tray at the top of the vertical row of trays and transfers it to the next station;

[0071] Step 4: Collect empty trays

[0072] During the loading process, the lifting module 640 lifts the entire vertical row of trays to the empty tray collection position 630; the empty tray clamping mechanism 635 located at the empty tray collection position 630 clamps and secures the empty tray at the top of the vertical row that has been completely unloaded.

[0073] Step 5: Return the tray vertically

[0074] After the empty tray is fixed by the empty tray clamping mechanism at the empty tray collecting position 630, the whole tray column is driven by the lifting module to retreat downward to the material taking position;

[0075] Step six, repeat steps three to five

[0076] Repeat the tray column material taking, empty tray collecting, and tray column retreat;

[0077] Step seven, empty tray column stacking

[0078] The tray column loaded with material to be detected is completely taken by the material taking assembly, and all empty trays are completely stacked by the empty tray clamping mechanism 635 at the empty tray collecting position 630 to form an empty tray column;

[0079] Step eight, empty tray retrieval

[0080] The empty tray clamping mechanism 635 is loosened, and the empty tray column is taken out as a whole by the mechanical hand or manually.

[0081] Specifically, the above method can efficiently and conveniently take the material loaded on the tray and retrieve the empty tray; and the method can make the arrangement and layout of the feeding device more reasonable; in combination Figure 6 The feeding device for appearance defect detection used in the method comprises a feeding device body 600, which is sequentially arranged from bottom to top with a full tray feeding part 610 for stacking and placing full trays to form a tray column, a material taking position for taking the material to be detected on the full tray and moving to the next station, and an empty tray collecting position 630 for stacking and collecting the empty tray after taking the material to form an empty tray column; the feeding device body 600 is also arranged with a feeding process lifting module 640 for lifting the tray.

[0082] Specifically, the device body in the embodiment is first arranged in the form of tray stacking; it can be understood that

[0083] Firstly, the number of trays that can be stacked at one time in the form of tray stacking is large, so that a large amount of material can be fed in one feeding process; and since the material in the tray is mainly for electronic products in the form of a square three-dimensional structure, stacking in the vertical direction can keep the end face of the electronic product stable and horizontal for subsequent material taking.

[0084] Secondly, the form of tray stacking can cooperate with the full tray feeding part 610, the material taking position, and the empty tray collecting position 630 arranged in the vertical direction in sequence, so that the overall arrangement structure of the whole device is concentrated in the vertical direction, thereby ensuring that the device body occupies less space in the horizontal direction.

[0085] Thirdly, the trays stacked in the vertical direction can naturally form an uppermost part that is convenient for taking out materials and a lowermost part that is convenient for cooperating with the supporting structure to support the whole; thereby, it is easy to realize the single tray disassembly function of the uppermost tray, that is, to take out materials and lift and separate the uppermost tray alone without affecting other trays.

[0086] Fourthly, in this embodiment, the loading personnel can put the stacked full trays into the full tray feeding part 610; then the height of the vertical column of stacked trays itself can form a coordination with the lifting module; so that only the lifting control of one lifting module can realize the material removal of the uppermost tray and cooperate with the height formed by the tray itself to lift the empty tray after the uppermost material removal is completed to the empty tray collecting position 630; in this way, the cycle continues, and the vertical column of full trays in the full tray feeding part 610 is naturally gradually reduced by the material removal, and the vertical column of empty trays at the empty tray collecting position 630 gradually rises and increases.

[0087] Fifth, since the empty trays in this embodiment are naturally accumulated at the empty tray collecting position 630 to form a vertical row of empty trays, they can be conveniently collected by a robot or a collector.

[0088] In this embodiment, combined with Figures 7-8 The full tray feeding part 610 includes a feeding part placement base plate 611 arranged in parallel along the horizontal direction; the upper part of the placement base plate is provided with a feeding part sliding guide rail 612 which is consistent with the extension direction of the placement base plate; and a feeding part sliding base plate which slides with the feeding part sliding guide rail 612 on both sides is provided;

[0089] The part of the sliding bottom plate located between the sliding guide rails 612 of the feed section on both sides forms a lifting opening 618 in the vertical direction to cooperate with the lifting module for lifting; the middle part of the upper surface of the sliding bottom plate forms a placement area for placing the material tray; the four corners of the placement area are arranged with limit blocks 613 in the vertical direction; the limit blocks 613 are trapezoidal and there are two at each corner and they are respectively located on both sides of the corner vertex to limit the material tray; a handle 614 for pulling the feed section sliding bottom plate to slide along the feed section sliding guide rail 612 is provided in the middle of the upper surface on the side far from the lifting opening 618.

[0090] It can be understood that the sliding bottom plate of the feed section can better form support for the tray at the bottom of the vertical row of trays at the feed section; and the sliding bottom plate can cooperate with the limit block 613 to jointly form a placement area for placing the vertical row of trays in the vertical direction; the vertical row of trays located in the placement area can better be limited in the vertical direction to ensure that its vertical position corresponds to the material removal position and the empty tray collection position 630.

[0091] In the embodiment, the feeding part placing base plate 611 is also provided with a feeding part cylinder assembly 615 for driving the feeding part sliding base plate to slide along the feeding part sliding guide rail 612; the sliding mover of the feeding part cylinder assembly 615 is connected with the feeding part sliding base plate; the feeding part placing base plate 611 is provided with a feeding part positioning pin 616 driven by a gas source to move in the vertical direction at a position below the handle 614; the feeding part sliding base plate is formed with a feeding part positioning through hole for cooperating with the feeding part positioning pin 616 to limit the feeding part sliding base plate in the sliding direction;

[0092] Understandably, the feeding part cylinder assembly 615 and the feeding part positioning pin 616 can preferably control the movement and positioning of the feeding part sliding base plate and the tray column placed on the feeding part in the horizontal direction,

[0093] The sliding base plate is provided with an L-shaped feeding part induction sheet 617 at the end of the outer wall on one side of the lifting opening 618; the feeding part placing base plate 611 is provided with an inductor for inductive cooperation with the feeding part induction sheet 617 at both ends in the sliding direction of the feeding part sliding guide rail 612; the feeding part placing base plate 611 is also provided with a feeding part photoelectric sensor 619 for inductive identification of the tray at the feeding part at positions on both sides of the feeding part sliding guide rail 612.

[0094] Specifically, such sensors can better control the feeding device automatically.

[0095] Further, in the embodiment, in combination with Figure 9 The feeding process lifting module 640 includes a lifting mounting frame 641 arranged in the vertical direction, and the lifting mounting frame 641 is provided with a servo electric sliding table in the vertical direction, which is an electric cylinder; both sides of the servo electric sliding table are provided with two lifting sliding blocks 642 sliding in the vertical direction, and the lifting sliding blocks 642 are driven by a brake servo motor 643; the two lifting sliding blocks 642 are jointly connected with a lifting mounting plate 644 placed in the vertical direction, and the upper part of the lifting mounting plate 644 is symmetrically connected with two lifting mounting supporting plates 645 in the horizontal direction; the upper part of the two lifting mounting supporting plates 645 is provided with a lifting base plate 646 extending in the direction of the lifting opening 618 of the feeding part sliding base plate; the upper end surface of the lifting base plate 646 is used to support the tray column of the full-tray feeding part 610 and lift along the vertical direction with the lifting sliding blocks 642.

[0096] Specifically, the material disc column can be driven to move up and down and then positioned by the brake servo motor 643 as the drive; in addition, the material disc column can be stably supported by the related mechanism at the lifting sliding block 642 to ensure that the whole column remains vertical, and each individual material disc can remain horizontal to facilitate subsequent material taking.

[0097] The lifting mount 641 is arranged with a lifting limiting baffle rod in the vertical direction at the side wall near the lifting bottom plate 646, which abuts against the side wall of the material disc column to form vertical guidance; the middle part of the lifting bottom plate 646 is formed with a middle opening in the vertical direction, and the lower bottom surface of the lifting bottom plate 646 is arranged with a lifting photoelectric sensor beside the middle opening, which is used to sense the material disc column placed on the upper surface of the lifting bottom plate 646.

