A dust removal system, method and application for a material surface and its detection

Abstract

The present invention relates to the technical field of appearance defect detection of electronic products. Specifically, it relates to a dust removal on the material surface, as well as a detection system and method therefor. It is based on a material surface dust removal device and a line array detection device to implement and be applicable to the aforementioned dust removal and detection methods. The dust removal device and the line array detection device are arranged in sequence along the x-axis direction; along the x-axis direction at the dust removal device, there are arranged a turning position, a lifting position, and a dust removal typhoon system in sequence; above the dust removal typhoon system, there is arranged a dust removal two-axis module for transporting a detection object between the turning position, the lifting position, a dust removal position formed above the dust removal typhoon system, and a detection position in the line array detection device; at the line array detection device, there is provided a line array camera for performing line array vision detection on the detection object to be detected.

Description

Technical Field

[0001] The present invention relates to the technical field of appearance defect detection of electronic products, and more specifically, to a dust removal for a material surface, a detection system, a method and an application thereof. Background Art

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

[0003] Currently, the production volume and consumption demand of products such as smart phones and tablet computers are both on the rise. Since these products are all electronic products assembled based on a middle frame, the quality of the middle frame of these products directly affects the quality of the entire product.

[0004] The middle frame of this type of product is divided into a BG surface for installing a screen and a CG surface for installing a battery; due to the appearance defects that are likely to affect the product quality at the BG surface and the CG surface during the processing and transportation of the middle frame, such as stress marks, bruises, indentations, scratches, edge burrs, edge fraying, edge curling, over-milling, missed milling, and insufficient milling.

[0005] In traditional methods for detecting appearance defects of such objects, most are manual visual inspections by humans, or image acquisition and recognition inspections are carried out one by one through detection equipment; on the one hand, the detection accuracy of these detection methods is not high enough because the coverage area of appearance detection in these methods is not complete enough, and there is no systematic and targeted camera arrangement for different detection areas, so it is easy to miss defective products in traditional detection methods; on the other hand, these detection methods do not form a complete set of automated detection equipment and methods. From loading materials to unloading materials, there is a lack of an appearance defect detection equipment in the prior art that can perform appearance defect detection from loading materials, dust removal, targeted appearance defect detection in different areas to unloading materials; therefore, the detection efficiency of existing detection equipment is relatively low, and it is difficult to meet the product appearance detection requirements under large production volumes.

[0006] Regarding the dust removal device, since the environment in the processing workshop of this type of object is relatively poor, it may cause dust accumulation on the surface of this type of object. These dusts may cause occlusion of appearance defects during the subsequent image acquisition and recognition inspection process, thus possibly resulting in the situation that appearance defects are not detected due to dust accumulation, and further possibly affecting the overall detection accuracy. Therefore, it is necessary to remove dust from the material surface (usually the BG surface is selected because the depression of the BG surface is relatively large and thus it is easy to accumulate dust) of this type of object before image acquisition detection.

[0007] On the one hand, the existing dust removal device is difficult to cooperate well with other devices in the appearance detection equipment directly. On the other hand, it is also unable to be well applicable to the dust removal of such objects. Therefore, there is a lack of a dust removal device in the prior art that can be applicable to the whole set of appearance defect detection equipment. Summary of the Invention

[0008] In view of the technical problems existing in the prior art, the present invention provides a method for dust removal and detection of a material surface, which includes the following steps:

[0009] Step 1: Loading for dust removal

[0010] Place the detection object to be dusted at the turning position and keep the BG surface facing downwards.

[0011] Step 2: Turning the detection object to be dusted

[0012] Turn the detection object at the turning position 180 degrees to the lifting position. At this time, the detection object is positioned at the lifting position with the CG surface facing upwards.

[0013] Step 3: Lifting the detection object to be dusted

[0014] Lift the detection object at the lifting position upwards to the height that can be picked up by the subsequent dust removal two-axis module.

