A feeding device, method, and application for detecting appearance defects.

Abstract

This invention relates to the technical field of feeding devices for appearance defect detection, specifically to a feeding device, method, and application for appearance defect detection. The invention also provides a feeding device for appearance defect detection, applicable to the aforementioned feeding method. It includes a feeding device body, from bottom to top, a full-material tray feeding section for stacking full trays to form a vertical column of trays, a feeding process picking position for picking up the material to be inspected from the full tray and moving it to the next station, and an empty tray collection position for stacking and collecting empty trays after picking to form a vertical column of empty trays. The feeding device body also includes a feeding process lifting module for lifting the trays. This device enables efficient and convenient picking of material from trays and retrieving of empty trays; furthermore, it allows for a more rational arrangement of the feeding device.

Description

Technical Field

[0001] This invention relates to the technical field of feeding devices for detecting appearance defects, and more specifically, to a feeding device, method, and application for detecting appearance defects. Background Technology

[0002] With the rapid 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 both on the rise. Since these products are electronic products assembled based on the mid-frame, the quality of the mid-frame directly affects the quality of the product.

[0004] The mid-frame of this type of product is divided into a BG surface for mounting the screen and a CG surface for mounting the battery. During the processing and transportation of the mid-frame, appearance defects that affect product quality are prone to occur on the BG and CG surfaces, such as stress marks, dents, dents, scratches, burrs on edges, rough edges, rolled edges, overmilling, missed milling, and incomplete milling.

[0005] Traditional methods for inspecting the appearance defects of such objects mostly rely on manual visual inspection or sequential image capture and identification using inspection equipment. These methods suffer from several drawbacks. First, their accuracy is insufficient because the inspection area is not fully covered, and there is no systematic and targeted camera deployment for different inspection areas. This leads to missed defects. Second, these methods lack a complete automated inspection system. From loading to unloading, current technology lacks a device capable of detecting appearance defects from loading and dust removal to targeted inspection of different areas and finally to unloading. Consequently, existing inspection equipment has low efficiency and cannot meet the demands of high-volume product appearance inspection.

[0006] Regarding the feeding section, existing feeding devices are difficult to integrate well with other appearance inspection devices, and they are also not well-suited for the products required for this invention. Therefore, the prior art lacks a feeding device that can effectively integrate with appearance inspection and efficiently feed such objects. Summary of the Invention

[0007] To address the technical problems existing in the prior art, the present invention provides a feeding method for detecting appearance defects, which includes the following steps:

[0008] Step 1: Loading material onto the full material tray

[0009] The trays fully loaded with the materials to be tested are stacked vertically to form a vertical column of trays and placed at the bottom of the feeding device;

[0010] Step 2: Lifting the material tray

[0011] The lifting module in the feeding process lifts the entire material tray vertically upwards to the material picking position;

[0012] Step 3: Take material from the top tray of the vertical column of trays.

[0013] The material handling component, located above the material handling position, picks up the material from the top of the vertical column of material trays and transfers it to the next work station.

[0014] Step 4: Empty tray collection

[0015] The lifting module in the feeding process lifts the entire vertical column of material trays upwards to the empty material tray collection position; the empty material tray clamping mechanism located at the empty material tray collection position clamps and fixes the empty material tray at the top of the vertical column of material trays that has already been picked up.

[0016] Step 5: The material trays are returned vertically.

[0017] After the empty material tray is fixed in the empty material tray collection position by the empty material tray clamping mechanism, the entire tray column is moved downward to the material picking position under the drive of the lifting module;

[0018] Step 6: Repeat steps 3-5.

[0019] Repeatedly pick up material from the vertical column of the tray, collect empty trays, and return the trays vertically.

[0020] Step 7: Stack empty trays vertically.

[0021] All trays containing materials to be tested in the vertical column of trays are picked up by the material picking component, and all empty trays are stacked at the empty tray collection position by the empty tray clamping mechanism to form an empty tray vertical column.

[0022] Step 8: Empty tray retraction

[0023] Once the empty material tray clamping mechanism is released, the robotic arm or a person can remove the empty material tray vertically as a whole.

[0024] Specifically, the above method can efficiently and conveniently retrieve materials from the material trays and recycle empty trays; and the method can make the arrangement of the feeding device more reasonable; the main body of the device in this invention is arranged in the form of stacked material trays;

[0025] Firstly, the tray stacking method allows for a larger number of trays to be stacked at once, enabling the loading of more materials in a single process. Furthermore, since the materials in the trays are mainly for square-shaped three-dimensional electronic products, stacking them vertically ensures that the end faces of the electronic products remain stable and horizontal, facilitating subsequent material retrieval.

[0026] Secondly, the stacking of material trays can be coordinated with the full material tray feeding section, material picking position and empty material tray collection position arranged in sequence along the vertical direction, so that the overall layout of the device is concentrated in the vertical direction, thereby ensuring that the main body of the device occupies less space in the horizontal direction.

[0027] Third, the vertically stacked trays naturally form an uppermost section that facilitates material retrieval and a lowermost section that is easy to coordinate with the support structure to support the whole; thus, it is easy to realize the individual disassembly function of the uppermost tray, that is, to retrieve and lift the material from the uppermost tray separately without affecting the other trays.

[0028] Fourth, in this invention, the loading personnel can place the stacked full material trays into the full material tray feeding section; then the height of the stacked material trays themselves can coordinate with the lifting module; so that the lifting control of only one lifting module can realize the picking of the uppermost material tray and, in conjunction with the height formed by the material trays themselves, lift the empty material tray after the uppermost material is picked up to the empty material tray collection position; in this cycle, the full material trays in the full material tray feeding section are naturally and gradually reduced by picking, and the empty material trays in the empty material tray collection position gradually increase.

[0029] Fifth, since the empty material trays in this invention naturally accumulate at the empty material tray collection position to form a vertical column of empty material trays, they can be easily collected by robotic arms or collection personnel.

[0030] The present invention also provides a feeding device for detecting appearance defects, which is applicable to the aforementioned feeding method. The feeding device includes a main body, and the main body is provided with, from bottom to top, a full material tray feeding section for stacking full material trays to form a vertical column of trays, a feeding process picking position for picking up the material to be tested from the full material tray and moving it to the next station, and an empty material tray collecting position for stacking and collecting the empty material trays after picking up the material to form a vertical column of empty material trays; the main body of the feeding device is also provided with a feeding process lifting module for lifting the material trays.

[0031] Preferably, the full feed tray includes a feed tray placement base plate arranged in parallel along the horizontal direction; the upper part of the placement base plate is provided with a feed tray sliding guide rail that is consistent with the extension direction of the placement base plate; and a feed tray sliding base plate that is slidably engaged with the feed tray sliding guide rails on both sides is provided.

[0032] The portion of the sliding base plate located between the sliding guide rails of the two feeding sections forms a vertical lifting opening to cooperate with the lifting module for lifting; the upper surface of the sliding base plate forms a placement area for placing the material tray in the middle; each of the four corners of the placement area is provided with a vertically oriented limiting block; the limiting block is trapezoidal and there are two at each corner, located on both sides of the vertex of the corner to limit the material tray; a handle is provided in the middle of the upper surface of the feeding section sliding base plate on the side far from the lifting opening for pulling the feeding section sliding base plate along the feeding section sliding guide rail.

[0033] The sliding base plate of the feeding section can better support the lowest tray in the vertical column of trays at the feeding section; and the sliding base plate can work with the limiting block to form a vertical placement area for placing the vertical column of trays; the vertical column of trays located in the placement area can be better limited in the vertical direction to ensure that its vertical position corresponds to the material picking position and the empty tray collection position.

[0034] Preferably, the feeding section placement base plate is also provided with a feeding section cylinder assembly for driving the feeding section sliding base plate to slide along the feeding section sliding guide rail; the sliding mover of the feeding section cylinder assembly is connected to the feeding section sliding base plate; a feeding section positioning pin is provided at the position of the feeding section placement base plate below the handle, which is driven by an air source to move in the vertical direction; a feeding section positioning through hole is formed at the feeding section sliding base plate for cooperating with the feeding section positioning pin to limit the feeding section sliding base plate in the sliding direction;

[0035] An L-shaped induction plate is arranged on the outer wall of the end of the sliding base plate located on one side of the lifting opening; sensors for sensing and cooperating with the induction plate are respectively arranged at both ends of the sliding direction of the induction plate along the sliding guide rail of the induction plate; and photoelectric sensors for sensing and identifying the material tray at the induction plate are also provided on both sides of the sliding guide rail of the induction plate.

[0036] Preferably, the lifting module for the feeding process includes a lifting mounting frame arranged vertically, a servo-electric slide table arranged vertically on the lifting mounting frame, two lifting sliding blocks that slide vertically on both sides of the servo-electric slide table, and the lifting sliding blocks are driven by a servo motor with a brake; a lifting mounting plate placed vertically is connected to the two lifting sliding blocks, and right-angled lifting mounting trays are symmetrically connected to the upper part of the lifting mounting plate on both sides along the horizontal direction; a lifting base plate is arranged on the upper part of the two lifting mounting trays, extending along the lifting opening direction of the sliding base plate of the feeding section; the upper end surface of the lifting base plate is used to support the vertical column of material trays at the full material tray feeding section and moves vertically with the lifting sliding blocks.

[0037] Preferably, a vertical lifting limit stop is arranged on the outer wall of the lifting mounting frame near the lifting base plate, and the lifting limit stop is abutted against the side wall of the vertical column of material trays to form a vertical guide; a vertical central opening is formed in the middle of the lifting base plate, and a lifting photoelectric sensor is arranged on the lower bottom surface of the lifting base plate next to the central opening. The lifting photoelectric sensor is used to sense the vertical column of material trays placed on the upper surface of the lifting base plate.

[0038] Preferably, the material picking position includes a picking base plate arranged horizontally, with a picking opening formed in the middle of the upper surface of the picking base plate for the vertical passage of the material trays; the picking opening has an additional space of one material size relative to the material tray along the y-axis; a feeding process picking assembly is arranged above the picking base plate, the feeding process picking assembly includes synchronous belt-type picking process x-axis linear modules arranged along the x-axis on both sides of the upper surface of the picking base plate; the x-axis and y-axis directions are respectively aligned with the width and length directions of the material trays at the vertical column of the material trays; the picking process x-axis linear module is provided with a picking process x-axis mover that moves along the x-axis, and the x-axis movers on both sides are connected to a synchronous belt-type picking process y-axis linear module that moves along the x-axis with it;

[0039] The material handling process's y-axis linear module has two adjacent y-axis movers that move along the y-axis. Each y-axis mover is connected to a vertically arranged z-axis cylinder via an x-axis connecting block. The piston rod of the z-axis cylinder is connected to a suction assembly, which includes a z-axis connecting block that moves vertically with the piston rod. The lower surface of the z-axis connecting block is connected to a horizontally arranged suction cup mounting plate. The suction cup mounting plate has downward-facing suction nozzles at its four corners. The four suction cups work together to pick up the material to be tested. An encoder is mounted on the upper side of the suction cup mounting plate via an encoding mounting plate.