[0098] In this embodiment, the combination of Figure 10 The taking position includes a taking bottom plate 621 arranged in the horizontal direction, and the upper surface of the taking bottom plate 621 is formed with a taking opening 622 for the material disc column to pass in the vertical direction; the taking opening 622 leaves a space of one material size in the y-axis direction compared to the material disc; the upper side of the taking bottom plate 621 is arranged with a material taking assembly for the feeding process, which includes a synchronous belt type material taking x-axis linear module 623 arranged in the x-axis direction on both sides of the upper surface of the taking bottom plate 621; the x-axis and y-axis directions are respectively consistent with the width and length directions of the material disc column; the material taking x-axis linear module 623 is provided with a material taking x-axis mover moving in the x-axis direction, and both sides of the x-axis mover are connected with a synchronous belt type material taking y-axis linear module 624 moving along the x-axis direction;

[0099] Understandably, the present embodiment mainly uses the material taking x-axis linear module 623 and the material taking y-axis linear module 624 to realize the movement required when taking materials; on the one hand, the material taking x-axis linear module 623 can be conveniently arranged on both sides of the taking opening 622, and on the other hand, one material taking y-axis linear module 624 can also preferably meet the material taking demand and can sequentially pick up the materials on the material disc according to the specified material taking sequence.

[0100] The y-axis linear module 624 of the material picking process is provided with two adjacently arranged y-axis movers 6241 of the material picking process that move along the y-axis direction. The two y-axis movers 6241 of the material picking process are connected to the z-axis cylinder 6242 of the material picking process that is arranged along the vertical direction through the x-axis connecting block. The lower part of the piston rod of the z-axis cylinder 6242 of the material picking process is connected to the material picking process adsorption component 6243. The material picking process adsorption component 6243 includes a z-axis connecting block that moves along the vertical direction with the piston rod. The z-axis connecting block drives the lower surface to be connected to a material picking process suction cup mounting plate 6244 arranged along the horizontal direction. The four corners of the material picking process suction cup mounting plate 6244 are provided with material picking nozzles with the adsorption direction facing downward; the four material picking suction cups cooperate to absorb the material to be tested; the upper side of the material picking process suction cup mounting plate 6244 is installed with an encoder 6245 through an encoding mounting plate.

[0101] Specifically, the materials placed on the material tray are usually distributed in a 2×5 arrangement, with 5 in the length direction and 2 in the width direction, and a total of 10 materials are placed on a single material tray; the two material picking process adsorption components 6243 at the y-axis mover 6241 of the material picking process start from the first row, pick up 2 materials each time and move them out, and when picking up the fifth one, move forward to the second row, pick up the first one in the second row, and then move it out; finally, move the remaining 4 materials in the second row out in turn; this arrangement, combined with the picking sequence, can, on the one hand, move out 10 materials one by one without empty load each time, and on the other hand, it can also better reduce the load borne by the y-axis sliding block; and the movement is relatively fast.

[0102] Material picking positioning components for fixing the top material tray in the vertical row of material trays are arranged on both sides of the material picking opening 622 of the material picking base plate 621 along the x-axis direction; the material picking positioning component includes a material picking positioning cylinder 625 arranged along the x-axis direction, and the piston rod of the material picking positioning cylinder 625 is connected to a material picking positioning transverse plate 626 extending along the y-axis direction. The material picking positioning transverse plates 626 at the material picking positioning components on both sides are driven by the cylinder to move to press against both sides of the top material tray in the vertical row of material trays to achieve positioning; material picking portion photoelectric sensors 627 for identifying and sensing the top material tray in the vertical row of material trays are provided on both sides of the material picking opening 622 of the material picking base plate 621 along the x-axis direction, and multiple material picking guide rods 628 along the vertical direction are arranged on both sides of the material picking opening 622 of the material picking base plate 621 along the x-axis direction. The material picking guide rods 628 are used to press against the vertical row of material trays to form a vertical guide.

[0103] Specifically, the taking positioning assembly can preferably fix the tray to be taken from the uppermost of the tray column during taking, so as to ensure that the position of the tray does not deviate during the whole taking process. In addition, the taking guide rod 628 can preferably ensure the stable arrangement of the tray column in the vertical direction to correspond to the feeding part and the empty tray collecting position 630, so as to ensure the normal progress of the whole feeding process.

[0104] In combination Figure 11 The empty tray collecting position 630 comprises a collecting position bottom plate 631 arranged in the horizontal direction; the upper surface of the collecting position bottom plate 631 is respectively arranged with a collecting position linear guide rail 632 on both sides; the collecting position linear guide rails 632 on both sides are respectively arranged with a plurality of collecting position sliding blocks 633 in sliding fit; the upper surfaces of the plurality of collecting position sliding blocks 633 are jointly connected with a collecting position annular plate 634; the middle parts of the collecting position bottom plate 631 and the collecting position annular plate 634 are respectively formed with a collecting opening for the tray column to pass through; the two sides of the collecting opening of the collecting position annular plate 634 are respectively arranged with an empty tray clamping mechanism 635.

[0105] Specifically, the collecting opening can preferably correspond to the aforementioned taking opening 622 and the lifting opening 618 for the movement of the tray column in the vertical direction.

[0106] The empty tray clamping mechanism 635 comprises an empty tray clamping cylinder 6351, the piston rod end of the empty tray clamping cylinder 6351 is connected with an empty tray clamping plate 6352, the empty tray clamping plate 6352 is L-shaped and comprises a clamping vertical plate 63521 in the vertical direction and a clamping horizontal plate 63522 in the horizontal direction; the clamping horizontal plates 63522 at the two sides of the empty tray clamping mechanism 635 abut against the bottom surface of the lowermost empty tray of the empty tray column to support the empty tray column in the vertical direction, and the clamping vertical plates 63521 at the two sides of the empty tray clamping mechanism 635 abut against the side wall of the empty tray column to form a limit;

[0107] The side walls of the opening of the collecting position annular plate 634 are provided with a plurality of empty tray limiting plates 636 in the vertical direction; the empty tray limiting plates 636 cooperate with the clamping vertical plates 63521 to form a vertical passage for limiting the empty tray column to pass through in the vertical direction.

[0108] It can be understood that the empty tray clamping mechanism 635 can stably support the empty tray column from the bottom when the empty tray column is located at the empty tray collecting position 630, and the empty tray column is lifted from the bottom after the taking is completed, then the empty tray clamping mechanism 635 clamps the uppermost empty tray of the empty tray column and takes it down as the bottom of the empty tray column.

[0109] Embodiment 3

[0110] This embodiment provides a dust removal and detection system applicable to the device main body 100 in Example 1, which is implemented based on a dust removal device 1300 and an area array detection device 1700 that cooperate with each other; the area array detection device 1700 is applicable to both the CG surface area array detection system 130 and the BG surface area array detection system 170. This embodiment also provides a material surface dust removal and detection method based on the dust removal device 1300 and the area array detection device 1700, which specifically includes the following steps:

[0111] Step 1: Loading for dust removal

[0112] Place the object to be dusted at the turning position 1310 with the BG side facing upwards;

[0113] Step 2: Turn over the object to be dust-removed

[0114] Flip the test object at the turning position 1310 180 degrees to the lifting position 1320 , with the CG of the test object facing upwards at the lifting position 1320 ;

[0115] Step 3: Lift the object to be dust-removed

[0116] Lift the inspection object located at the lifting position 1320 upward to a height where the subsequent dust removal two-axis module 1330 can pick it up;

[0117] Step 4: Pick up the test object and move it to the dust removal position

[0118] Move the dust removal two-axis module 1330 and lift the detection object to the pickup height to absorb it; and keep the detection object BG side downward. After absorption, first move it horizontally along the x-axis direction to the top of the dust removal position, and then move it down along the z-axis to the dust removal position;

[0119] Step 5: Dust removal

[0120] The dust removal typhoon system located at the lower side of the dust removal position removes dust from the test object at the dust removal position, blows up the dust and removes it from the top;

[0121] Step 6: Transport the test object to the area array test position 1713

[0122] After the dust removal is completed, the inspection object is moved to the area array inspection position 1713 of the area array camera 1714 through the dust removal two-axis module 1330;

[0123] Step 7: Area Array Detection

[0124] The area array detection position 1713 has the degree of freedom in the rotation direction around the y-axis and in two rotation directions relative to its own central axis; the area array camera 1714 has the degree of freedom along the three directions of the x-axis, y-axis, and z-axis; the relative spatial position relationship between the inspection object to be inspected and the area array camera 1714 is adjusted by coordinating the movement of the area array detection position 1713 and the area array camera 1714 in the five axial directions; by adjusting the position relationship, the four sides and four diagonals of the inspection object where defects are prone to occur and the four edges on the plane are inspected successively.

[0125] Specifically, in this embodiment, the inspection object with the CG side facing upward in the previous loading station is flipped over to have the BG side facing downward through the flipping mechanism. Since the BG surface is formed with grooves and crevices which are prone to dust accumulation, the BG side is kept facing downward to pass through the dust removal station for dust removal, so that the BG surface which is prone to dust accumulation can be better dusted and the dust removal effect is better. At the same time, this can also effectively avoid the situation where the subsequent BG surface appearance defect mapping is affected by dust due to excessive dust accumulation on the BG surface of the inspection object. This ensures that the surface condition of the BG surface can be clearly mapped and identified in the subsequent inspection process.