[0015] Step 4: Picking up the detection object and moving it to the dust removal position

[0016] Move the dust removal two-axis module and suck the detection object lifted to the pick-up height; and keep the BG surface of the detection object facing downwards. After sucking, first move horizontally along the x-axis direction to directly above the dust removal position, and then move down along the z-axis to the dust removal position.

[0017] Step 5: Dust removal

[0018] Dust the detection object at the dust removal position through the dust removal typhoon system located below the dust removal position, blow up the dust and suck it away from the top.

[0019] Step 6: Transporting the detection object to the area array detection position

[0020] Move the detection object after dust removal to the area array detection position at the area array camera through the dust removal two-axis module.

[0021] Step 7: Area array detection

[0022] The area array detection position has degrees of freedom in two rotation directions, namely the rotation direction around the y-axis and relative to its own central axis; the area array camera has degrees of freedom in three directions, namely the x-axis, y-axis, and z-axis; the relative spatial position relationship between the object to be detected and the area array camera is adjusted by the movement of the area array detection position and the area array camera in five axial directions; by adjusting the position relationship, the four side edges, four diagonals, and four sides on the plane where defects are likely to occur on the object to be detected are successively detected.

[0023] Specifically, in the present invention, the detection object with the CG surface facing up from the previous feeding station is turned over by the turning mechanism so that the BG surface faces down. Since the BG surface has parts such as grooves and cracks where dust is likely to accumulate, the BG surface is kept facing down and dust is removed through the dust removal position, so that the BG surface where dust is likely to accumulate can be better dusted, and the dust removal effect is better; at the same time, this can also effectively avoid the situation that the subsequent image acquisition of the appearance defects of the BG surface is affected by dust due to excessive dust accumulation on the BG surface area of the detection object; furthermore, it can ensure that the surface condition of the BG surface can be clearly imaged and recognized during the subsequent detection process.

[0024] In addition, the dust removal method in the present invention can be smoothly connected with the prior feeding device and the subsequent area array detection, so that the entire visual detection process can be carried out efficiently and continuously without the need to dust the detection object through other external devices; in addition, after dust removal, the detection object is directly transported to the area array detection position, so that the detection object will not come into contact with the external environment again, thus avoiding the situation of re-dusting due to contact with the external environment. Therefore, the dust removal method in the present invention can ensure that the detection object can better maintain a clean surface after dust removal.

[0025] The present invention also provides a dust removal and detection system for the material surface, which is based on the material surface dust removal device and the area array detection device to implement and apply the aforementioned dust removal and detection methods. The dust removal device and the area array detection device are arranged in sequence along the x-axis direction; along the x-axis direction at the dust removal device, there are arranged a turning position, a lifting position, and a dust removal typhoon system in sequence; above the dust removal typhoon system, there is arranged a dust removal two-axis module for transporting the detection object between the turning position, the lifting position, the dust removal position formed on the upper side of the dust removal typhoon system, and the detection position in the area array detection device; at the area array detection device, there is arranged an area array camera for performing area array visual detection on the object to be detected.

[0026] Preferably, the turning position includes a turning placement part which is installed at intervals along the y-axis direction at the turning shaft and adsorbs the detection object through the adsorption of the CG surface; one end of the turning shaft is connected to the driving wheel, and the driving wheel is connected to the output end of the turning servo motor through a transmission belt and a transmission wheel to realize controlled rotation. The turning placement part realizes the adsorption and release of the detection object through a vacuum chuck; the lifting position includes a lifting placement part which is arranged at intervals along the y-axis direction corresponding to the turning placement plate one by one and adsorbs the detection object through the adsorption of the BG surface. The lower part of the lifting placement part is connected to the lifting bottom plate arranged along the y-axis. A plurality of lifting placement plates are symmetrically arranged on both sides of the middle of the lifting bottom plate. The lower end of the middle of the lifting bottom plate is connected to the piston rod of the lifting cylinder to move along the z-axis direction therewith; the turning placement part includes a CG surface positioning tooling. The CG surface positioning tooling includes a CG surface positioning bottom plate for connecting and arranging the air circuit. A CG surface nozzle arrangement plate is attached to the upper end surface of the CG surface positioning bottom plate. A CG surface adsorption position is formed on the upper end surface of the CG surface nozzle arrangement plate. A plurality of CG surface nozzles connected to the air circuit are arranged on the CG surface nozzle arrangement plate. The plurality of CG surface nozzles cooperate to adsorb the detection object at the CG surface adsorption position.