[0040] Preferably, the material picking opening of the material picking base plate is provided with material picking positioning components on both sides along the y-axis direction for fixing the uppermost material tray in the vertical column of material trays. The material picking positioning components include material picking positioning cylinders arranged along the y-axis direction. The piston rod of the material picking positioning cylinders is connected to a material picking positioning horizontal plate extending along the x-axis direction. The material picking positioning horizontal plates at the material picking positioning components on both sides are driven by the cylinders to press against the two sides of the uppermost material tray in the vertical column of material trays to achieve positioning. Photoelectric sensors for identifying and sensing the uppermost material tray in the vertical column of material trays are provided on both sides along the y-axis direction at the material picking opening of the material picking base plate. Multiple material picking guide rods are arranged on both sides along the y-axis direction at the material picking opening of the material picking base plate. The material picking guide rods are used to abut against the vertical column of material trays to form vertical guidance.

[0041] Preferably, the empty material tray collection position includes a collection position base plate arranged in a horizontal direction; collection position linear guide rails are arranged on both sides of the upper surface of the collection position base plate; multiple collection position sliding blocks are arranged on both sides of the collection position linear guide rails and slide with them; a collection position annular plate is connected to the upper surface of the multiple collection position sliding blocks; a collection opening for the vertical passage of the material tray is formed in the middle of both the collection position base plate and the collection position annular plate; an empty material tray clamping mechanism is arranged on both sides of the collection opening of the collection position annular plate.

[0042] The empty material tray clamping mechanism includes an empty material tray clamping cylinder. The piston rod end of the empty material tray clamping cylinder is connected to an empty material tray clamping plate. The empty material tray clamping plate is L-shaped and includes a clamping vertical plate along the vertical direction and a clamping horizontal plate along the horizontal direction. The clamping horizontal plates at both sides of the empty material tray clamping mechanism cooperate to abut against the bottom surface of the lowest empty material tray in the vertical column of empty material trays to support the vertical column of empty material trays in the vertical direction. The clamping vertical plates at both sides of the empty material tray clamping mechanism abut against the side wall of the empty material tray in the vertical column of empty material trays to form a limit. Multiple empty material tray limiting plates along the vertical direction are provided at the side wall of the mobile phone opening at the collection position annular plate. The empty material tray limiting rod cooperates with the clamping vertical plate to form a vertical passage for limiting the vertical passage of the empty material tray in the vertical direction.

[0043] The present invention also provides a material feeding application for appearance defect detection, which applies the aforementioned material feeding device and material feeding method to the mid-frame of a mobile phone. Attached Figure Description

[0044] Figure 1 This is a schematic diagram of the main body of the device in Example 1; Figure 2 This is a schematic diagram of the CG surface positioning fixture in Example 2; Figure 3 This is a structural schematic diagram of the CG surface positioning fixture from another perspective in Example 2; Figure 4 This is a schematic diagram of the main body of the clamp in Example 2; Figure 5 for Figure 4 A structural diagram from another perspective; Figure 6 This is a schematic diagram of the main body of the feeding device in Example 3; Figure 7 for Figure 6 Schematic diagram of the feeding section of the full-load material tray; Figure 8 for Figure 7 A structural diagram from another perspective; Figure 9 for Figure 6 Schematic diagram of the lifting module for the loading and unloading process; Figure 10 for Figure 6 Schematic diagram of the material extraction station structure; Figure 11 for Figure 6 Schematic diagram of the hollow material tray collection position; Figure 12 for Figure 11 Schematic diagram of the hollow material tray clamping mechanism; Figure 13This is a schematic diagram of the dust removal device in Example 3; Figure 14 for Figure 13 Schematic diagram of the structure of the central tipping station; Figure 15 for Figure 13 Schematic diagram of the material handling unit in the middle section; Figure 16 for Figure 13 Schematic diagram of the two-axis dust removal module; Figure 17 This is a schematic diagram of the area array detection device in Example 3; Figure 18 This is a schematic diagram of the detection device combining 2D and 3D methods in Example 4; Figure 19 for Figure 18 A structural diagram from another perspective; Figure 20 for Figure 19 Schematic diagram of the structure of the multi-head material gripping module; Figure 21 for Figure 19 A schematic diagram of the structure of the linear module for material picking along the y-axis of the integrated detection system; Figure 22 for Figure 19 A schematic diagram of the combined detection and delivery pathway; Figure 23 for Figure 19 A schematic diagram of the structure of the combined detection transition component; Figure 24 for Figure 19 A schematic diagram of the structure of a 2D line scan camera; Figure 25 for Figure 19 A schematic diagram of the structure of the biomimetic AOI light source and 2D camera mounting bracket; Figure 26 for Figure 19 A schematic diagram of the structure of the 3D detection module; Figure 27 for Figure 19 A schematic diagram of the structure of the combined detection and unloading conveyor shaft; Figure 28 for Figure 19 A schematic diagram of the combined detection and unloading x-axis module; Figure 29 This is a schematic diagram of the macro camera body in Example 5; Figure 30 This is a schematic diagram of the structure of the first station for macro detection in Example 5; Figure 31 This is a schematic diagram of the structure of the second micro-detection station in Example 5; Figure 32 This is a schematic diagram of the structure of the third station for macro detection in Example 5; Figure 33 This is a schematic diagram of the fourth station for macro detection in Example 5; Figure 34 This is a schematic diagram of the structure of the fifth station for macro detection in Example 5; Figure 35 This is a schematic diagram of the sixth station for micro-detection in Example 5; Figure 36 This is a schematic diagram of the main body of the macro device in Example 6; Figure 37 for Figure 36 Schematic diagram of the X-axis material transfer component for medium-micro distance detection; Figure 38 for Figure 36 A schematic diagram of the micro-range detection flipping component; Figure 39 for Figure 36 Schematic diagram of the micro-range detection y-axis material transfer assembly; Figure 40 This is a schematic diagram of the main body of the lifting linear module in Example 6; Figure 41 This is a schematic diagram of the BG surface of the mobile phone's mid-frame. Figure 42 This is a structural diagram of the CG surface of the mobile phone's mid-frame. Detailed Implementation

[0045] To further understand the content of this invention, the invention will be described in detail with reference to the embodiments. It should be understood that the embodiments are merely illustrative and not limiting of the invention.

[0046] Example 1

[0047] This embodiment provides a method for detecting appearance defects, which is based on appearance defect detection equipment and specifically includes the following steps.

[0048] Step 1: Loading materials

[0049] The material is fed using a feeding device for detecting visual defects.

[0050] Step 2: Dust removal and CG area array inspection

[0051] The object to be tested is kept with its BG side facing down and is dusted by the material surface dust removal device 1300. After dust removal, the CG side of the object to be tested is detected by the area array detection device 1700.

[0052] Step 3: Combined 2D and 3D inspection of CG surfaces

[0053] A combined 2D and 3D inspection system is used to perform CG surface inspection on the object after the previous step.

[0054] Step 4: Macro Detection

[0055] A macro inspection system 150 performs macro inspection on the CG and BG surfaces of the object that has been inspected in the previous step. During the macro inspection process, the object is flipped over, and the object that has been inspected at the end of the macro inspection keeps the BG surface facing up.

[0056] Step 5: Combined 2D and 3D inspection of BG surfaces

[0057] A BG surface inspection is performed on the object after the previous step using an inspection system that combines 2D and 3D appearance.

[0058] Step 6: BG Area Array Detection

[0059] The area array detection device 1700 performs area array detection on the BG surface of the detection object;

[0060] Step 7: Sorting and unloading

[0061] Therefore, after the testing is completed, the tested items are sorted into qualified products and defective products.

[0062] Understandably, this method can use a complete set of equipment to inspect both the BG and CG surfaces of the object being inspected, thereby comprehensively covering any potential appearance defects. This allows for efficient inspection and sorting of large batches of objects to identify and remove defective products.

[0063] In this embodiment, an appearance defect detection device includes a main body 100, which includes a feeding end and a discharging end. From the feeding end to the discharging end, a feeding 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 sequentially.

[0064] Specifically, the main body 100 of the device in this embodiment can better cover all areas of the object to be tested with a single device, and a targeted system is used to test different parts of the object, thus improving the defect detection rate and ensuring product quality.

[0065] Furthermore, the main body 100 of the equipment in this embodiment can complete the entire process from feeding to dust removal to targeted testing of each area and finally to unloading with a single device. Therefore, the entire testing process is more compact with fewer gaps in between, which can better improve the overall testing efficiency, ensure high testing efficiency, and thus meet the testing needs of large production volumes.

[0066] Example 2

[0067] This embodiment provides a CG surface positioning fixture 200 for positioning and cooperating with the CG surface of the object being tested, and a BG surface product positioning fixture for positioning and cooperating with the BG surface of the mobile phone frame, as described in Embodiment 1.

[0068] The CG surface positioning fixture 200 includes a CG surface positioning base plate 210 for connecting and arranging the air path. A CG surface suction head arrangement plate 220 is attached to the upper surface of the CG surface positioning base plate 210. A CG surface adsorption position is formed on the upper surface of the CG surface suction head arrangement plate 220. Multiple CG surface suction nozzles 221 connected to the air path are arranged on the CG surface suction head arrangement plate 220. The multiple CG surface suction nozzles 221 work together to adsorb the object to be detected at the CG surface adsorption position.

[0069] 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 towards the CG surface adsorption position for sensing and identification. Two CG surface air passages 211 are arranged at the center of the side wall and the bottom wall of the CG surface positioning base plate 210, respectively. An O-ring 212 for sealing is arranged at the CG surface air passage 211 at the center of the bottom wall of the CG surface positioning base plate 210.

[0070] The CG surface positioning base plate 210 has a CG surface process hole 213 formed on the side wall of the CG surface air passage 211 for processing the internal air passage. After processing and assembly, the process hole is plugged with screws, and the CG surface air passage 211 is connected to the CG surface suction nozzle 221 through the internal air passage.

[0071] The number of nozzles at the CG surface suction head arrangement plate 220 is four. The four nozzles are arranged near the four corners of the CG surface suction head arrangement plate 220, respectively. A wiring groove is formed at the corner of the outer wall of the CG surface positioning base plate 210 near 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 has rounded corners.

[0072] The four corners where the CG surface positioning base plate 210 and the CG surface suction head arrangement plate 220 fit together are formed with through screw holes 213. 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 head 221.

[0073] The BG surface product positioning fixture includes a fixture body 400, which includes a BG surface placement base plate 410 arranged horizontally at its bottom. The upper part of the BG surface placement base plate 410 is provided with a BG surface placement frame 420 arranged vertically. The upper end face of the BG surface placement frame 420 has a BG surface placement position for placing the test object. The BG surface placement frame 420 is provided with a BG surface adsorption component and a BG surface inner limiting component for positioning the test object at the BG surface placement position.