[0126] In addition, the dust removal method in this embodiment can be better connected with the previous loading device and the subsequent area array detection, so that the entire visual inspection process can be carried out efficiently and uninterruptedly without the need for additional external equipment to remove dust from the inspection object; in addition, after dust removal, the inspection object is directly moved to the area array detection location, so that the inspection object will not come into contact with the external environment again, thereby avoiding the situation where dust accumulates again due to contact with the external environment. Therefore, the dust removal method in this embodiment can ensure that the surface of the inspection object can be kept better clean after dust removal.

[0127] In this embodiment, combined with Figure 13 At the dust removal device 1300, a material turning position 1310, a material lifting position 1320 and a dust removal typhoon system are arranged in sequence along the x-axis direction; above the dust removal typhoon system, a dust removal two-axis module 1330 is arranged for transporting the inspection object between the material turning position 1310, the material lifting position 1320, the dust removal position formed on the upper side of the dust removal typhoon system and the inspection position in the area array detection device 1700; the area array detection device 1700 is provided with an area array camera 1714 for performing area array visual inspection on the inspection object to be inspected.

[0128] It can be understood that the above-mentioned dust removal and area array detection processes can be better implemented through the above-mentioned structure.

[0129] Combine Figure 14The turning position 1310 includes a turning placement part 1311 installed at intervals along the y-axis direction at the turning shaft 1312, which absorbs the detection object by absorbing the CG surface; one end of the turning shaft 1312 is connected to the power wheel, and the power wheel is connected to the output end of the turning servo motor 1313 through a transmission belt and a transmission wheel to realize controlled rotation. The turning placement part 1311 realizes the absorption and release of the detection object through a vacuum suction cup;

[0130] Combine Figure 15 The lifting position 1320 includes a lifting and placing portion 1321 that is arranged in a one-to-one correspondence with the flipping and placing plates along the y-axis direction and absorbs the detection object by absorbing the BG surface. The lower part of the lifting and placing portion 1321 is connected to the lifting base plate 1322 arranged along the y-axis. A plurality of lifting and placing plates are symmetrically arranged on both sides of the middle part of the lifting base plate 1322. The lower end of the middle part of the lifting base plate 1322 is connected to the piston rod of the lifting cylinder 1323 so as to move along the z-axis direction. The lifting and placing portion 1321 includes a BG surface product positioning fixture for fixing the detection object by adjusting the BG surface of the detection object.

[0131] Combine Figure 16 The dust removal two-axis module 1330 includes a synchronous belt type dust removal x-axis linear module 1331 arranged above the entire material turning position 1310, the material lifting position 1320 and both sides of the dust removal typhoon system along the x-axis direction. The dust removal x-axis linear modules 1331 on both sides are driven by the same dust removal x-axis servo motor 1332, and the dust removal x-axis linear modules 1331 on both sides are synchronized by a synchronization rod 1333;

[0132] The upper part of the dust removal x-axis sliding block 1334 at the dust removal x-axis linear module 1331 on both sides is commonly provided with a dust removal y-axis crossbeam 1335 along the y-axis direction, and the outer wall of the dust removal y-axis crossbeam 1335 on one side of the material lifting position 1320 is provided with a synchronous belt type dust removal z-axis linear module 1336 along the z-axis direction. The lower part of the dust removal z-axis sliding plate 1337 moving along the z-axis direction at the dust removal z-axis linear module 1336 is connected to the dust removal y-axis mounting plate 1338 arranged one-to-one with the material lifting position 1320 along the y-axis direction, and the lower part of the dust removal y-axis mounting plate 1338 is provided with dust removal position adsorption parts 1339 arranged at intervals along the y-axis direction.

[0133] The dust removal position adsorption part 1339 includes a horizontally arranged dust removal position nozzle mounting plate, and the four corners of the dust removal position nozzle mounting plate are provided with suction nozzles with the adsorption direction facing downward. The suction nozzles at the four corners cooperate with the CG surface of the detection object at the lifting position 1320 for picking up. The dust removal y-axis beam 1335 can be moved along the x-axis direction to the dust removal position located on the upper side of the dust removal typhoon system.

[0134] Combine Figure 17The area array detection device 1700 is provided with an area array two-axis rotation device 1710, which includes a rotating shell 1711 arranged along the y-axis direction; both ends of the rotating shell 1711 along the y-axis direction are movably mounted on the area array x-axis moving plate 1712, and the rotating shell 1711 is rotated by an area array servo motor arranged inside the rotating shell 1711;

[0135] A plurality of area array detection positions 1713 are evenly spaced along the y-axis direction on the upper surface of the rotating shell 1711, and the area array detection positions 1713 can rotate around their own central axis relative to the rotating shell 1711; the area array x-axis moving plate 1712 is arranged on the area array x-axis slide rail for sliding along the x-axis direction, and the area array camera 1714 is arranged on the upper middle side of the area array x-axis slide rail, and the lower part of the area array camera 1714 forms an area array visual detection area; one end of the area array x-axis slide rail along the x-axis direction is used to receive the detection object after dust removal by the dust removal device 1300, and the other end is used to cooperate with the 2D and 3D detection systems to pass the detection object after the area array visual inspection to the next inspection station.

[0136] Specifically, the aforementioned physical structure effectively ensures stable movement and smooth rotation of the inspection object between different workstations throughout the dust removal and inspection process, thereby ensuring smooth execution of the entire dust removal and inspection process. Furthermore, the area array camera 1714 and the area array two-axis rotation device 1710 effectively cooperate to capture images of the inspection object from different angles, thereby comprehensively covering all locations on the inspection object's exterior prone to defects.

[0137] When the detection object is the middle frame of a mobile phone and the size ratio of the entire device is arranged according to the middle frame of the mobile phone, in the actual operation process, it takes 1 second for the four middle frames of the mobile phone to flip at the same time, 1.5 seconds for the material lifting position 1320 to receive the material, and then 1 second for the flipping position 1310 to flip back to its original position along with the flipping shaft 1312, 2 seconds for the dust removal position adsorption part 1339 at the dust removal two-axis module 1330 to move and take the material, 1 second for the dust removal position adsorption part 1339 to carry the mobile phone middle frame to the dust removal position, and 3 seconds for the tornado dust removal. s, it takes 1s to move to the area array detection device 1700 after dust removal is completed, and it takes 1s for the dust removal two-axis module 1330 to drive the dust removal position adsorption part 1339 to return to its original position. The whole process takes 13s. A total of 4 mobile phone middle frames are dusted and inspected by area array. It takes about 3.3s for a single mobile phone middle frame. The whole dust removal process is fast and efficient. In addition, dust removal and area array detection, as a link in the entire detection process, can be smoothly transitioned with other links of the entire detection equipment to ensure the stability of the entire detection process.

[0138] When the inspection object is the middle frame of a mobile phone and the size ratio of the entire device is arranged according to the middle frame of the mobile phone, in the actual area array inspection process, at the beginning of the area array inspection, the suction nozzle of the dust removal position drops (0.2s) to break the vacuum and discharge the material (0.3s), the suction nozzle of the dust removal position rises (0.2s), the area array two-axis rotation device 1710 moves to the area array visual inspection area (0.5s), the mobile phone middle frame rotation motion detection, the four sides and four diagonals of the mobile phone middle frame and the four edges on the plane are inspected one by one (17 ... The rotating device 1710 moves to the position where the 2D and 3D detection systems cooperate (0.5s), the suction nozzles at the 2D and 3D detection systems descend (0.2s) and start vacuum suction (0.3s), the suction nozzles at the 2D and 3D detection systems rise, and the area array two-axis rotating device 1710 returns to wait for the next batch of mobile phone middle frames that have completed dust removal (1s). The whole process takes 20.4s, and a single mobile phone middle frame takes about 5.1s. The running speed of the entire area array detection process remains fast, thereby ensuring the efficient operation of the entire process.

[0139] Example 4

[0140] This embodiment provides a combined 2D and 3D appearance detection system applicable to the device body 100 in Example 1, which is implemented based on a combined 2D and 3D appearance detection device 1800; the device is also applicable to the combined 2D and 3D CG surface detection system 140 and the combined 2D and 3D BG surface detection system 160. This embodiment also provides a combined 2D and 3D appearance detection method and application implemented based on the combined 2D and 3D appearance detection system. This method can be applied to both CG surface detection and BG surface detection, and specifically includes the following steps:

[0141] Step 1: Combine 2D and 3D inspection and loading

[0142] The multi-head grabbing module 1810 grabs the inspection object that has been dust-cleaned and inspected by area array vision.