[0027] A CG surface installation groove is formed on the long side side wall of the CG surface nozzle arrangement plate. A CG surface proximity sensor is installed in the CG surface installation groove. The sensing direction of the CG surface proximity sensor faces the CG surface adsorption position for sensing and identification; two CG surface air circuit openings are respectively arranged at the center of the side wall and the bottom wall of the CG surface positioning bottom plate. An O-ring for sealing is arranged at the CG surface air circuit opening at the center of the bottom wall of the CG surface positioning bottom plate; a CG surface process hole for processing the internal air circuit is formed on the side wall of the CG surface positioning bottom plate provided with the CG surface air circuit opening. The CG surface air circuit opening is communicated with the CG surface nozzle through the internal air circuit; the number of nozzles on the CG surface nozzle arrangement plate is four, and the four nozzles are respectively arranged at positions close to the four corners relative to the center position of the CG surface nozzle arrangement plate; a wiring groove is formed at the corner of the outer wall of the CG surface positioning bottom plate close to the CG surface proximity sensor. The wiring groove extends along the corner to the CG surface installation groove where the proximity sensor is located and forms a connection. A fillet is formed at the connection area of the wiring groove and the CG surface installation groove; through holes are formed at the four corners where the CG surface positioning bottom plate and the CG surface nozzle arrangement are attached. The through holes are used for screwing in screws to positionally connect the CG surface positioning bottom plate and the CG surface nozzle.

[0028] Preferably, the material lifting and placing part includes a BG surface product positioning fixture for fixing the detection object by means of the BG surface of the detection object; the BG surface product positioning fixture includes a fixture main body, and the fixture main body includes a BG surface placing bottom plate arranged at its bottom and horizontally, and a BG surface placing frame arranged vertically above the BG surface placing bottom plate. A BG surface placing position for placing the detection object is formed at the upper end surface of the BG surface placing frame. A BG surface adsorption assembly and a BG surface inner limit assembly for positioning the detection object at the BG surface placing position are arranged at the BG surface placing frame; the BG surface adsorption assembly is used to cooperate with the bottom wall of the BG surface of the detection object to achieve adsorption, and the BG surface inner limit assembly is used to abut against the side wall of the BG surface of the detection object to form an inner limit fit; the BG surface placing frame is in the shape of a four-legged stool; the BG surface inner limit assembly includes a four-jaw cylinder arranged at the middle part of the lower side of the BG surface placing frame, and the four jaw bodies of the four-jaw cylinder are annularly distributed relative to the central position of the BG surface placing position; the four jaw bodies are respectively perpendicular to the four side lines of the detection object corresponding to the BG surface placing position and are arranged to move along the perpendicular direction. BG surface positioning pins are vertically arranged on the side of the four jaw bodies far from the center of the BG surface placing position. Two BG surface positioning pins are provided at each jaw body and are symmetrically arranged on both sides of the middle part of the corresponding side line; the BG surface positioning pins at the four jaw bodies are respectively used to abut against and cooperate with the side wall of the BG surface of the corresponding detection object to form an inner expansion positioning in cooperation; a plurality of air source interfaces for connecting air source pipelines are arranged on the side wall of the BG surface placing frame.

[0029] Preferably, BG surface suction nozzles are respectively installed at the four corner areas formed by the four jaw bodies of the four-jaw cylinder at the BG surface placing position through BG surface suction nozzle mounting plates; the BG surface suction nozzles at the four corner areas are used to adsorb and cooperate with the bottom wall of the BG surface to achieve the adsorption and release of the detection object; a BG surface proximity sensor for identifying the detection object is also installed at the BG surface suction cup mounting plate at one of the corner areas.