[0074] The BG surface adsorption component is used to cooperate with the bottom wall of the BG surface of the object to achieve adsorption, and the BG surface inner limiting component is used to abut against the side wall of the BG surface of the object to form an inner limiting fit; the BG surface placement rack 420 is shaped like a four-legged stool; the BG surface inner limiting 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 arranged in a ring relative to the center position of the BG surface placement position; the four claws 431 are respectively perpendicular to the four sides of the object to be tested corresponding to the BG surface placement position and are arranged to move along the vertical direction.

[0075] Four claw bodies 431 have BG surface positioning pins 4311 vertically arranged on one side of the center of the BG surface placement position. Each claw body 431 has two BG surface positioning pins 4311, which are 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 used to abut against the side wall of the corresponding BG surface of the detection object to cooperate and form an internal support positioning. The side wall of the BG surface placement frame 420 is provided with an air source interface 421 for connecting the air source pipeline.

[0076] 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 adhere to 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 at the BG surface suction cup mounting plate in one of the corner areas.

[0077] Example 3

[0078] This embodiment provides a feeding device and method for detecting appearance defects applicable to Embodiment 1. The feeding method for detecting appearance defects specifically includes the following steps:

[0079] Step 1: Loading material onto the full material tray

[0080] The trays fully loaded with the materials to be tested are stacked vertically to form a vertical column of trays and placed at the bottom of the feeding device;

[0081] Step 2: Lifting the material tray

[0082] The lifting module 640, during the feeding process, lifts the entire material tray vertically upwards to the material picking position;

[0083] Step 3: Take material from the top tray of the vertical column of trays.

[0084] The material handling component, located above the material handling position, picks up the material from the top of the vertical column of material trays and transfers it to the next work station.

[0085] Step 4: Empty tray collection

[0086] The lifting module 640 in the feeding process lifts the entire vertical column of material trays upwards to the empty material tray collection position 630; the empty material tray clamping mechanism 635 located at the empty material tray collection position 630 clamps and fixes the empty material tray at the top of the vertical column of material trays that has completed material removal.

[0087] Step 5: The material trays are returned vertically.

[0088] After the empty material tray is fixed at the empty material tray collection position 630 by the empty material tray clamping mechanism, the entire tray column is moved downward to the material picking position under the drive of the lifting module.

[0089] Step 6: Repeat steps 3-5.

[0090] Repeatedly pick up material from the vertical column of the tray, collect empty trays, and return the trays vertically.

[0091] Step 7: Stack empty trays vertically.

[0092] All trays containing materials to be tested in the vertical column of trays are picked up by the material picking component, and all empty trays are stacked at the empty tray collection position 630 through the empty tray clamping mechanism 635 to form an empty tray vertical column.

[0093] Step 8: Empty tray retraction

[0094] The empty material tray clamping mechanism 635 is released, and the robot or manual laborer removes the empty material tray vertically as a whole.

[0095] Specifically, the above method allows for efficient and convenient retrieval of material from a material-filled tray and recovery of an empty tray; furthermore, it enables a more rational arrangement of the feeding device; combined with... Figure 6 The feeding device used in this method for detecting appearance defects includes a feeding device body 600. The feeding device body 600 has, from bottom to top, a full material tray feeding section 610 for stacking full material trays to form a vertical column of material trays, a material picking position for picking up the material to be inspected from the full material tray and moving it to the next station, and an empty material tray collection position 630 for stacking and collecting empty material trays after picking up the material to form a vertical column of empty material trays. The feeding device body 600 also has a feeding process lifting module 640 for lifting the material trays.

[0096] Specifically, in this embodiment, the main body of the device is initially arranged in a stacked tray configuration; it can be understood that...

[0097] Firstly, the tray stacking method allows for a larger number of trays to be stacked at once, enabling the loading of more materials in a single process. Furthermore, since the materials in the trays are mainly for square-shaped three-dimensional electronic products, stacking them vertically ensures that the end faces of the electronic products remain stable and horizontal, facilitating subsequent material retrieval.

[0098] Secondly, the stacking of material trays can be coordinated with the full material tray feeding section 610, the material picking position and the empty material tray collection position 630 arranged in sequence along the vertical direction, so that the overall layout of the device is concentrated in the vertical direction, thereby ensuring that the main body of the device occupies less space in the horizontal direction.

[0099] Third, the vertically stacked trays naturally form an uppermost section that facilitates material retrieval and a lowermost section that is easy to coordinate with the support structure to support the whole; thus, it is easy to realize the individual disassembly function of the uppermost tray, that is, to retrieve and lift the material from the uppermost tray separately without affecting the other trays.

[0100] Fourth, in this embodiment, the loading personnel can place the stacked full material trays into the full material tray feeding section 610; then the height of the stacked material trays themselves can coordinate with the lifting module; so that the lifting control of only one lifting module can realize the picking of the uppermost material tray and, in conjunction with the height formed by the material trays themselves, lift the empty material tray after the uppermost material is picked up to the empty material tray collection position 630; in this cycle, the full material trays in the full material tray feeding section 610 are naturally and gradually reduced by picking up material, and the empty material trays at the empty material tray collection position 630 gradually rise and increase.

[0101] Fifth, since the empty material trays in this embodiment naturally accumulate at the empty material tray collection position 630 to form a vertical column of empty material trays, they can be easily collected by the robotic arm or collection personnel.

[0102] In this embodiment, combined with Figures 7-8 The full feed tray 610 includes a feed tray placement base plate 611 arranged in parallel along the horizontal direction; a feed tray sliding guide rail 612 with the same extension direction as the placement base plate is arranged on the upper part of the placement base plate; a feed tray sliding base plate with sliding cooperation is arranged at the feed tray sliding guide rail 612 on both sides.

[0103] The portion of the sliding base plate located between the sliding guide rails 612 of the two feeding sections forms a lifting opening 618 in the vertical direction to cooperate with the lifting module for lifting; a placement area for placing a material tray is formed in the middle of the upper surface of the sliding base plate; a vertically oriented limiting block 613 is arranged at each of the four corners of the placement area; the limiting block 613 is trapezoidal and two are provided at each corner, respectively located on both sides of the vertex of the corner to limit the material tray; a handle 614 is provided in the middle of the upper surface of the feeding section sliding base plate on the side far from the lifting opening 618 for pulling the feeding section sliding base plate along the feeding section sliding guide rail 612.

[0104] Understandably, the sliding base plate of the feeding section can better support the lowest tray in the vertical column of trays at the feeding section; and the sliding base plate can cooperate with the limiting block 613 to jointly form a vertical placement area for placing the vertical column of trays; the vertical column of trays located in the placement area can be better limited in the vertical direction to ensure that its vertical position corresponds to the material picking position and the empty tray collection position 630.

[0105] In this embodiment, a feeding cylinder assembly 615 is also arranged at the feeding section placement base plate 611 for driving the feeding section sliding base plate to slide along the feeding section sliding guide rail 612; the sliding mover of the feeding section cylinder assembly 615 is connected to the feeding section sliding base plate; a feeding section positioning pin 616 is arranged at the position of the feeding section placement base plate 611 below the handle 614, which is driven by an air source to move in the vertical direction; a feeding section positioning through hole is formed at the feeding section sliding base plate for cooperating with the feeding section positioning pin 616 to limit the upper limit of the feeding section sliding base plate in the sliding direction;

[0106] Understandably, the feed section cylinder assembly 615 and the feed section positioning pin 616 can effectively control the horizontal movement and positioning of the feed section sliding base plate and the vertical column of material trays placed at the feed section.

[0107] An L-shaped feed section sensor 617 is arranged on the outer wall of the end of the sliding base plate located on one side of the lifting opening 618; sensors for sensing and cooperating with the feed section sensor 617 are respectively arranged at both ends of the feed section placement base plate 611 along the sliding direction of the feed section sliding guide rail 612; feed section photoelectric sensors 619 for sensing and identifying the material tray at the feed section are also provided at the positions on both sides of the feed section sliding guide rail 612 at the feed section placement base plate 611.

[0108] Specifically, this type of sensor enables better automated control of the feeding device.

[0109] Furthermore, in this embodiment, combined with Figure 9 The lifting module 640 for the feeding process includes a lifting mounting frame 641 arranged vertically. A servo electric slide table with an electric cylinder is arranged vertically on the lifting mounting frame 641. Two lifting sliding blocks 642 that slide vertically are provided on both sides of the servo electric slide table. The lifting sliding blocks 642 are driven by a servo motor 643 with a brake. A lifting mounting plate 644 placed vertically is connected to the two lifting sliding blocks 642. Right-angled lifting mounting trays 645 are symmetrically connected to the upper part of the lifting mounting plate 644 on both sides in the horizontal direction. A lifting base plate 646 is arranged on the upper part of the two lifting mounting trays 645, extending along the lifting opening 618 at the sliding base plate of the feeding part. The upper end face of the lifting base plate 646 is used to support the vertical row of material trays at the full material tray feeding part 610 and moves vertically with the lifting sliding blocks 642.

[0110] Specifically, the braked servo motor 643 can drive the vertical column of material trays to move up and down to achieve positioning. In addition, the relevant mechanism at the installation of the lifting sliding block 642 can provide better stable support for the vertical column of material trays to ensure that the entire column remains vertical and that each individual material tray remains horizontal to facilitate subsequent material handling.

[0111] A vertical lifting limit stop is arranged on the outer wall of the lifting mounting frame 641 near the lifting base plate 646. The lifting limit stop is close to the side wall of the vertical column of material trays to form a vertical guide. A vertical central opening is formed in the middle of the lifting base plate 646. A lifting photoelectric sensor is arranged on the lower bottom surface of the lifting base plate 646 next to the central opening. The lifting photoelectric sensor is used to sense the vertical column of material trays placed on the upper surface of the lifting base plate 646.

[0112] In this embodiment, combined with Figure 10 The material picking position includes a picking base plate 621 arranged horizontally. A picking opening 622 is formed in the middle of the upper surface of the picking base plate 621 for the vertical passage of the material trays. The picking opening 622 has an additional space of one material size relative to the material tray along the y-axis. A feeding process picking assembly is arranged above the picking base plate 621. The feeding process picking assembly includes synchronous belt-type picking process x-axis linear modules 623 arranged along the x-axis on both sides of the upper surface of the picking base plate 621. The x-axis and y-axis directions are consistent with the width and length directions of the material trays at the vertical column of the material trays, respectively. The picking process x-axis linear module 623 is provided with a picking process x-axis mover that moves along the x-axis. The x-axis movers on both sides are connected to a synchronous belt-type picking process y-axis linear module 624 that moves along the x-axis.

[0113] Understandably, this implementation mainly uses the x-axis linear module 623 and the y-axis linear module 624 of the material picking process to achieve the movement required during material picking. On the one hand, the x-axis linear module 623 of the material picking process can be conveniently arranged on both sides of the material picking opening 622. On the other hand, the material picking requirements can be better met by a single y-axis linear module 624 of the material picking process, and the materials at the tray can be picked up sequentially according to the specified material picking order.