[0143] Step 2: Combine 2D and 3D detection and discharge

[0144] The multi-head grabbing module 1810 places the grabbed test objects one by one at the initial position for combined testing;

[0145] Step 3: Combine 2D and 3D detection to extract materials

[0146] The detection objects located at the initial detection position are picked up one by one in turn by the detection picking assembly and placed on the detection conveying path 1890;

[0147] Step 4: 2D detection

[0148] A single inspection object is transported along the combined inspection transport path 1890 to the 2D line scan inspection position and the 2D inspection module performs 2D line scan inspection on the mid-board surface of the inspection object for defects such as scratches, mid-board stress marks, and mid-board over / omission cleaning.

[0149] Step 5: 3D detection

[0150] The inspection object is then transported along the combined inspection transport path 1890 to the 3D line laser inspection station, where it is inspected by the 3D inspection module 1860 for defects such as stress marks on the mid-plate, mid-plate dents, mid-plate surface steps, mid-plate surface over-tightening, mid-plate springback, mid-plate surface deformation, mid-plate over-tightening / missing tightening, and mid-plate knife marks.

[0151] Step 6: Combine 2D and 3D to detect blanking

[0152] The inspection object after 2D and 3D inspection is completed is transported to the unloading position through the combined inspection unloading transport axis 1870.

[0153] Specifically, the above-mentioned combined 2D and 3D inspection method can better complete 2D inspection and 3D inspection in sequence through a single combined inspection and transportation path 1890, thereby better performing image recognition for appearance defects that may appear at the inspection object, with a wider coverage range, thereby better ensuring the accuracy of the inspection results, and further better being able to identify products with appearance defects through inspection.

[0154] Combine Figures 18-19 A detection device 1800 for the combined appearance of 2D and 3D includes a multi-head material grabbing module 1810 for 2D and 3D combined detection loading and a combined detection unloading conveying shaft 1870 for 2D and 3D combined detection unloading. A combined detection conveying passage 1890 arranged along the x-axis direction is arranged on the lower side of the multi-head material grabbing module 1810; a 2D detection module and a 3D detection module 1860 are arranged in sequence on the moving route of the combined detection conveying passage 1890 from the multi-head material grabbing module 1810 to the unloading conveying shaft.

[0155] Combine Figure 20The multi-head grabbing module 1810 includes a vertically arranged multi-head grabbing mounting rack 1811, and a grabbing x-axis linear module 1812 driven by a gas source is arranged horizontally at the upper surface of the multi-head grabbing mounting rack 1811 along the x-axis direction; a grabbing mounting plate 1813 moving along the x-axis with the grabbing x-axis mover is connected to the upper part of the grabbing x-axis linear module 1812; a grabbing z-axis linear module 1814 in the form of an electric cylinder is arranged at the grabbing mounting plate 1813 along the z-axis direction; a grabbing z-axis mounting plate 1815 downwardly arranged along the z-axis direction is arranged at the grabbing z-axis linear module 1814; a grabbing head mounting plate 1816 along the y-axis direction is mounted at the lower part of the grabbing z-axis mounting plate 1815; and a plurality of grabbing heads 1817 are uniformly and spacedly mounted at the lower side of the grabbing head mounting plate 1816 along the y-axis direction.

[0156] One end of the grabbing x-axis linear module 1812 along the x-axis direction is located at the upper side of the discharging position of the previous station, and a grabbing placing rack 1818 corresponding to the grabbing head 1817 at the grabbing head mounting plate 1816 is arranged at the lower side position of the other end; the upper part of the grabbing placing rack 1818 is used for positioning and cooperating with the detection object. Figure 21 The upper side of the grabbing placing rack 1818 is arranged with a combined detection y-axis taking linear module 1820 in the form of an electric cylinder along the y-axis direction; a combined detection z-axis taking module 1821 in the form of a sliding table gas cylinder is connected to the combined detection y-axis taking mover moving along the y-axis direction at the combined detection y-axis taking linear module 1820 and arranged along the z-axis direction; a combined detection taking plate 1822 is horizontally arranged and connected to the lower part of the combined detection z-axis taking mover moving along the z-axis direction at the combined detection z-axis taking module 1821; and the lower surface of the combined detection taking plate 1822 is used for positioning and loosening cooperation with the CG surface of the detection object. Figure 22 The combined detection conveying passage 1890 is arranged below the combined detection taking plate 1822 and located at the middle position of the plurality of grabbing placing racks 1818 along the y-axis direction; the combined detection taking plate 1822 is used for positioning and cooperating with the detection object to carry it to the combined detection conveying passage 1890 and loosen it to place it in the combined detection conveying passage 1890.

[0157] The combined detection transport passage 1890 includes a combined detection x-axis transport module 1891 arranged along the x-axis direction and adopting a double-motor linear motor module. A separation sensor is arranged at the middle position of the combined detection x-axis transport module 1891 along the x-direction. The parts of the combined detection x-axis transport module 1891 located on both sides of the separation sensor constitute the first mover moving part 18911 and the second mover moving part 18912 respectively. The first mover moving part 18911 and the second mover moving part 18912 are respectively provided with the first mover and the second mover sliding along the x-axis within their areas; a combined detection transition component 1850 is provided at the junction of the first mover moving part 18911 and the second mover moving part.

[0158] A combined detection positioning assembly 1892 for positioning and releasing the BG surface of the detection object is installed on the upper part of the first mover and the second mover. One end of the first mover moving part 18911 along the x-axis direction is located at the lower side of the combined detection and picking plate 1822 so as to receive the detection object on the combined detection and picking plate 1822 through the combined detection positioning assembly 1892 on the first mover.

[0159] Combine Figure 23 The other end of the first movable part 18911 along the x-axis direction is provided with a combined detection transition component 1850. Figure 23 The combined detection transition component 1850 is installed along the z-axis direction through the combined detection transition mounting frame 1851 and is installed directly above the combined detection transport path 1890. The combined detection transition component 1850 includes a combined detection transition z-axis module 1852 using a sliding cylinder. A combined detection transition suction plate 1853 is horizontally arranged at the lower part of the combined detection transition z-axis mover at the combined detection transition z-axis module 1852. The combined detection transition suction plate 1853 is used to position and release the detection object CG surface at the first mover by controlling the vacuum phase.

[0160] A 2D detection module is arranged above the middle position of the first movable part 18911 along the x-axis direction, and the first movable part 18911 located in the detection area of ​​the 2D detection module forms a 2D line scan detection position; the 2D detection module includes a 2D line scan camera 1840 and a bionic AOI light source 1832 arranged in a ring shape around the 2D line scan detection position, and is installed in combination with the bionic AOI light source 1832 through a 2D camera mounting bracket 1830; a shooting opening 1831 is formed on one side of the 2D line scan mounting bracket far from the detection transition component 1850, and the 2D line scan camera 1840 is fixedly installed through the 2D camera mounting bracket 1830 and its shooting light path passes through the shooting opening 1831 and is directly opposite to the 2D line scan detection position at the first movable part 18911.

[0161] One end of the second movable member 18912 along the x-axis direction is located at the lower side of the combined detection transition suction plate 1853 so as to receive the detection object at the combined detection transition suction plate 1853 through the second movable member, and the other end of the second movable member 18912 along the x-axis direction is located at the lower side of the combined detection unloading conveying shaft 1870; Figure 26 A 3D detection module 1860 is arranged above the middle position of the second movable part 18912 along the x-axis direction; the second movable part 18912 located in the detection area of ​​the 3D detection module 1860 forms a 3D line laser detection position, and the 3D detection module 1860 includes a 3D detection y-axis linear module 1861 selected as a linear motor, which is arranged along the y-axis direction and spans the second movable part 18912 at the combined detection transition mounting frame 1851. The 3D camera 1862 is installed at the lower part of the 3D detection y-axis movable part of the 3D detection y-axis module and moves along the y-axis to perform 3D detection on the detection object at the 3D line laser detection position. There are three 3D detection cameras and they are staggered.