[0030] Preferably, the dust removal two-axis module includes a synchronous belt type dust removal x-axis linear module arranged above both sides of the entire material turning position, material lifting position and dust removal typhoon system along the x-axis direction. The two dust removal x-axis linear modules on both sides are driven by the same dust removal x-axis servo motor, and synchronization is achieved between the two dust removal x-axis linear modules through a synchronous rod; a dust removal y-axis cross beam along the y-axis direction is jointly arranged on the upper parts of the dust removal x-axis sliders at the two dust removal x-axis linear modules on both sides. A synchronous belt type dust removal z-axis module along the z-axis direction is arranged on the outer wall of the dust removal y-axis cross beam far from the material lifting position. The lower part of the dust removal z-axis sliding plate moving along the z-axis direction at the dust removal z-axis module is connected with a dust removal y-axis mounting plate arranged corresponding to the material lifting position along the y-axis direction. Dust removal position adsorption parts are arranged at intervals along the y-axis direction at the lower part of the dust removal y-axis mounting plate.

[0031] Preferably, the dust removal position adsorption part includes a horizontally arranged dust removal position nozzle mounting plate. Suction nozzles with the adsorption direction facing downward are arranged at the four corners of the dust removal position nozzle mounting plate. The suction nozzles at the four corners cooperate with each other to cooperate with the CG surface of the detection object at the material lifting position for picking up. The dust removal y-axis cross beam can be moved along the x-axis direction to the dust removal position located above the dust removal typhoon system.

[0032] Preferably, a planar array two-axis rotation device is arranged at the planar array detection device. The planar array two-axis rotation device includes a rotating housing arranged along the y-axis direction; both ends of the rotating housing in the y-axis direction are movably installed at the planar array x-axis moving plate respectively. The rotating housing realizes rotation through a planar array servo motor arranged inside it; a plurality of planar array detection positions are evenly spaced along the y-axis direction on the upper surface of the rotating housing. The planar array detection positions can rotate around their own central axes relative to the rotating housing; the planar array x-axis moving plate is slidably arranged along the x-axis direction at the planar array x-axis slide rail. The planar array camera is arranged on the upper side of the middle part of the planar array x-axis slide rail. The lower part of the planar array camera forms a planar array vision detection area; one end of the planar array x-axis slide rail along the x-axis direction is used to receive the detection object after being dust-removed by the dust removal device, and the other end is used to cooperate with the 2D and 3D detection systems to send the detection object after planar array vision detection into the next detection station.

[0033] Specifically, through the above-mentioned physical structure, it can preferably ensure the stable movement and smooth flipping of the detection object between different stations during the entire dust removal and detection process, thereby ensuring the smooth progress of the entire dust removal and detection process. In addition, the planar array camera 1714 and the planar array two-axis rotation device 1710 can preferably cooperate to collect images of different angles of the detection object, so as to be able to comprehensively cover various positions on the appearance of the detection object that are prone to defects.

[0034] The present invention also provides an application of a method and system for dust removal and detection of a material surface, and the aforementioned detection object is a mobile phone middle frame. Description of the Drawings