[0114] The material handling process y-axis linear module 624 has two adjacent material handling process y-axis movers 6241 that move along the y-axis. Both material handling process y-axis movers 6241 are connected to material handling process z-axis cylinders 6242 arranged vertically via x-axis connecting blocks. The lower part of the piston rod of the material handling process z-axis cylinder 6242 is connected to a material handling process adsorption assembly 6243. The material handling process adsorption assembly 6243 includes a z-axis connecting block that moves vertically with the piston rod. The z-axis connecting block drives a material handling process suction cup mounting plate 6244 arranged horizontally to be connected to its lower surface. Material handling process suction nozzles with the adsorption direction facing downward are arranged at the four corners of the material handling process suction cup mounting plate 6244. The four material handling process suction cups cooperate to pick up the material to be tested. An encoder 6245 is mounted on the upper side of the material handling process suction cup mounting plate 6244 via an encoding mounting plate.

[0115] Specifically, the materials placed in the trays are typically arranged in a 2×5 pattern, with a length of 5 and a width of 2, and a total of 10 materials are placed in a single tray. The two material picking adsorption components 6243 at the y-axis mover 6241 of the picking process pick up two materials at a time, starting from the first row. When the fifth material is picked up, the assembly moves forward to the second row, picks up the first material in the second row, and then removes it. Finally, the remaining four materials in the second row are removed in sequence. This arrangement, combined with the picking sequence, ensures that all 10 materials are removed one by one without being unloaded. On the other hand, it also reduces the load on the y-axis sliding block and allows for faster movement.

[0116] The material picking opening 622 of the material picking base plate 621 has material picking positioning components arranged on both sides along the x-axis direction for fixing the uppermost material tray of the vertical column. The material picking positioning components include material picking positioning cylinders 625 arranged along the x-axis direction. The piston rod of the material picking positioning cylinders 625 is connected to a material picking positioning horizontal plate 626 extending along the y-axis direction. The material picking positioning horizontal plates 626 at the material picking positioning components on both sides are driven by the cylinder to press against the two sides of the uppermost material tray of the vertical column to achieve positioning. The material picking opening 622 of the material picking base plate 621 is provided with photoelectric sensors 627 for identifying and sensing the uppermost material tray of the vertical column of the material picking part on both sides along the x-axis direction. Multiple material picking guide rods 628 are arranged on both sides along the x-axis direction at the material picking opening 622 of the material picking base plate 621. The material picking guide rods 628 are used to abut against the vertical column of the material tray to form vertical guidance.

[0117] Specifically, the material picking and positioning component can effectively fix the uppermost tray in the vertical column that is about to be picked up during material picking, thereby ensuring that the tray position does not shift during the entire material picking process. Furthermore, the material picking guide rod 628 can better ensure the stable vertical arrangement of the tray column, corresponding to the feeding section and the empty tray collection position 630, to ensure the normal operation of the entire feeding process.

[0118] Combination Figure 11 The empty material tray collection position 630 includes a collection position base plate 631 arranged in a horizontal direction; collection position linear guide rails 632 are respectively arranged on both sides of the upper surface of the collection base plate; multiple collection position sliding blocks 633 are arranged on both sides of the collection position linear guide rails 632 and slide with them; a collection position annular plate 634 is connected to the upper surface of the multiple collection position sliding blocks 633; ​​a collection opening for the vertical passage of the material tray is formed in the middle of the collection position base plate 631 and the collection position annular plate 634; an empty material tray clamping mechanism 635 is arranged on both sides of the collection opening of the collection position annular plate 634.

[0119] Specifically, the collection opening is preferably aligned with the aforementioned material collection opening 622 and lifting opening 618 to allow the vertical movement of the material trays along the vertical direction.

[0120] The empty material tray clamping mechanism 635 includes an empty material tray clamping cylinder 6351. The piston rod end of the empty material tray clamping cylinder 6351 is connected to an empty material tray clamping plate 6352. The empty material tray clamping plate 6352 is L-shaped and includes a clamping vertical plate 63521 along the vertical direction and a clamping horizontal plate 63522 along the horizontal direction. The clamping horizontal plates 63522 at both sides of the empty material tray clamping mechanism 635 cooperate to abut against the bottom surface of the empty material tray at the bottom of the empty material tray column to support the empty material tray column in the vertical direction. The clamping vertical plates 63521 at both sides of the empty material tray clamping mechanism 635 abut against the side wall of the empty material tray column to form a limit.

[0121] Multiple empty material tray limiting plates 636 are provided on the side wall of the mobile phone opening at the collection position annular plate 634 along the vertical direction; the empty material tray limiting rod cooperates with the clamping vertical plate 63521 to form a vertical passage for the vertical limiting of the empty material trays to pass through in the vertical direction.

[0122] Understandably, the empty material tray clamping mechanism 635 can provide stable support for the vertical column of empty material trays located at the empty material tray collection position 630 from the bottom. After the material is picked up, the vertical column of material trays lifts up the vertical column of empty material trays from the bottom. Then, the empty material tray clamping mechanism 635 clamps and removes the empty material tray located at the top of the vertical column of material trays and uses it as the bottom of the vertical column of empty material trays.

[0123] Example 3

[0124] This embodiment provides a dust removal and detection system applicable to the main body 100 of the equipment in Embodiment 1, which is 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 area array detection system 130 and the BG 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:

[0125] Step 1: Feeding materials for dust removal

[0126] Place the object to be dusted at the material turning position 1310 with the BG side facing upwards;

[0127] Step 2: Flip the object to be dusted and inspected.

[0128] Flip the object to be inspected at the flipping position 1310 180 degrees to the lifting position 1320. At this time, the CG face of the object to be inspected is positioned at the lifting position 1320.

[0129] Step 3: Lift the object to be dusted and tested.

[0130] The object to be detected at the lifting position 1320 is lifted to a height that can be picked up by the subsequent two-axis dust removal module 1330;

[0131] Step 4: Pick up the object to be detected and move it to the dust removal position.

[0132] The two-axis dust removal module 1330 is moved to pick up the object to be detected at a height that can be picked up; while keeping the BG side of the object facing down, after picking it up, it is first moved horizontally along the x-axis to directly above the dust removal position, and then moved downward along the z-axis to the dust removal position;

[0133] Step 5: Dust Removal

[0134] The dust removal typhoon system located below the dust removal position removes dust from the objects being inspected at the dust removal position, blowing the dust up and drawing it away from the top.

[0135] Step Six: Transport the object to be detected to the area array detection position 1713.

[0136] After the dust removal is completed, the object to be inspected is moved to the area array detection position 1713 of the area array camera 1714 via the two-axis dust removal module 1330;

[0137] Step 7: Area Array Detection

[0138] The area array detection position 1713 has degrees of freedom in two rotational directions: around the y-axis and relative to its own central axis. The area array camera 1714 has degrees of freedom in three directions: x-axis, y-axis, and z-axis. The relative spatial position between the object to be detected and the area array camera 1714 is adjusted by coordinating the movements of the area array detection position 1713 and the area array camera 1714 in five axes. By adjusting the positional relationship, the four sides and four diagonals of the object that are prone to defects, as well as the four edges on the plane, are detected sequentially.

[0139] Specifically, in this embodiment, a flipping mechanism is used to flip the inspection object from the previous loading station with the CG surface facing up to the BG surface facing down. Because the BG surface has grooves and crevices that are prone to dust accumulation, keeping the BG surface facing down while passing through the dust removal station allows for better dust removal of the BG surface, resulting in a better dust removal effect. At the same time, this can also effectively avoid the situation where excessive dust accumulation on the surface of the BG surface of the inspection object affects the subsequent image acquisition of BG surface appearance defects. This ensures that the surface condition of the BG surface can be clearly imaged and identified during subsequent inspection processes.

[0140] Furthermore, the dust removal method in this embodiment can be smoothly connected with the prior feeding device and the subsequent area array detection, thereby enabling the entire visual inspection process to 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 area, so that the inspection object will not come into contact with the external environment again, thus avoiding the situation of dust accumulation due to contact with the external environment. Therefore, the dust removal method in this embodiment can ensure that the inspection object can maintain a relatively clean surface after dust removal.

[0141] In this embodiment, combined with Figure 13 The dust removal device 1300 is arranged along the x-axis with a material turning position 1310, a material lifting position 1320, and a dust removal typhoon system. Above the dust removal typhoon system is a two-axis dust removal module 1330 for transporting the object to be inspected 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 inspection device 1700. The area array inspection device 1700 is equipped with an area array camera 1714 for performing area array visual inspection on the object to be inspected.

[0142] Understandably, the aforementioned structure can better achieve the dust removal and array detection process described above.

[0143] Combination Figure 14The material turning position 1310 includes a material turning and placement part 1311 that is installed at intervals along the y-axis of the material turning shaft 1312 and adsorbs the detection object through the adsorption CG surface; one end of the material turning shaft 1312 is connected to the power wheel, and the power wheel is connected to the output end of the material turning servo motor 1313 through the transmission belt and the transmission wheel to realize the control of rotation; the material turning and placement part 1311 uses a vacuum suction cup to realize the adsorption and release of the detection object;

[0144] Combination Figure 15 The lifting position 1320 includes a lifting placement part 1321 that is arranged at intervals along the y-axis and corresponds to the flipping placement plate, which adsorbs the test object by adsorbing the BG surface. The lower part of the lifting placement part 1321 is connected to the lifting base plate 1322 arranged along the y-axis. Multiple lifting placement 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 that it moves along the z-axis. The lifting placement part 1321 includes a BG surface product positioning fixture for fixing the test object by adsorbing the BG surface of the test object.

[0145] Combination Figure 16 The dust removal two-axis module 1330 includes synchronous belt-type dust removal x-axis linear modules 1331 arranged along the x-axis direction above the entire material turning position 1310, the material lifting position 1320 and the dust removal typhoon system on both sides. 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 synchronous rod 1333.

[0146] 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 arranged with a dust removal y-axis crossbeam 1335 along the y-axis direction. At the outer wall of the far-lift material position 1320 at the dust removal y-axis crossbeam 1335, a synchronous belt-type dust removal z-axis linear module 1336 along the z-axis direction is arranged. The lower part of the dust removal z-axis sliding plate 1337 that moves along the z-axis direction at the dust removal z-axis linear module 1336 is connected to a dust removal y-axis mounting plate 1338 that is arranged one-to-one with the lifting material position 1320 along the y-axis direction. The lower part of the dust removal y-axis mounting plate 1338 is arranged with dust removal adsorption parts 1339 at intervals along the y-axis direction.

[0147] The dust removal adsorption unit 1339 includes a horizontally arranged dust removal nozzle mounting plate. The four corners of the dust removal nozzle mounting plate are provided with nozzles facing downwards. The nozzles at the four corners cooperate to cooperate with the CG surface of the object to be detected at the lifting position 1320 to pick it up. The dust removal y-axis beam 1335 can be moved along the x-axis to the dust removal position located on the upper side of the dust removal typhoon system.

[0148] Combination Figure 17A two-axis rotation device 1710 for the array detection device 1700 is arranged therein. The two-axis rotation device 1710 includes a rotating housing 1711 arranged along the y-axis direction. The two ends of the rotating housing 1711 along the y-axis direction are respectively movably mounted at the x-axis moving plate 1712 of the array. The rotating housing 1711 is rotated by an array servo motor arranged inside it.