[0162] Combine Figure 27 The combined detection and blanking conveying shaft 1870 includes a combined detection and blanking y-axis module 1871 which is located on the upper side of the end of the combined detection conveying passage 1890 and is arranged across along the y-axis direction and is controlled by an air source. A combined detection and blanking z-axis module 1872 which is arranged along the z-axis direction and is a slide cylinder is installed at the combined detection and blanking y-axis mover 18711 of the combined detection and blanking y-axis module 1871. A horizontally arranged combined detection and blanking suction plate 18722 is installed at the lower part of the combined detection and blanking z-axis mover 18721 of the combined detection and blanking z-axis module 1872. The combined detection and blanking suction plate 18722 is used for positioning and loosening the cooperation with the CG surface of the detection object.

[0163] The combined detection and unloading y-axis module 1871 is provided with a combined detection and unloading transition position on one side along the y-axis direction and a combined detection and unloading x-axis module 1880 controlled by an air source on the side along the x-axis direction toward the far 3D detection module. One end of the combined detection and unloading x-axis module 1880 along the x-axis direction is located above the combined detection and unloading transition position. The combined detection and unloading x-axis mover 1881 of the combined detection and unloading x-axis module 1880 is connected to a ball screw type combined detection and transporting z-axis module 1882 arranged along the z-axis direction. The lower part of the combined detection and transporting z-axis mover 18821 moving along the z-axis direction at the combined detection and transporting z-axis module 1882 is connected to a horizontally arranged combined detection and transporting suction plate 1883. The combined detection and transporting suction plate 1883 is positioned and adsorbed with the CG surface to be detected by controlling the vacuum.

[0164] Specifically, the above structure can better meet the transplanting and inspection requirements of the entire inspection process; during the inspection process, when used for inspection of the CG surface mid-plate area, the 2D inspection module and the 3D inspection module 1860 can be used to identify appearance defects such as bumps, crushing and scratches on the CG surface mid-plate.

[0165] When the device is used to detect the middle plate area of ​​the BG surface (the detection of the middle plate area of ​​the BG surface is located after the macro detection), the 2D detection module and the 3D detection module 1860 can be used to identify the appearance defects such as stress marks, bumps, crushing, scratches, edge burrs, edge burrs, edge curling, over-milling, missed milling and incomplete milling in the middle plate of the BG surface. At the same time, it can also identify the burrs, 2D code scratches, over-milling, missed milling and incomplete milling in the 2D code area.

[0166] When the inspection object is the middle frame of a mobile phone and the size ratio of the entire device is arranged according to the middle frame of the mobile phone, in the entire 2D line scan inspection process, first, the combined inspection material collection plate 1822 descends (0.2s), breaks the vacuum and discharges the material to the first mover at the combined inspection conveying passage 1890 (0.3s), and then rises back to its original position (0.2s). The inspection object moves along the combined inspection conveying passage 1890 to the 2D line scan inspection position (2s), and then moves to the lower side of the combined inspection transition suction plate 1853 (0.5s). The combined inspection transition suction plate 1853 descends (0.2s) and starts vacuum suction (0.3s). After suction, the combined inspection transition suction plate 1853 rises (0.2s), and the first mover returns to its original position (1s). The entire 2D inspection process takes 5.4s to complete the 2D inspection of a single inspection object. The inspection time can be controlled in a relatively short time, thereby ensuring the efficiency of the entire inspection process.

[0167] When the inspection object is the middle frame of a mobile phone and the size ratio of the entire device is arranged according to the middle frame of the mobile phone, during the entire 3D laser inspection process, first, the combined inspection transition suction plate 1853 descends (0.2s) and breaks the vacuum to discharge the material (0.3s), the macro inspection transition suction plate rises (0.2s), the second mover carries the middle frame of the mobile phone to the photo position (0.5s), and then the 3D line laser (150mm / s) takes 2s, the second mover carries the middle frame of the mobile phone to the unloading position (0.5s), the combined inspection transport suction plate 1883 descends (0.2s) and starts vacuum suction (0.3s), after the suction is completed, the combined inspection transport suction plate 1883 rises (0.2s), the empty fixture at the second mover returns (1s), and the 3D inspection takes 5.4s.

[0168] The 2D camera parameters used in this implementation are: camera model: DASLA LA-CM-16K05A-00-R, telecentric lens: DTCM16-80H-AL, working distance: 120 mm, scanning interval: 0.005 mm, movement mode: camera fixed, product horizontal movement.

[0169] The parameters of the 3D camera 1862 used in this embodiment are: camera SR8060, object distance: 60mm, sampling frequency: 3.2k-13k.

[0170] Example 5

[0171] This embodiment provides a macro-detection system for appearance defects applicable to the device body in Example 1. This embodiment also provides a macro-detection method for appearance defects based on the macro-detection system and its application. This method can be applied to both CG surface detection and BG surface detection, and specifically includes the following steps:

[0172] Step 1: Macro detection and loading

[0173] Place the object to be tested at the macro detection loading position;

[0174] Step 2: CG surface detection

[0175] The inspection object is placed with its CG surface facing upward through the first macro inspection station 3000 and the second macro inspection station 3100 in sequence; the first macro inspection station 3000 is used to inspect the edges of the plate on the CG surface of the inspection object, and the second macro inspection station 3100 is used to inspect the waterproof surface of the CG surface of the inspection object.

[0176] Step 3: Detect object flipping

[0177] Flip the test object with the CG side facing up so that the BG side faces up

[0178] Step 4: BG surface detection

[0179] The inspection object is placed with its BG surface facing upward through the third macro inspection station 3200, the fourth macro inspection station 3300, the fifth macro inspection station 3400 and the sixth macro inspection station 3500 in sequence; the third macro inspection station 3200 is used to detect the nut position of the BG inner cavity surface of the inspection object, the fourth macro inspection station 3300 is used to detect the upper and lower U-shaped areas of the BG inner cavity surface of the inspection object, the fifth macro inspection station 3400 is used to detect the four corners of the upper and lower U areas of the BG inner cavity surface of the inspection object, and the sixth macro inspection station 3500 is used to detect the T-slot area of ​​the BG inner cavity surface of the inspection object.

[0180] Step 5: Macro detection of blanking

[0181] The object that has completed macro inspection is unloaded to the next workstation.

[0182] Specifically, the above-mentioned macro detection method can better detect each part of the CG surface and BG surface of the material that is prone to appearance defects separately through multiple workstations. At the same time, each workstation can achieve the best detection effect through a unique macro detection camera arrangement.

[0183] The macro detection device includes a macro BG surface detection part and a macro CG surface detection part; the macro CG surface detection part is provided with a macro detection first station 3000 and a macro detection second station 3100; the macro BG surface detection part is provided with a macro detection third station 3200, a macro detection fourth station 3300, a macro detection fifth station 3400 and a macro detection sixth station 3500.

[0184] The first macro detection station 3000 and the second macro detection station 3100 both include positioning tooling for adsorbing and releasing the CG surface of the detection object by cooperating with the CG surface of the detection object. The third macro detection station 3200, the fourth macro detection station 3300, the fifth macro detection station 3400 and the sixth macro detection station 3500 both include BG surface positioning fixtures for adsorbing and releasing the detection object by cooperating with the BG surface of the detection object. The lower sides of the CG surface positioning tooling and the BG surface positioning fixture are both provided with macro detection z-axis lifting modules using electric cylinders for lifting the detection object. The macro BG surface detection section and the macro CG surface detection section both use multiple macro detection cameras arranged in a coordinated manner to perform macro detection of the BG surface and CG surface of the detection object.

[0185] Combine Figure 29 The macro inspection camera includes a macro camera body 2900, and a macro camera mounting block 2910 is formed on the upper side wall of the macro camera body 2900. The macro camera mounting block 2910 is used to cooperate with the macro camera mounting holes at each macro inspection station for arrangement and installation. A first macro shooting lens 2920 with a shooting light path facing downward is arranged on the lower end face of the macro camera body 2900, and a second macro shooting lens 2930 with a shooting light path facing outward is arranged on the lower part of the side wall of the macro camera body 2900 opposite to the macro camera mounting block 2910; the lens axes of the first macro shooting lens 2920 and the second macro shooting lens 2930 are perpendicular to each other.

[0186] Combine Figure 30The micro-distance detection first station 3000 further comprises a micro-distance detection first camera assembly located directly above the CG surface positioning tool at the station, a plurality of micro-distance detection cameras at the micro-distance detection first camera assembly cooperatively form a micro-distance detection first detection position, the micro-distance detection z-axis lifting module can drive the CG surface positioning tool and the detection object at the station to move upward to the micro-distance detection first detection position, the micro-distance detection first camera assembly comprises a plurality of micro-distance detection cameras arranged respectively outside two wide sides of the CG surface of the detection object; the micro-distance detection cameras on both sides are arranged in parallel and spaced apart between two ends in the width direction of the CG surface of the detection object, and the micro-distance detection cameras are all arranged obliquely through an adapter plate, the outer wall planes of the micro-distance detection cameras at the micro-distance detection first camera assembly all maintain an oblique angle of 20-30 degrees relative to the CG surface of the detection object; the first micro-distance shooting lens 2920 and the second micro-distance shooting lens 2930 of each micro-distance detection camera at the station are both directed toward one side of the wide side edge of the middle plate of the CG surface for micro-distance detection of the edge of the middle plate of the CG surface.