[0149] Multiple area array detection positions 1713 are evenly spaced along the y-axis on the upper surface of the rotating housing 1711. The area array detection positions 1713 can rotate around their own central axis relative to the rotating housing 1711. The area array x-axis moving plate 1712 is slidably arranged along the x-axis on the area array x-axis slide rail. The area array camera 1714 is arranged on the upper middle part of the area array x-axis slide rail. The lower part of the area array camera 1714 forms the area array visual inspection area. One end of the area array x-axis slide rail along the x-axis is used to receive the inspection object after dust removal by the dust removal device 1300, and the other end is used to cooperate with the 2D and 3D inspection systems to move the inspection object after area array visual inspection to the next inspection station.

[0150] Specifically, the aforementioned physical structure effectively ensures the stable movement and smooth rotation of the object being inspected between different workstations throughout the dust removal and inspection process, thereby ensuring the smooth operation of the entire dust removal and inspection process. Furthermore, the area array camera 1714, in conjunction with the area array two-axis rotation device 1710, can effectively cooperate to acquire images of the object being inspected from different angles, thus comprehensively covering all locations on the object's appearance prone to defects.

[0151] When the object being tested is a mobile phone frame and the overall size of the device is arranged according to the mobile phone frame, in actual operation, it takes 1 second for all four mobile phone frames to flip simultaneously, 1.5 seconds for the material receiving position 1320 to receive the material, 1.5 seconds for the material flipping position 1310 to flip back to its original position with the material flipping shaft 1312, 1 second for the dust removal adsorption unit 1339 at the dust removal two-axis module 1330 to move and pick up the material, 2 seconds for the dust removal adsorption unit 1339 to move the mobile phone frame to the dust removal position, 1 second for the tornado dust removal, and 3 seconds for the dust removal process. The dust removal process takes 1 second to complete and move to the area array detection device 1700. The dust removal two-axis module 1330 drives the dust removal adsorption part 1339 back to its original position, which takes 1 second. The entire process takes 13 seconds, and a total of 4 mobile phone frames are subjected to dust removal and area array detection. Each mobile phone frame takes about 3.3 seconds. The entire dust removal process is fast and efficient. Moreover, the dust removal and area array detection, as a link in the entire detection process, can smoothly transition with other links in the entire detection equipment to ensure the stable operation of the entire detection process.

[0152] When the object to be inspected is the mid-frame of a mobile phone and the overall size of the device is arranged according to the mid-frame, in the actual area array inspection process, at the beginning of the area array inspection, the suction nozzle at the dust removal position descends (0.2s) to break the vacuum and release the material (0.3s), the suction nozzle at the dust removal position rises (0.2s), the two-axis rotation device 1710 of the area array moves to the area array visual inspection area (0.5s), the rotational motion of the mobile phone mid-frame is detected, and the four sides and four diagonals of the mobile phone mid-frame, as well as the four edges on the plane, are inspected one by one (17s). The two axes of the area array... The rotating device 1710 moves to the position where the 2D and 3D detection systems cooperate (0.5s), the suction nozzles of the 2D and 3D detection systems descend (0.2s) and vacuum suction begins (0.3s), the suction nozzles of the 2D and 3D detection systems rise, and the two-axis rotating device 1710 returns to its original position to await the next batch of dust-cleaned mobile phone frames (1s). The entire process takes 20.4s, with each mobile phone frame taking approximately 5.1s. The entire area array detection process maintains a relatively fast operating speed, thus ensuring the efficient operation of the entire process.

[0153] Example 4

[0154] This embodiment provides a combined 2D and 3D appearance inspection system applicable to the device body 100 in Embodiment 1, which is implemented based on a combined 2D and 3D appearance inspection device 1800; this device is also applicable to the combined 2D and 3D CG surface inspection system 140 and the combined 2D and 3D BG surface inspection system 160. This embodiment also provides a combined 2D and 3D appearance inspection method and application based on the combined 2D and 3D appearance inspection system. This method is applicable to both CG surface inspection and BG surface inspection, and specifically includes the following steps:

[0155] Step 1: 2D and 3D combined detection and material loading

[0156] The multi-head gripping module 1810 grips the inspection object that has undergone dust removal and area array vision inspection;

[0157] Step 2: Combined 2D and 3D detection for material feeding

[0158] The multi-head gripping module 1810 places the gripped objects one by one at the initial position of the combined detection;

[0159] Step 3: Combining 2D and 3D detection for material handling

[0160] By combining the detection and material handling components, the detection objects located at the initial position of the combined detection are picked up one by one and placed at the combined detection transport path 1890 in turn;

[0161] Step 4: 2D Inspection

[0162] Along the combined inspection transport path 1890, a single inspection object is transported to the 2D line scan inspection position and the 2D inspection module performs 2D line scan inspection on defects such as scratches and pressure marks on the plate surface, stress marks on the plate, and over / under cleaning of the plate.

[0163] Step 5: 3D Inspection

[0164] The test object is 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, depressions, steps, over-cutting, springback, deformation, over-cutting / missing cuts, and knife marks on the surface of the test object.

[0165] Step Six: Combined 2D and 3D inspection for material preparation

[0166] After 2D and 3D inspections are completed, the inspected object is transported to the unloading position via the inspection unloading conveyor shaft 1870.

[0167] Specifically, the above-mentioned 2D and 3D combined detection method can better complete 2D detection and 3D detection sequentially through a single combined detection transport channel 1890, thereby better capturing and identifying appearance defects that may occur at the inspection object, with a wider coverage, thus better ensuring the accuracy of the detection results, and thus better identifying products with appearance defects through detection.

[0168] Combination Figures 18-19 A combined 2D and 3D appearance detection device 1800 includes a multi-head gripping module 1810 for loading materials for combined 2D and 3D appearance detection and a combined detection unloading conveying shaft 1870 for unloading materials for combined 2D and 3D appearance detection. A combined detection conveying path 1890 is arranged along the x-axis direction on the lower side of the multi-head gripping module 1810. A 2D detection module and a 3D detection module 1860 are arranged sequentially from the multi-head gripping module 1810 to the unloading conveying shaft on the moving path of the combined detection conveying path 1890.

[0169] Combination Figure 20The multi-head gripping module 1810 includes a vertically arranged multi-head gripping mounting frame 1811. A gripping x-axis linear module 1812 driven by an air source is horizontally arranged on the upper surface of the multi-head gripping mounting frame 1811 along the x-axis direction. A gripping mounting plate 1813 that moves along the x-axis with the gripping x-axis mover is connected to the upper part of the gripping x-axis mover of the gripping x-axis linear module 1812. A gripping z-axis linear module 1814, which is an electric cylinder, is placed on the gripping z-axis linear module 1814. A gripping z-axis mounting plate 1815 facing downward along the z-axis direction is arranged at the gripping z-axis mover of the gripping z-axis linear module 1814. A gripping head mounting plate 1816 along the y-axis direction is installed on the lower part of the gripping z-axis mounting plate 1815. Multiple gripping grippers 1817 are evenly spaced on the lower side of the gripping head mounting plate 1816 along the y-axis direction.

[0170] The material gripping x-axis linear module 1812 has one end located above the previous station's discharge position along the x-axis, and the other end has a material gripping placement frame 1818 positioned below it, corresponding one-to-one with the material gripping heads 1817 on the gripping head mounting plate 1816. The upper part of the material gripping placement frame 1818 is used for positioning and engaging with the object being inspected; combined with Figure 21 The upper side of the material gripping and placement frame 1818 is equipped with a linear module 1820 for Y-axis material handling, which uses an electric cylinder and is positioned along the Y-axis. A sliding cylinder-type module 1821 for Z-axis material handling is connected to the moving part of the linear module 1820 along the Y-axis. A horizontally arranged material handling plate 1822 is connected to the lower part of the moving part of the module 1821. The lower surface of the material handling plate 1822 is used for positioning and releasing the CG surface of the object being inspected. Figure 22 The combined inspection transport path 1890 is arranged below the combined inspection pick-up plate 1822 and is located at the middle position of the multiple pick-up and place racks 1818 along the y-axis direction; the combined inspection pick-up plate 1822 is used to position and cooperate with the inspection object to carry it to the combined inspection transport path 1890 and release it to place it in the combined inspection transport path 1890.

[0171] The combined detection transport path 1890 includes a combined detection x-axis transport module 1891 arranged along the x-axis direction and employing a dual-mover linear motor module. A separation sensor is arranged at the middle position of the combined detection x-axis transport module 1891 along the x-axis direction. The portions 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. A first mover and a second mover that slide along the x-axis are respectively provided in the first mover moving part 18911 and the second mover moving part 18912 within their respective regions. A combined detection transition component 1850 is provided at the junction of the movement of the first mover moving part 18911 and the second mover.

[0172] A combined detection positioning component 1892 for positioning and releasing the BG surface of the detection object is installed at the upper part of the first mover and the second mover. One end of the first mover moving part 18911 along the x-axis is located on the lower side of the combined detection picking plate 1822 for receiving the detection object at the combined detection picking plate 1822 through the combined detection positioning component 1892 at the first mover.

[0173] Combination Figure 23 A coupling detection transition assembly 1850 is arranged on the upper side of the other end of the first moving part 18911 along the x-axis direction, for coupling. Figure 23 The detection transition assembly 1850 is mounted on the detection transition mounting bracket 1851, arranged along the z-axis direction, directly above the detection transport passage 1890. The detection transition assembly 1850 includes a detection transition z-axis module 1852 using a slide cylinder. A detection transition suction plate 1853 is horizontally arranged below the z-axis mover of the detection transition z-axis module 1852.

[0174] A 2D detection module is arranged above the middle position of the first moving part 18911 along the x-axis. The first moving part 18911 located within 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 biomimetic AOI light source 1832 arranged in a ring around the 2D line scan detection position. The biomimetic AOI light source 1832 is mounted by a 2D camera mounting bracket 1830. An imaging opening 1831 is formed on one side of the 2D line scan mounting bracket away from the detection transition component 1850. The 2D line scan camera 1840 is fixedly mounted by the 2D camera mounting bracket 1830, and its imaging optical path passes through the imaging opening 1831 and is directly opposite the 2D line scan detection position of the first moving part 18911.

[0175] One end of the second moving part 18912 along the x-axis is located below the combined detection transition suction plate 1853 for receiving the detection object at the combined detection transition suction plate 1853 via the second moving part, and the other end of the second moving part 18912 along the x-axis is located below the combined detection unloading conveyor shaft 1870; combined Figure 26 A 3D detection module 1860 is arranged above the middle position of the second moving part 18912 along the x-axis. The second moving part 18912 located in the detection area of ​​the 3D detection module 1860 forms a 3D line laser detection position. The 3D detection module 1860 includes a 3D detection y-axis linear module 1861, which is selected as a linear motor and is arranged across the second moving part 18912 at the combined detection transition mounting frame 1851. A 3D camera 1862 is installed at the lower part of the 3D detection y-axis moving part of the 3D detection y-axis module and moves along the y-axis to perform 3D detection on the object at the 3D line laser detection position. There are 3 3D detection cameras installed in a staggered manner.