[0187] In combination Figure 31 The micro-distance detection second station 3100 further comprises a micro-distance detection second camera assembly located directly above the CG surface positioning tool at the station, a micro-distance detection second detection position is formed at the micro-distance detection second camera assembly, the micro-distance detection z-axis lifting module can drive the CG surface positioning tool and the detection object at the station to move upward to the micro-distance detection second detection position, the micro-distance detection second camera assembly comprises two rows of micro-distance detection cameras arranged in parallel between two long sides of the CG surface respectively, the two rows of micro-distance detection cameras are parallel to the two long sides of the CG surface of the detection object respectively, the micro-distance detection cameras in a single row are arranged in parallel and spaced apart from one wide side of the CG surface to the other wide side to cover the entire waterproof surface of the CG, the first micro-distance shooting lens 2920 of a single micro-distance detection camera at the two rows of micro-distance detection cameras is all directed vertically toward the bottom plane of the CG surface, and the second micro-distance shooting lens 2930 is all directed toward one side of the long side of the CG surface for micro-distance detection of the waterproof surface of the CG.

[0188] In combination Figure 32, the third macro detection station 3200 also includes a third macro detection camera assembly located directly above the BG surface positioning fixture at the station, and multiple macro detection cameras at the third macro detection camera assembly cooperate to form a third detection position for macro detection. The macro detection z-axis lifting module can drive the CG surface positioning fixture and the detection object at the station to move upward to the third detection position for macro detection. The third macro detection camera assembly includes two rows of macro detection cameras arranged in parallel between the two long sides of the BG surface inner cavity of the detection object, and each row of macro detection cameras is arranged in parallel and spaced from one wide side to the other wide side of the BG surface inner cavity. The first macro shooting lens 2920 of each macro detection camera at the station is vertically facing the bottom plane of the BG surface inner cavity, and the second macro shooting lens 2930 is vertically facing the inner side wall of the long side protruding perpendicular to the bottom plane of the BG surface inner cavity for macro detection of the nut position on the BG inner cavity surface;

[0189] Combine Figure 33 , the fourth macro detection station 3300 also includes a fourth macro detection camera assembly located directly above the BG surface positioning fixture at the station, and multiple macro detection cameras at the fourth macro detection camera assembly cooperate to form a fourth detection position for macro detection. The macro detection z-axis lifting module can drive the CG surface positioning tooling and the detection object at the station to move upward to the fourth detection position for macro detection. The fourth macro detection camera assembly includes two rows of macro detection cameras arranged parallel to the two wide sides of the BG surface inner cavity, and each row of macro detection cameras is arranged in parallel and spaced from one wide side to the other wide side of the BG surface inner cavity. The first macro shooting lens 2920 of each macro detection camera at the station is vertically facing the bottom plane of the BG surface inner cavity, and the second macro shooting lens 2930 is vertically facing the inner side wall of the wide side protruding perpendicular to the bottom plane of the BG surface inner cavity for macro detection of the upper and lower U areas of the BG inner cavity surface;

[0190] Combine Figure 34 , the fifth macro detection station 3400 also includes a fifth macro detection camera assembly located directly above the BG surface positioning fixture at the station, and multiple macro detection cameras at the fifth macro detection camera assembly cooperate to form a fifth detection position for macro detection. The macro detection z-axis lifting module can drive the CG surface positioning fixture and the detection object at the station to move upward to the fifth detection position for macro detection. The fifth macro detection camera assembly includes four macro detection cameras respectively arranged on the inner sides of the four corners of the BG surface cavity. The first macro shooting lens 2920 of each macro detection camera is vertically facing the bottom plane of the BG surface cavity, and the second macro shooting lens 2930 is facing the inner wall of the corner of the BG surface cavity for macro detection of the four corners of the upper and lower U areas of the BG cavity surface;

[0191] Combine Figure 35The sixth macro detection station 3500 also includes a sixth macro detection camera assembly located directly above the BG surface positioning fixture at the station. Multiple macro detection cameras at the sixth macro detection camera assembly cooperate to form the sixth detection position of macro detection. The macro detection z-axis lifting module can drive the CG surface positioning tooling and the detection object at the station to move upward to the sixth detection position of macro detection. The sixth macro detection camera assembly includes two rows of macro detection cameras arranged parallel to the two long sides of the inner wall of the BG surface, and each row of macro detection cameras is arranged in parallel and spaced from one wide side to the other wide side of the BG surface cavity. The first macro shooting lens 2920 of each macro detection camera at the station is vertically facing the bottom plane of the BG surface cavity, and the second macro shooting lens 2930 is vertically facing the inner side wall of the long side protruding perpendicular to the bottom plane of the BG surface cavity for macro detection of the T-slot area of ​​the BG inner cavity surface.

[0192] Specifically, through the above-mentioned workstations and the corresponding macro detection camera arrangement method, the parts of the inspection object that are prone to appearance defects can be better covered, and the multi-station arrangement method can make the coverable appearance defect detection more complete, thereby ensuring the detection accuracy of macro detection and the overall detection process; in addition, the macro detection is arranged in the middle of the entire detection equipment. On the one hand, because the arrangement of macro detection is relatively fine, putting BG surface detection and CG surface detection together can be better facilitated and can reduce costs compared to separate arrangements; at the same time, the inspection object is turned over during macro detection; so that the parts of the entire equipment on both sides of the macro detection device can be used for CG surface and BG surface detection respectively, and then from the beginning of loading, the first half of the entire process is CG surface detection, and the second half is BG surface detection, which can facilitate subsequent image analysis data processing.

[0193] The parameters of the macro inspection camera used in this embodiment are as follows: lens structure: 3P+IR, lens matching chip: 1 / 6", lens maximum image surface: 3.3mm diameter; lens focal length: 1.35mm; lens total length: 2.90±0.1mm; lens aperture: 2.2±5%; lens diagonal angle: D=88.7°; lens optical distortion: <1.5%; lens relative illumination: >39.6%; pixel accuracy: 0.01mm. The macro inspection camera maintains a distance of 10mm±0.03mm from the inspection position.

[0194] Example 6

[0195] This embodiment provides a macro detection device suitable for the macro detection system in embodiment 5, combined with Figure 36, which includes a macro device body 3600, and the macro device body 3600 includes a macro loading level 3610 for macro detection of loading and a macro unloading level 3620 for macro detection of unloading; from the macro loading level 3610 to the macro unloading level 3620, a macro CG surface detection unit, a macro detection flip assembly 3630 and a macro BG surface detection unit are arranged in sequence, and above the macro CG surface detection unit and the macro BG surface detection unit are respectively arranged a CG surface camera assembly for detecting the CG surface of the detection object at the CG surface detection unit and a BG surface camera assembly for detecting the BG surface of the detection object at the BG surface detection unit.

[0196] The macro device body 3600 is provided with a total of sixteen macro detection positions arranged in parallel at 4×4 intervals along the x-axis and y-axis directions. The sixteen macro detection positions are divided into four rows of first, second, third and fourth macro detection parts arranged along the y-axis direction. The CG surface detection part includes the first and second macro detection parts, and the BG surface detection part includes the third and fourth macro detection parts; the macro loading position 3610 is located in the first macro detection part of the CG surface detection part, and the macro unloading position 3620 is located in the fourth macro detection part of the BG surface detection part. The sixteen macro detection positions from the macro loading position 3610 to the macro unloading position 3620 cooperate to form a moving route of the detection object in the macro detection, and the moving route of the detection object is S-shaped from the first macro detection part to the fourth macro detection part.

[0197] It can be understood that in this embodiment, a 4×4 layout is adopted, and the two sides of each row of positions along the y-axis direction serve as the upper and lower material positions of the row respectively, and the two middle positions can be used as detection stations and cooperate with corresponding macro detection cameras. The 4×4 layout can better meet the layout requirements of eight detection stations. At the same time, this enables the BG surface detection part and the CG surface detection part to be distributed in a symmetrical structure, each occupying two rows of macro detection parts. This also enables the macro detection flip assembly 3630 to be arranged exactly at the junction of the BG surface detection part and the CG surface detection part, thereby making the overall layout structure and subsequent operation more stable.