[0176] Combination Figure 27 The combined detection unloading conveying shaft 1870 includes a combined detection unloading y-axis module 1871 controlled by an air source, located on the upper side of the end of the combined detection conveying passage 1890 and arranged horizontally along the y-axis direction. A combined detection unloading z-axis module 1872, which is a slide cylinder, is installed at the combined detection unloading y-axis mover 18711 at the combined detection unloading y-axis module 1871. A horizontally arranged combined detection unloading suction plate 18722 is installed at the lower part of the combined detection unloading z-axis mover 18721 of the combined detection unloading z-axis module 1872. The combined detection unloading suction plate 18722 is used for positioning and loosening the engagement with the CG surface of the object being detected.

[0177] The combined detection and unloading y-axis module 1871 has a combined detection and unloading transition position arranged on one side along the y-axis direction, and a combined detection and unloading x-axis module 1880 controlled by a gas source along the x-axis direction towards 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 combined detection and unloading transport z-axis module 1882 arranged along the z-axis direction, which is a ball screw type. The combined detection and unloading z-axis mover 18821 of the combined detection and unloading z-axis module 1882 is connected to a horizontally arranged combined detection and unloading suction plate 1883 at the bottom. The combined detection and unloading suction plate 1883 is positioned and adsorbed with the CG surface to be detected by controlling the vacuum.

[0178] Specifically, the above structure can better meet the transplanting and inspection requirements of the entire inspection process; during the inspection process, when used for the inspection of the CG surface plate area, the 2D inspection module and the 3D inspection module 1860 can capture and identify appearance defects such as bumps, pressure marks and scratches on the CG surface plate.

[0179] When the device is used for inspection of the BG surface plate area (the inspection of the BG surface plate area is located after the micro-detection), the 2D inspection module and the 3D inspection module 1860 can capture and identify appearance defects such as stress marks, dents, indentations, scratches, edge burrs, edge rough edges, edge curls, over-milling, missed milling, and incomplete milling at the BG surface plate. At the same time, it can also capture and identify burrs, 2D code scratches, over-milling, missed milling, and incomplete milling at the 2D code area.

[0180] When the object to be inspected is the mid-frame of a mobile phone and the overall size of the device is arranged according to the mid-frame of the mobile phone, in the entire 2D line scan inspection process, firstly, the inspection pick-up plate 1822 descends (0.2s) to release the material to the first mover at the inspection transport path 1890 (0.3s), and then rises back to its original position (0.2s). The object to be inspected moves along the inspection transport path 1890 to the 2D line scan inspection position (2s), and then moves to the lower side of the inspection transition suction plate 1853 (0.5s). The inspection transition suction plate 1853 descends (0.2s) to open the vacuum and suck up the material (0.3s). After sucking up the material, the 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 object. The inspection time can be controlled in a short time, thus ensuring the high efficiency of the entire inspection process.

[0181] When the object to be inspected is the mid-frame of a mobile phone and the overall size of the device is arranged according to the mid-frame of the mobile phone, the entire 3D laser inspection process is as follows: First, the combined inspection transition suction plate 1853 descends (0.2s) and the vacuum is broken to release the material (0.3s); the micro-inspection transition suction plate rises (0.2s); the second mover carries the mid-frame of the mobile phone to the imaging position (0.5s); then, the 3D line laser (150mm / s) takes 2s; the second mover carries the mid-frame of the mobile phone to the unloading position (0.5s); the combined inspection transport suction plate 1883 descends (0.2s) and the vacuum is opened to suck up the material (0.3s); after the material sucking is completed, the combined inspection transport suction plate 1883 rises (0.2s); the empty fixture at the second mover returns to its original position (1s); the 3D inspection takes 5.4s.

[0182] The 2D camera parameters used in this implementation are as follows: Camera model: DASLA LA-CM-16K05A-00-R, Telecentric lens: DTCM16-80H-AL, Working distance: 120mm, Scanning interval: 0.005mm, Motion mode: Camera fixed, Product horizontal movement.

[0183] The parameters of the 3D camera 1862 used in this embodiment are: camera SR8060, object distance: 60mm, sampling frequency: 3.2k-13k.

[0184] Example 5

[0185] This embodiment provides a macroscopic inspection system for appearance defects applicable to the main body of the equipment in Embodiment 1. This embodiment also provides a macroscopic inspection method and application for appearance defects based on this system. This method is applicable to both CG surface inspection and BG surface inspection, and specifically includes the following steps:

[0186] Step 1: Macro-detection and material loading

[0187] Place the object to be inspected at the micro-inspection loading position;

[0188] Step 2: CG Surface Detection

[0189] The object to be inspected is passed through the first micro-inspection station 3000 and the second micro-inspection station 3100 with the CG surface facing upwards. The first micro-inspection station 3000 is used to inspect the edge of the plate in the CG surface of the object to be inspected, and the second micro-inspection station 3100 is used to inspect the waterproof surface of the CG surface of the object to be inspected.

[0190] Step 3: Detect object flipping

[0191] Flip the detection object with the CG side facing up so that the BG side is facing up.

[0192] Step 4: BG Surface Inspection

[0193] The object to be inspected, with its BG face upward, passes through the third micro-inspection station 3200, the fourth micro-inspection station 3300, the fifth micro-inspection station 3400, and the sixth micro-inspection station 3500 in sequence. The third micro-inspection station 3200 is used to inspect the position of the nut on the inner cavity surface of the object's BG. The fourth micro-inspection station 3300 is used to inspect the upper and lower U-shaped areas on the inner cavity surface of the object's BG. The fifth micro-inspection station 3400 is used to inspect the four corners of the upper and lower U-shaped areas on the inner cavity surface of the object's BG. The sixth micro-inspection station 3500 is used to inspect the T-groove area on the inner cavity surface of the object's BG.

[0194] Step 5: Micro-detection and material unloading

[0195] The object that has completed the macro inspection is then moved to the next workstation.

[0196] Specifically, the above-mentioned macro-inspection method can effectively inspect various parts of the material's CG and BG surfaces that are prone to appearance defects through multiple workstations. At the same time, each workstation can achieve the best inspection results through a unique arrangement of macro-inspection cameras.

[0197] The macro detection device includes a macro BG surface detection unit and a macro CG surface detection unit; the macro CG surface detection unit is equipped with a first macro detection station 3000 and a second macro detection station 3100; the macro BG surface detection unit is equipped with a third macro detection station 3200, a fourth macro detection station 3300, a fifth macro detection station 3400 and a sixth macro detection station 3500.

[0198] Both the first macro detection station 3000 and the second macro detection station 3100 include a positioning fixture for adsorbing and releasing the CG surface of the object being detected by engaging with the CG surface of the object being detected. 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 all include a BG surface positioning fixture for adsorbing and releasing the object being detected by engaging with the BG surface of the object being detected. The CG surface positioning fixture and the BG surface positioning fixture are both equipped with a macro detection z-axis lifting module using an electric cylinder for lifting the object being detected. The macro BG surface detection unit and the macro CG surface detection unit both use multiple macro detection cameras arranged in coordination to perform macro detection of the BG surface and CG surface of the object being detected.

[0199] Combination Figure 29 The macro inspection camera includes a macro camera body 2900. 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 installation. A first macro imaging lens 2920 with the shooting light path facing downward is arranged on the lowest end face of the macro camera body 2900. A second macro imaging lens 2930 with the shooting light path facing outward is arranged on the lower part of the side wall of the macro camera body 2900 opposite to the side wall where the macro camera mounting block 2910 is located. The lens axes of the first macro imaging lens 2920 and the second macro imaging lens 2930 are perpendicular to each other.

[0200] Combination Figure 30The first macro inspection station 3000 also includes a first macro inspection camera assembly located directly above the CG surface positioning fixture at the station. Multiple macro inspection cameras at the first macro inspection camera assembly work together to form the first macro inspection position. The macro inspection z-axis lifting module can drive the CG surface positioning fixture and the inspection object at the station to move upward to the first macro inspection position. The first macro inspection camera assembly includes multiple macro inspection cameras respectively arranged on the outer sides of the two wide edges of the CG surface of the inspection object. The macro inspection cameras on both sides are arranged parallel and spaced between the two ends in the width direction of the CG surface of the inspection object. The macro inspection cameras are all tilted through the adapter plate. The outer wall plane of the macro inspection cameras at the first macro inspection camera assembly maintains an inclination angle of 20-30 degrees relative to the CG surface of the inspection object. The first macro imaging lens 2920 and the second macro imaging lens 2930 of each macro inspection camera at the station are facing the wide edge of the CG surface middle plate for macro inspection of the edge of the CG surface middle plate.

[0201] Combination Figure 31 The second macro inspection station 3100 also includes a second macro inspection camera assembly located directly above the CG surface positioning fixture at the station. The second macro inspection camera assembly forms a second macro inspection position. The macro inspection z-axis lifting module can drive the CG surface positioning fixture and the inspection object at the station to move upward to the second macro inspection position. The second macro inspection camera assembly includes two rows of macro inspection cameras arranged parallel to each other between the two long sides of the CG surface. The two rows of macro inspection cameras are parallel to the two long sides of the CG surface of the inspection object. The macro inspection cameras in a single row are arranged parallel to each other from one wide side of the CG surface to the other wide side to cover the entire CG waterproof surface. The first macro imaging lens 2920 of each macro inspection camera in the two rows of macro inspection cameras is vertically facing the bottom plane of the CG surface, and the second macro imaging lens 2930 is facing one side of the long side of the CG surface for macro inspection of the CG waterproof surface.

[0202] Combination Figure 32The third macro detection station 3200 also includes a third macro detection camera assembly located directly above the BG surface positioning fixture at the station. Multiple macro detection cameras at the third macro detection camera assembly work together to form the third macro detection position. The macro detection z-axis lifting module can drive the CG surface positioning fixture and the object to be detected at the station to move upward to the third macro detection position. The third macro detection camera assembly includes two rows of macro detection cameras arranged parallel to each other between the two long sides of the inner cavity of the BG surface of the object to be detected. Each row of macro detection cameras is arranged parallel to each other from one wide side to the other wide side of the inner cavity of the BG surface. The first macro imaging lens 2920 of each macro detection camera at the station is perpendicular to the bottom plane of the inner cavity of the BG surface, and the second macro imaging lens 2930 is perpendicular to the inner wall of the long side protruding perpendicular to the bottom plane of the inner cavity of the BG surface for macro detection of the nut position on the inner surface of the BG surface.

[0203] Combination Figure 33 The fourth macro inspection station 3300 also includes a fourth macro inspection camera assembly located directly above the BG surface positioning fixture at the station. Multiple macro inspection cameras at the fourth macro inspection camera assembly work together to form the fourth macro inspection position. The macro inspection z-axis lifting module can drive the CG surface positioning fixture and the inspection object at the station to move upward to the fourth macro inspection position. The fourth macro inspection camera assembly includes two rows of macro inspection cameras arranged parallel to the two wide sides of the BG surface cavity. Each row of macro inspection cameras is arranged parallel to the other wide side of the BG surface cavity. The first macro imaging lens 2920 of each macro inspection camera at the station is perpendicular to the bottom plane of the BG surface cavity, and the second macro imaging lens 2930 is perpendicular to the inner wall of the wide side protruding perpendicular to the bottom plane of the BG surface cavity for macro inspection of the upper and lower U areas of the BG surface cavity.

[0204] Combination Figure 34 The fifth macro inspection station 3400 also includes a fifth macro inspection camera assembly located directly above the BG surface positioning fixture at the station. Multiple macro inspection cameras at the fifth macro inspection camera assembly work together to form the fifth macro inspection position. The macro inspection z-axis lifting module can drive the CG surface positioning fixture and the inspection object at the station to move upward to the fifth macro inspection position. The fifth macro inspection camera assembly includes four macro inspection cameras arranged on the inner sides of the four corners of the BG surface cavity. The first macro imaging lens 2920 of each macro inspection camera is perpendicular to the bottom plane of the BG surface cavity, and the second macro imaging lens 2930 is facing the inner wall of the corner of the BG surface cavity for macro inspection of the four corners of the upper and lower U areas of the BG surface cavity.

[0205] Combination Figure 35The sixth macro inspection station 3500 also includes a sixth macro inspection camera assembly located directly above the BG surface positioning fixture at this station. Multiple macro inspection cameras at the sixth macro inspection camera assembly work together to form the sixth macro inspection position. The macro inspection z-axis lifting module can drive the CG surface positioning fixture and the inspection object at this station to move upward to the sixth macro inspection position. The sixth macro inspection camera assembly includes two rows of macro inspection cameras arranged parallel to the two long sides of the inner wall of the BG surface. Each row of macro inspection cameras is arranged parallel to each other from one wide side to the other wide side of the inner cavity of the BG surface. The first macro imaging lens 2920 of each macro inspection camera at this station is perpendicular to the bottom plane of the inner cavity of the BG surface, and the second macro imaging lens 2930 is perpendicular to the inner side wall of the long side protruding perpendicular to the bottom plane of the inner cavity of the BG surface for macro inspection of the T-groove area of ​​the inner cavity of the BG surface.

[0206] The parameters of the macro inspection camera used in this embodiment are as follows: lens structure: 3P+IR; lens matching crystal: 1 / 6”; maximum image plane diameter: 3.3mm; focal length: 1.35mm; total lens length: 2.90±0.1mm; aperture: 2.2±5%; diagonal angle: D=88.7°; optical distortion: <1.5%; relative illumination: >39.6%; pixel accuracy: 0.01mm. The macro inspection camera and the inspection position are maintained at a distance of 10mm±0.03mm.

[0207] Example 6

[0208] This embodiment provides a macro detection device applicable to the macro detection system in Embodiment 5, combined with... Figure 36 It includes a macro device main body 3600, which includes a macro loading position 3610 for macro detection loading and a macro unloading position 3620 for macro detection unloading. A macro CG surface detection unit, a macro detection flipping component 3630 and a macro BG surface detection unit are arranged sequentially from the macro loading position 3610 to the macro unloading position 3620. A CG surface camera assembly for detecting the CG surface of the object to be detected at the CG surface detection unit and a BG surface camera assembly for detecting the BG surface of the object to be detected at the BG surface detection unit are respectively arranged above the macro CG surface detection unit and the macro BG surface detection unit.

[0209] The main body of the macro device 3600 has sixteen macro detection placement positions arranged in parallel at 4×4 intervals along the x-axis and y-axis. The sixteen macro detection placement positions are divided into four rows arranged along the y-axis as the first, second, third, and fourth macro detection sections. The CG surface detection section includes the first and second macro detection sections, and the BG surface detection section includes the third and fourth macro detection sections. The macro loading position 3610 is located in the first macro detection section of the CG surface detection section, and the macro unloading position 3620 is located in the fourth macro detection section of the BG surface detection section. The sixteen macro detection placement positions from the macro loading position 3610 to the macro unloading position 3620 work together to form the movement path of the detected object in the macro detection. The movement path of the detected object from the first macro detection section to the fourth macro detection section is S-shaped.

[0210] Understandably, in this embodiment, a 4×4 arrangement is used, with the two sides of each row along the y-axis serving as the upper and lower material positions for that row, and the two middle positions serving as inspection stations that cooperate with the corresponding macro inspection cameras. The 4×4 arrangement can better meet the arrangement requirements of eight inspection stations. At the same time, this allows the BG surface inspection unit and the CG surface inspection unit to be symmetrically distributed, each occupying two rows of macro inspection units. This also allows the macro inspection flipping component 3630 to be positioned precisely at the intersection of the BG surface inspection unit and the CG surface inspection unit, thereby making the overall arrangement structure and subsequent operation more stable.

[0211] The four micro-detection positions at the first micro-detection unit are sequentially arranged along the positive y-axis as a micro-detection loading position 3610, a first micro-detection station 3000, a second micro-detection station 3100, and a micro-detection transition position; the four micro-detection positions at the second micro-detection unit are sequentially arranged along the negative y-axis as a micro-detection transition position, a first reserved micro-detection station, a second reserved micro-detection station, and a micro-detection flipping loading position; the four micro-detection positions at the third micro-detection unit are sequentially arranged along the positive y-axis as a micro-detection flipping unloading position, a third micro-detection station 3200, a fourth micro-detection station 3300, and a micro-detection transition position; and the four micro-detection positions at the fourth micro-detection unit are sequentially arranged along the negative y-axis as a micro-detection transition position, a fifth micro-detection station 3400, a sixth micro-detection station 3500, and a micro-detection unloading position.

[0212] 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, there are respectively arranged a first macro detection camera assembly, a second macro detection camera assembly, a third macro detection camera assembly, a fourth macro detection camera assembly, a fifth macro detection camera assembly, and a sixth macro detection camera assembly that cooperate with each other for detection and are arranged in a coordinated manner.

[0213] Combination Figure 37 The transition position of the micro-detection at the first micro-detection unit and the transition position of the micro-detection at the second micro-detection unit are connected by a micro-detection x-axis transfer assembly 3700. The micro-detection x-axis transfer assembly 3700 includes a micro-detection x-axis linear module 3710 controlled by an air source and arranged along the x-axis direction. A micro-detection z-axis module 3720, which is a slide cylinder, is arranged along the z-axis direction at the micro-detection x-axis mover 3711 of the micro-detection x-axis linear module 3710. A micro-detection transition transfer plate 3730 is connected to the micro-detection z-axis mover 3721 of the micro-detection z-axis module 3720. A micro-detection transition transfer position for transferring the detected object between the micro-detection transition positions is arranged at the micro-detection transition position. A micro-detection x-axis transfer assembly 3700 for transferring the detected object is also arranged between the micro-detection transition positions of the third micro-detection unit and the micro-detection transition positions of the fourth micro-detection unit.

[0214] Combination Figure 36 and Figure 38 The micro-detection flip loading position and the micro-detection flip unloading position of the second micro-detection unit are connected by a micro-detection flip assembly 3630. The micro-detection flip assembly 3630 includes a micro-detection flip servo motor 3631. The output end of the micro-detection servo motor is connected to an L-shaped cantilever plate 3632 through a reducer. The micro-detection flip unloading position is arranged at the L-shaped cantilever plate 3632, and the micro-detection flip loading position is arranged at the position after the micro-detection servo motor drives the cantilever plate 3632 to rotate 180 degrees.

[0215] Combination Figure 39 Two micro-detection y-axis transfer components 3900 are arranged along the y-axis direction at a position between the first micro-detection unit and the second micro-detection unit. The two micro-detection y-axis transfer components 3900 are used in conjunction with the first micro-detection unit and the second micro-detection unit, respectively. Each micro-detection y-axis transfer component 3900 includes a ball screw-type micro-detection y-axis linear module 3910 arranged along the y-axis direction. A micro-detection transfer plate 3912 is connected to the micro-detection y-axis mover 3911 of the micro-detection y-axis linear module 3910. Three micro-detection transfer positions 3913 are arranged at intervals along the y-axis direction on the micro-detection transfer plate 3912. The interval between the three micro-detection transfer positions 3913 is the same as the interval between the four micro-detection placement positions at the first micro-detection unit. The three micro-detection transfer positions 3913 are used to move the detection object at each micro-detection placement position forward one position along an S-shaped movement path each time.

[0216] The first and second macro detection units are equipped with product positioning fixtures that fix the object being detected by the BG surface of the object being detected; the third and fourth macro detection units are equipped with CG surface positioning fixtures that fix the mobile phone frame by the CG surface of the mobile phone frame.

[0217] The macro detection stations 3000 (first station), 3100 (second station), 1 and 2 reserved stations, 3200 (third station), 3300 (fourth station), 3400 (fifth station), and 3500 (sixth station) all utilize a macro detection z-axis lifting module for lifting. This module includes a linear z-axis lifting module for the CG surface and a linear z-axis lifting module for the BG surface. The first micro-detection station 3000, the second micro-detection station 3100, the first reserved micro-detection station and the second reserved micro-detection station at the surface detection section are equipped with CG surface z-axis lifting linear modules using electric cylinders. The third micro-detection station 3200, the fourth micro-detection station 3300, the fifth micro-detection station 3400 and the sixth micro-detection station 3500 at the micro-detection section are equipped with BG surface z-axis lifting linear modules using electric cylinders.

[0218] Combination Figure 40 Both the CG surface z-axis lifting linear module and the BG surface z-axis lifting linear module include a lifting linear module body 4000. The lifting linear module body 4000 includes a lifting linear electric cylinder module 4010. A micro-lifting frame 4030 is connected to the lifting linear electric cylinder mover 4020 of the lifting linear electric cylinder module 4010. Four sets of lifting linkages are provided on the upper end face of the micro-lifting frame 4030. The four sets of micro-lifting linkages 4040 at the CG surface z-axis lifting linear module are respectively connected to the first micro-detection step. The lower ends of the micro-detection stations 3000, 3100, 1, and 2 are connected to each other to move them upward to the corresponding detection positions. The four sets of micro-detection lifting linkages 4040 at the z-axis lifting linear module of the BG surface are connected to the lower ends of the micro-detection stations 3200, 3300, 3400, and 3500 to move them upward to the corresponding detection positions.

[0219] Except for the first, second, third, fourth, fifth, and sixth micro-detection stations and the first and second reserved micro-detection stations, all other micro-detection placement positions are equipped with micro-lifting cylinders arranged along the z-axis. The piston rod end of the micro-lifting cylinder is connected to the lower end of the other micro-detection placement positions and drives them to move upward to cooperate with the micro-detection y-axis material transfer assembly 3900 to realize the transfer of the detection object.

[0220] Specifically, the above structure can better meet the needs of transferring the detection object between various workstations during the entire macro detection process. Furthermore, the detection object at each of the four macro detection placement positions in each row can be stably moved forward one unit along the moving path after being picked up by the three macro detection material transfer positions 3913 each time. This operation is simple and efficient, and can better cooperate with the 4×4 arrangement to ensure the normal operation of the entire macro detection.