[0198] The four macro detection positions at the first macro detection section form the macro loading position 3610, the macro detection first station 3000, the macro detection second station 3100 and the macro detection transition position in sequence along the positive direction of the y-axis; the four macro detection positions at the second macro detection section form the macro detection transition position, the macro detection first reserved station, the macro detection second reserved station and the macro detection flip loading position in sequence along the negative direction of the y-axis; the four macro detection positions at the third macro detection section form the macro detection flip unloading position, the macro detection third station 3200, the macro detection fourth station 3300 and the macro detection transition position in sequence along the positive direction of the y-axis; the four macro detection positions of the fourth macro detection section form the macro detection transition position, the macro detection fifth station 3400, the macro detection sixth station 3500 and the macro detection unloading position in sequence along the negative direction of the y-axis.

[0199] Above the first macro detection station 3000, the second macro detection station 3100, the third macro detection station 3200, the fourth macro detection station 3300, the fifth macro detection station 3400 and the sixth macro detection station 3500 are respectively arranged a macro detection first camera assembly, a macro detection second camera assembly, a macro detection third camera assembly, a macro detection fourth camera assembly, a macro detection fifth camera assembly and a macro detection sixth camera assembly, which are coordinated with the detection and adopt a collaborative arrangement of multiple macro detection cameras.

[0200] Combine Figure 37 , the macro detection transition position at the first macro detection part and the macro detection transition position at the second macro detection part are realized by a macro detection x-axis moving component 3700, the macro detection x-axis moving component 3700 includes a macro detection x-axis linear module 3710 arranged along the x-axis direction and controlled by an air source, a macro detection z-axis module 3720 using a slide cylinder is arranged at the macro detection x-axis mover 3711 of the macro detection x-axis linear module 3710 along the z-axis direction, a macro detection z-axis mover 3721 of the macro detection z-axis module 3720 is connected to a macro detection transition moving plate 3730, and a macro detection transition moving position for moving the detection object between the macro detection transition positions is arranged at the macro detection transition plate 3730; a macro detection x-axis moving component 3700 for moving the detection object is also arranged between the macro detection transition position at the third macro detection part and the macro detection transition position at the fourth macro detection part;

[0201] Combine Figure 36 and Figure 38The macro detection flip loading position and the macro detection flip unloading position of the second macro detection part are realized through the macro detection flip component 3630. The macro detection flip component 3630 includes a macro detection flip servo motor 3631. The output end of the macro detection servo motor is connected to the L-shaped cantilever plate 3632 through a reducer. The macro detection flip unloading position is arranged at the L-shaped cantilever plate 3632. The macro detection flip loading position is arranged at the position after the macro detection servo motor drives the cantilever plate 3632 to rotate one hundred and eighty degrees.

[0202] Combine Figure 39 Two macro detection y-axis material moving components 3900 are arranged along the y-axis direction at the position between the first macro detection part and the second macro detection part. The two macro detection y-axis material moving components 3900 are respectively used in conjunction with the first macro detection part and the second macro detection part. Each macro detection y-axis material moving component 3900 includes a macro detection y-axis linear module 3910 of a ball screw type arranged along the y-axis direction. The macro detection y-axis mover 3911 of the macro detection y-axis linear module 3910 is connected to a macro detection material moving plate 3912. Three macro detection material moving positions 3913 are arranged at intervals along the y-axis direction at the macro detection material moving plate 3912. The spacing distance between the three macro detection material moving positions 3913 is the same as the spacing between the four macro detection placement positions at the first macro detection part; the three macro detection material moving positions 3913 are used to move the detection object at each macro detection placement position forward one position along the S-shaped moving route each time.

[0203] The macro detection placement positions of the first and second macro detection units are both equipped with product positioning fixtures that fix the detection object by the BG surface of the detection object; the macro detection placement positions of the third and fourth macro detection units are both equipped with CG surface positioning fixtures that fix the mobile phone middle frame by the CG surface of the mobile phone middle frame;

[0204] The first macro detection station 3000, the second macro detection station 3100, the first macro detection reserved station and the second macro detection reserved station, the third macro detection station 3200, the fourth macro detection station 3300, the fifth macro detection station 3400 and the sixth macro detection station 3500 are all lifted and lowered by the macro detection z-axis lifting module. The macro detection z-axis lifting module includes a CG surface z-axis lifting linear module and a BG surface z-axis lifting linear module. A CG surface z-axis lifting linear module using an electric cylinder is provided on the lower sides of the first macro detection station 3000, the second macro detection station 3100, the first reserved macro detection station and the second reserved macro detection station in the surface detection section; a BG surface z-axis lifting linear module using an electric cylinder is provided on the lower sides of the third macro detection station 3200, the fourth macro detection station 3300, the fifth macro detection station 3400 and the sixth macro detection station 3500 in the macro BG surface detection section;

[0205] Combine Figure 40 The CG surface z-axis lifting linear module and the BG surface z-axis lifting linear module both include a lifting linear module body 4000, and the lifting linear module body 4000 includes a lifting linear electric cylinder module 4010. The lifting linear electric cylinder mover 4020 of the lifting linear cylinder module 4010 is connected to a macro lifting frame 4030, and four sets of lifting connecting rods are provided on the upper end surface of the macro lifting frame 4030; the four sets of macro lifting connecting rods 4040 at the CG surface z-axis lifting linear module are respectively connected to the first macro detection workpiece. The lower ends of the third macro detection station 3000, the second macro detection station 3100, the first reserved macro detection station and the second reserved macro detection station are connected to drive them to move upward to the corresponding detection positions; the four groups of macro lifting links 4040 at the BG surface z-axis lifting linear module are respectively connected to the lower ends of the third macro detection station 3200, the fourth macro detection station 3300, the fifth macro detection station 3400 and the sixth macro detection station 3500 to drive them to move upward to the corresponding detection positions.

[0206] Except for the first, second, third, fourth, fifth and sixth macro detection stations and the first and second reserved stations for macro detection, the lower sides of the remaining macro detection positions are provided with macro lifting cylinders arranged along the z-axis direction. The piston rod ends of the macro lifting cylinders are connected to the lower ends of the remaining macro detection positions and drive them to move upward to cooperate with the macro detection y-axis material moving assembly 3900 to realize the handover of the detection object.

[0207] Specifically, the above structure can better meet the requirements of transferring the inspection objects between various workstations during the entire macro inspection process, and the inspection objects at each row of 4 macro inspection placement positions can be picked up by three macro inspection transfer positions 3913 each time and stably moved forward one unit along the moving route. This operation is simple and efficient, and can better cooperate with the 4×4 layout to ensure the normal operation of the entire macro inspection.

[0208] It is easy to understand that those skilled in the art can combine, split, reorganize, etc. the embodiments of the present application based on one or several embodiments provided in the present application to obtain other embodiments, and these embodiments do not exceed the scope of protection of the present application.

[0209] The above is a schematic description of the present invention and its embodiments, which is not restrictive. The embodiments shown in the embodiments are only part of the embodiments of the present invention, and the actual structure is not limited thereto. Therefore, if a person skilled in the art is inspired by the above and, without departing from the purpose of the present invention, designs a structure and embodiment similar to the technical solution without creatively designing, they shall fall within the scope of protection of the present invention.