[0221] It is readily understood that those skilled in the art can combine, split, or reorganize the embodiments provided in this application to obtain other embodiments, all of which do not exceed the protection scope of this application.

[0222] The present invention and its embodiments have been described above illustratively. This description is not restrictive, and the embodiments shown are only part of the embodiments of the present invention. The actual structure is not limited thereto. Therefore, if those skilled in the art are inspired by this description and design similar structures and embodiments without departing from the spirit of the present invention, they should all fall within the protection scope of the present invention.

Claims

1. A feeding method for detecting appearance defects, which is based on a feeding device for detecting appearance defects, characterized in that, Specifically, it includes the following steps: Step 1: Loading material onto the full material tray The trays fully loaded with the materials to be tested are stacked vertically to form a vertical column of trays and placed at the bottom of the feeding device; Step 2: Lifting the material tray The lifting module (640) in the feeding process lifts the entire tray vertically upward to the material picking position; Step 3: Take material from the top tray of the vertical column of trays. The material tray at the top of the vertical column is pressed and fixed by the material picking and positioning component, which includes a material picking and positioning cylinder (625) and a material picking and positioning horizontal plate (626). The material handling component arranged above the material handling position picks up the material from the top of the vertical column of the material trays and transfers it to the next work station. The material handling component includes two material handling adsorption components (6243). Each material handling adsorption component (6243) is equipped with four material handling nozzles. When picking up materials, the two material handling adsorption components (6243) simultaneously pick up two materials and transfer the materials in the 2 rows and 5 columns of the material tray one by one in a preset order. The material handling component, located above the material handling position, picks up the material from the top of the vertical column of material trays and transfers it to the next work station. The material picking position includes a picking base plate (621) arranged horizontally. A picking opening (622) is formed in the middle of the upper surface of the picking base plate (621) for the vertical column of material trays to pass through in the vertical direction. The picking opening (622) has a space reserved for one more material size than the material tray in the y-axis direction. A material picking assembly for the feeding process is arranged above the picking base plate (621). The material picking assembly for the feeding process includes synchronous belt-type material picking process x-axis linear modules (623) arranged in the x-axis direction on both sides of the upper surface of the picking base plate (621). The x-axis and y-axis directions are consistent with the width and length directions of the material trays in the vertical column of material trays, respectively. A material picking process x-axis mover that moves in the x-axis direction is provided at the material picking process x-axis linear module (623). The x-axis movers on both sides are connected to a synchronous belt-type material picking process y-axis linear module (624) that moves along the x-axis. The material handling process y-axis linear module (624) is provided with two adjacent material handling process y-axis movers (6241) that move along the y-axis direction. Both material handling process y-axis movers (6241) are connected to material handling process z-axis cylinders (6242) arranged in the vertical direction via x-axis connecting blocks. The lower part of the piston rod of the material handling process z-axis cylinder (6242) is connected to a material handling process adsorption assembly (6243). The material handling process adsorption assembly (6243) includes a z-axis connecting block that moves in the vertical direction with the piston rod. The z-axis connecting block drives a material handling process suction cup mounting plate (6244) arranged in the horizontal direction to be connected to its lower surface. Material handling process suction nozzles with the adsorption direction facing downward are arranged at the four corners of the material handling process suction cup mounting plate (6244). The four material handling process suction cups cooperate to pick up the material to be tested. An encoder (6245) is mounted on the upper side of the material handling process suction cup mounting plate (6244) via an encoding mounting plate. The material picking opening (622) of the material picking base plate (621) is provided with material picking positioning components on both sides along the x-axis direction for fixing the uppermost material tray of the vertical column of material trays; the material picking positioning components include material picking positioning cylinders (625) arranged along the x-axis direction, the piston rod of the material picking positioning cylinders (625) is connected to a material picking positioning horizontal plate (626) extending along the y-axis direction, and the material picking positioning horizontal plates (626) at the material picking positioning components on both sides are driven by the cylinders to move and press against the vertical column of material trays. Positioning is achieved on both sides of the uppermost tray; photoelectric sensors (627) for identifying the uppermost tray of the vertical column of trays are provided on both sides of the material picking opening (622) at the material picking base plate (621) along the x-axis direction; multiple vertical material picking guide rods (628) are arranged on both sides of the material picking opening (622) at the material picking base plate (621) along the x-axis direction; the material picking guide rods (628) are used to abut against the vertical column of trays to form vertical guidance; Step 4: Empty tray collection The lifting module (640) of the feeding process lifts the entire vertical column of material trays upward to the empty material tray collection position (630); the empty material tray clamping mechanism (635) located at the empty material tray collection position (630) clamps and fixes the empty material tray at the top of the vertical column of material trays that has completed the material picking. The empty material tray clamping mechanism (635) includes an empty material tray clamping cylinder (6351), which drives the L-shaped empty material tray clamping plate (6352) to move so as to clamp the empty material tray from the bottom and limit it from the side. Step 5: The material trays are returned vertically. After the empty material tray is fixed at the empty material tray collection position (630) by the empty material tray clamping mechanism, the entire tray column is pushed down to the material picking position by the lifting module. Step 6: Repeat steps 3-5. Repeatedly pick up material from the vertical column of the tray, collect empty trays, and return the trays vertically. Step 7: Stack empty trays vertically. All the trays loaded with materials to be tested in the vertical column of trays are picked up by the material picking component, and all the empty trays are stacked at the empty tray collection position (630) by the empty tray clamping mechanism (635) to form an empty tray vertical column; Step 8: Empty tray retraction The empty material tray clamping mechanism (635) is released, and the robot or manual laborer removes the empty material trays vertically as a whole.

2. A feeding device for detecting appearance defects, characterized in that, It is applicable to the feeding method described in claim 1, which includes a feeding device body (600), and the feeding device body is arranged from bottom to top as follows: a full material tray feeding section (610) for stacking full material trays to form a vertical column of material trays, a material taking position for taking the material to be tested from the full material tray and moving it to the next station, and an empty material tray collecting position (630) for stacking and collecting empty material trays after taking the material to form a vertical column of empty material trays; the feeding device body (600) is also provided with a feeding process lifting module (640) for lifting the material trays.

3. A feeding device for detecting appearance defects according to claim 2, characterized in that... The full feed tray (610) includes a feed tray placement base plate (611) arranged in parallel along the horizontal direction; a feed tray sliding guide rail (612) is arranged on the upper part of the placement base plate in the same direction as the extension of the placement base plate; a feed tray sliding base plate is arranged at the feed tray sliding guide rail (612) on both sides, and it slides with the feed tray sliding guide rail (612). The portion of the sliding base plate located between the sliding guide rails (612) of the two feed sections forms a lifting opening (618) in the vertical direction to cooperate with the lifting module for lifting; a placement area for placing a material tray is formed in the middle of the upper surface of the sliding base plate; a vertically oriented limiting block (613) is arranged at each of the four corners of the placement area; the limiting block (613) is trapezoidal and two are provided at each corner, respectively located on both sides of the vertex of the corner to limit the material tray; a handle (614) for pulling the sliding base plate of the feed section along the sliding guide rail (612) of the feed section is provided in the middle of the upper surface of the side of the sliding base plate far from the lifting opening (618).

4. The feeding device for detecting appearance defects according to claim 3, characterized in that, A feed section cylinder assembly (615) for driving the feed section sliding base plate to slide along the feed section sliding guide rail (612) is also arranged at the feed section placement base plate (611); the sliding mover of the feed section cylinder assembly (615) is connected to the feed section sliding base plate; a feed section positioning pin (616) driven by an air source to move in the vertical direction is arranged at the position of the feed section placement base plate (611) below the handle (614); a feed section positioning through hole is formed at the feed section sliding base plate for cooperating with the feed section positioning pin (616) to limit the upper limit of the feed section sliding base plate in the sliding direction; An L-shaped induction plate (617) is arranged on the outer wall of the end of the sliding base plate located on one side of the lifting opening (618); sensors for sensing and cooperating with the induction plate (617) are respectively provided at both ends of the induction base plate (611) along the sliding direction of the induction guide rail (612); and induction photoelectric sensors (619) for sensing and identifying the material tray at the induction base plate (611) are also provided at the positions on both sides of the induction guide rail (612).

5. A feeding device for detecting appearance defects according to claim 3, characterized in that, The lifting module (640) for the feeding process includes a lifting mounting frame (641) arranged in the vertical direction. A servo electric slide table with an electric cylinder is arranged in the vertical direction at the lifting mounting frame (641). Two lifting sliding blocks (642) that slide in the vertical direction are provided on both sides of the servo electric slide table. The lifting sliding blocks (642) are driven by a servo motor (643) with a brake. A lifting mounting plate (644) placed in the vertical direction is connected to the two lifting sliding blocks (642). Right-angled lifting mounting trays (645) are symmetrically connected on both sides of the upper part of the lifting mounting plate (644) in the horizontal direction. A lifting base plate (646) extending along the lifting opening (618) at the sliding base plate of the feeding part is arranged on the upper part of the two lifting mounting trays (645). The upper end face of the lifting base plate (646) is used to support the vertical row of material trays at the full material tray feeding part (610) and moves up and down in the vertical direction with the lifting sliding blocks (642).

6. A feeding device for detecting appearance defects according to claim 5, characterized in that, The lifting mounting frame (641) has a vertical lifting limit stop bar on the outer wall of one side near the lifting base plate (646). The lifting limit stop bar is close to the side wall of the vertical column of material trays to form a vertical guide. The middle part of the lifting base plate (646) has a vertical central opening. The bottom surface of the lifting base plate (646) is located next to the central opening and is equipped with a lifting photoelectric sensor. The lifting photoelectric sensor is used to sense the vertical column of material trays placed on the upper surface of the lifting base plate (646).

7. A feeding device for detecting appearance defects according to claim 2, characterized in that, The empty material tray collection position (630) includes a collection position base plate (631) arranged horizontally; collection position linear guide rails (632) are arranged on both sides of the upper surface of the collection base plate; multiple collection position sliding blocks (633) are arranged on both sides of the collection position linear guide rails (632) and slide with them; a collection position annular plate (634) is connected to the upper surface of the multiple collection position sliding blocks (633); a collection opening for vertical passage of material trays is formed in the middle of the collection position base plate (631) and the collection position annular plate (634); an empty material tray clamping mechanism (635) is arranged on both sides of the collection opening of the collection position annular plate (634). The clamping horizontal plates (63522) at the clamping mechanisms (635) on both sides work together to abut against the bottom surface of the lowest empty tray in the vertical column of empty trays to support the vertical column of empty trays. The clamping vertical plates (63521) at the clamping mechanisms (635) on both sides abut against the side wall of the empty tray in the vertical column of empty trays to form a limit. Multiple empty tray limit plates (636) are provided on the side wall of the mobile phone opening at the collection position annular plate (634) in the vertical direction. The empty tray limit rod works in conjunction with the clamping vertical plates (63521) to form a vertical passage for the vertical column of empty trays to be limited to pass through in the vertical direction.

8. A material feeding application for detecting appearance defects, characterized in that, The material described in claims 1-7 is a mobile phone mid-frame.

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