Claims

1. A detection device combining 2D and 3D appearance, characterized by: The invention comprises a multi-head material grabbing module (1810) for loading materials for 2D and 3D combined detection and a combined detection unloading conveying shaft (1870) for unloading materials for 2D and 3D combined detection. A combined detection conveying passage (1890) arranged along the x-axis is arranged on the lower side of the multi-head material grabbing module (1810). A 2D detection module and a 3D detection module (1860) are arranged in sequence on the moving route of the combined detection conveying passage (1890) from the multi-head material grabbing module (1810) to the unloading conveying shaft. The multi-head material grabbing module (1810) includes a vertically arranged multi-head material grabbing mounting frame (1811), and a material grabbing x-axis linear module (1812) driven by an air source is arranged horizontally along the x-axis direction on the upper surface of the multi-head material grabbing mounting frame (1811); a material grabbing mounting plate (1813) that moves along the x-axis with the material grabbing x-axis mover is connected to the upper part of the material grabbing x-axis linear module (1812), and the material grabbing mounting plate (1813) moves along the z-axis. A material grabbing z-axis linear module (1814) using an electric cylinder is placed and arranged, a material grabbing z-axis mounting plate (1815) facing downward along the z-axis direction is arranged at the material grabbing z-axis mover of the material grabbing z-axis linear module (1814), a grabbing head mounting plate (1816) along the y-axis direction is mounted on the lower part of the material grabbing z-axis mounting plate (1815), and a plurality of material grabbing heads (1817) are evenly spaced and mounted on the lower side of the grabbing head mounting plate (1816) along the y-axis direction; One end of the grabbing x-axis linear module (1812) along the x-axis direction is located on the upper side of the material discharging position of the previous workstation, and a grabbing placement rack (1818) corresponding to the grabbing head (1817) at the grabbing head mounting plate (1816) is arranged at the lower side of the other end. The upper part of the grabbing placement rack (1818) is used to position and cooperate with the detection object; the upper side of the grabbing placement rack (1818) is arranged with a combined detection y-axis material picking linear module (1820) using an electric cylinder along the y-axis direction, and the combined detection y-axis material picking movable element at the combined detection y-axis material picking linear module (1820) moving along the y-axis direction is connected to a slide cylinder type combined detection z-axis material picking module (1820) arranged along the z-axis direction. 21), the lower part of the combined detection z-axis material picking mover moving along the z-axis direction at the combined detection z-axis material picking module (1821) is connected to a horizontally arranged combined detection material picking plate (1822), the lower surface of the combined detection material picking plate (1822) is used for positioning and loosening with the CG surface of the detection object, the combined detection conveying path (1890) is arranged below the combined detection material picking plate (1822) and is located in the middle position of multiple grabbing and placing racks (1818) along the y-axis direction; the combined detection material picking plate (1822) is used to position and cooperate with the detection object to carry it to the combined detection conveying path (1890) and loosen it to place it on the combined detection conveying path (1890).

2. The 2D and 3D combined appearance detection device according to claim 1, characterized in that: The combined detection transport passage (1890) includes a combined detection x-axis transport module (1891) arranged along the x-axis direction and using a double-motor linear motor module. A separation sensor is arranged at the middle position of the combined detection x-axis transport module (1891) along the x-direction. The parts of the combined detection x-axis transport module (1891) located on both sides of the separation sensor constitute a first mover moving part (18911) and a second mover moving part (18912), respectively. The first mover moving part (18911) and the second mover moving part (18912) are respectively provided with a first mover and a second mover sliding along the x-axis within their areas. A combined detection transition component (1850) is provided at the intersection of the first mover moving part (18911) and the second mover moving part.

3. The combined 2D and 3D appearance detection device according to claim 2, characterized in that: A combined detection positioning assembly (1892) for positioning and releasing the BG surface positioning of the detection object is installed on the upper part of the first mover and the second mover. One end of the first mover moving part (18911) along the x-axis direction is located at the lower side of the combined detection material picking plate (1822) for receiving the detection object at the combined detection material picking plate (1822) through the combined detection positioning assembly (1892) at the first mover; a combined detection transition assembly (1850) is arranged on the upper side of the other end of the first mover moving part (18911) along the x-axis direction. The combined detection transition assembly ( 1850) is installed along the z-axis direction directly above the combination detection transport path (1890) through the combination detection transition mounting frame (1851), and the combination detection transition assembly (1850) includes a combination detection transition z-axis module (1852) using a slide cylinder, and a combination detection transition suction plate (1853) is horizontally arranged at the lower part of the combination detection transition z-axis mover at the combination detection transition z-axis module (1852), and the combination detection transition suction plate (1853) is used to position and release the CG surface of the detection object at the first mover by controlling the vacuum phase.

4. The combined 2D and 3D appearance detection device according to claim 3, characterized in that: A 2D detection module is arranged above the middle position of the first movable part (18911) along the x-axis direction, and the first movable part (18911) located in the detection area of ​​the 2D detection module forms a 2D line scan detection position; the 2D detection module includes a 2D line scan camera (1840) and a bionic AOI light source (1832) arranged in a ring shape around the 2D line scan detection position, and the bionic AOI light source (1832) is installed through a 2D line scan mounting frame; a shooting opening (1831) is formed on one side of the 2D line scan mounting frame far from the detection transition component (1850), and the 2D line scan camera (1840) is fixedly installed through the 2D camera mounting frame (1830), and its shooting light path passes through the shooting opening (1831) and is directly opposite to the 2D line scan detection position at the first movable part (18911).

5. The 2D and 3D combined appearance detection device according to claim 2, characterized in that: One end of the second movable member 18912 along the x-axis direction is located at the lower side of the combined detection transition suction plate 1853 so as to receive the detection object at the combined detection transition suction plate 1853 through the second movable member, and the other end of the second movable member 18912 along the x-axis direction is located at the lower side of the combined detection unloading and handling shaft 1870; a 3D detection module 1860 is arranged above the middle position of the second movable member 18912 along the x-axis direction; the second movable member 18912 located in the detection area of ​​the 3D detection module 1860 The moving part 18912 forms a 3D line laser detection position, and the 3D detection module 1860 includes a 3D detection y-axis linear module 1861 which is arranged along the y-axis direction and is selected as a linear motor and is arranged across the second movable part 18912 at the combined detection transition mounting frame 1851. The 3D camera 1862 is installed at the lower part of the 3D detection y-axis movable part of the 3D detection y-axis module and moves along the y-axis to perform 3D detection on the detection object at the 3D line laser detection position. There are three 3D detection cameras and they are staggered.

6. The 2D and 3D combined appearance detection device according to claim 1, characterized in that: The combined detection and unloading material handling axis (1870) includes a combined detection and unloading material y-axis module (1871) which is located on the upper side of the end of the combined detection passage and is arranged across along the y-axis direction and is controlled by an air source, a combined detection and unloading material z-axis module (1872) which is arranged along the z-axis direction and is a slide cylinder is installed at the combined detection and unloading material y-axis mover (18711) of the combined detection and unloading material y-axis module (1871), and a horizontally arranged combined detection and unloading material suction plate (18722) is installed at the lower part of the combined detection and unloading material z-axis mover (18721) of the combined detection and unloading material z-axis module (1872), and the combined detection and unloading material suction plate (18722) is used for positioning and loosening the combination with the CG surface of the detection object; the combined detection and unloading material y-axis module (1871) is arranged with a combined detection and unloading material z-axis module (1872) on one side along the y-axis direction. The combined detection and unloading x-axis module (1880) is controlled by an air source and is located at a combined detection and unloading transition position and along the x-axis direction toward the far 3D detection module. One end of the combined detection and unloading x-axis module (1880) along the x-axis direction is located above the combined detection and unloading transition position. The combined detection and unloading x-axis mover (1881) of the combined detection and unloading x-axis module (1880) is connected to a ball screw type combined detection and transport z-axis module (1882) arranged along the z-axis direction. The lower part of the combined detection and transport z-axis mover (18821) moving along the z-axis direction at the combined detection and transport z-axis module (1882) is connected to a horizontally arranged combined detection and transport suction plate (1883). The combined detection and transport suction plate (1883) is positioned and adsorbed with the CG surface to be detected by controlling the vacuum.

7. The 2D and 3D combined appearance detection device according to claim 1, characterized in that: The detection object is the middle frame of the mobile phone.

8. A method for combining 2D and 3D appearance detection, characterized in that: The method is based on a 2D and 3D combined appearance detection system, which is implemented based on the 2D and 3D combined appearance detection device described in any one of claims 1 to 7, and specifically includes the following steps: Step 1: Combine 2D and 3D inspection and loading The inspection object that has been dust-removed and inspected by area array vision is grabbed by a multi-head grabbing module (1810); Step 2: Combine 2D and 3D detection and discharge The multi-head grabbing module (1810) places the grabbed test objects one by one at the initial position for combined testing; Step 3: Combine 2D and 3D detection to extract materials The detection objects located at the initial position of the detection are picked up one by one in turn by the detection picking component and placed in the detection conveying path (1890); Step 4: 2D detection The single inspection object is transported to the 2D line scan inspection position along the combined inspection transport path (1890) and the 2D line scan inspection is performed on the inspection object's mid-plate surface for defects such as scratches and pressure marks, mid-plate stress marks, and mid-plate over- / omission washing through the 2D inspection module; Step 5: 3D detection The inspection object is further transported along the combined inspection transport path (1890) to the 3D line laser inspection position and inspected by the 3D inspection module (1860) for defects such as stress marks on the middle plate, depressions on the middle plate, steps on the middle plate surface, over-inspection on the middle plate surface, springback on the middle plate surface, deformation on the middle plate surface, over-inspection / missed inspection on the middle plate, and knife marks on the middle plate on the middle plate surface of the inspection object; Step 6: Combine 2D and 3D to detect blanking After the 2D and 3D inspections are completed, the inspection object is transported to the unloading position through the combined inspection unloading transport axis (1870).

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