[0035] Figure 1 It is a schematic structural diagram of the equipment main body in Embodiment 1; Figure 2 It is a schematic structural diagram of the CG surface positioning tooling in Embodiment 2; Figure 3 It is a schematic structural diagram of the CG surface positioning tooling in another perspective in Embodiment 2; Figure 4 It is a schematic structural diagram of the fixture main body in Embodiment 2; Figure 5 For Figure 4 Another perspective structural diagram; Figure 6 It is a schematic structural diagram of the feeding device main body in Embodiment 3; Figure 7 For Figure 6 The structural diagram of the full material tray feeding part; Figure 8 For Figure 7 Another perspective structural diagram;Figure 9 is Figure 6 a schematic structural diagram of the lifting module in the loading process; Figure 10 is Figure 6 a schematic structural diagram of the material taking position; Figure 11 is Figure 6 a schematic structural diagram of the empty tray collection position; Figure 12 is Figure 11 a schematic structural diagram of the empty tray clamping mechanism; Figure 13 is a schematic structural diagram of the dust removal device in Embodiment 3; Figure 14 is Figure 13 a schematic structural diagram of the turning position; Figure 15 is Figure 13 a schematic structural diagram of the material lifting position; Figure 16 is Figure 13 a schematic structural diagram of the dust removal two-axis module; Figure 17 is a schematic structural diagram of the area array detection device in Embodiment 3; Figure 18 is a schematic structural diagram of the combined 2D and 3D detection device in Embodiment 4; Figure 19 is Figure 18 a schematic structural diagram of another perspective; Figure 20 is Figure 19 a schematic structural diagram of the multi-head material grabbing module; Figure 21 is Figure 19 a schematic structural diagram of the combined detection y-axis material taking linear module; Figure 22 is Figure 19 a schematic structural diagram of the combined detection transportation path; Figure 23 is Figure 19 a schematic structural diagram of the combined detection transition component; Figure 24 is Figure 19 a schematic structural diagram of the 2D line scan camera; Figure 25 is Figure 19 a schematic structural diagram of the bionic AOI light source and 2D camera mounting bracket; Figure 26 is Figure 19 a schematic structural diagram of the 3D detection module; Figure 27 is Figure 19 a schematic structural diagram of the combined detection unloading handling shaft; Figure 28 is Figure 19 a schematic structural diagram of the combined detection unloading x-axis module; Figure 29 is a schematic structural diagram of the macro camera body in Embodiment 5; Figure 30 is a schematic structural diagram of the first macro detection station in Embodiment 5; Figure 31 is a schematic structural diagram of the second macro detection station in Embodiment 5; Figure 32 is a schematic structural diagram of the third macro detection station in Embodiment 5; Figure 33 is a schematic structural diagram of the fourth macro detection station in Embodiment 5; Figure 34Schematic diagram of the structure of the fifth station in the macro detection of Example 5; Figure 35 Schematic diagram of the structure of the sixth station in the macro detection of Example 5; Figure 36 Schematic diagram of the structure of the main body of the macro device in Example 6; Figure 37 For Figure 36 Schematic diagram of the structure of the x-axis material transfer component in the macro detection of Figure 38 For Figure 36 Schematic diagram of the structure of the flipping component in the macro detection of Figure 39 For Figure 36 Schematic diagram of the structure of the y-axis material transfer component in the macro detection of Figure 40 Schematic diagram of the structure of the lifting linear module main body in Example 6; Figure 41 Schematic diagram of the BG surface of the mobile phone middle frame; Figure 42 Schematic diagram of the CG surface of the mobile phone middle frame. Detailed implementation manners

[0036] To further understand the content of the present invention, the present invention will be described in detail in combination with the embodiments. It should be understood that the embodiments are only for explaining the present invention rather than limiting it.

[0037] Example 1

[0038] This embodiment provides an appearance defect detection method, which is carried out based on an appearance defect detection device, and specifically includes the following steps.

[0039] Step 1: Loading

[0040] Loading is carried out through a loading device for appearance defect detection;

[0041] Step 2: Dust removal and CG surface area array detection

[0042] Keep the BG surface of the detection object facing downwards and carry out dust removal through the material surface dust removal device 1300. After dust removal, carry out area array detection on the CG surface of the detection object through the area array detection device 1700;

[0043] Step 3: Combined 2D and 3D detection of the CG surface

[0044] Carry out CG surface detection on the detection object after the previous step through a detection system combining appearance 2D and 3D;

[0045] Step 4: Macro detection

[0046] Carry out macro detection on the CG surface and BG surface of the detection object after the previous step through a macro detection system 150. During the macro detection process, the detection object is turned over, and the detection object after the macro detection ends keeps the BG surface facing upwards;

[0047] Step 5: Combined 2D and 3D detection of the BG surface

[0048] The BG surface of the detection object after the previous step is detected by a detection system combining 2D and 3D appearances.

[0049] Step Six, BG surface area array detection

[0050] The area array detection device 1700 performs area array detection on the BG surface of the detection object.

[0051] Step Seven, sorting and discharging

[0052] After the detection is completed, the detected objects are sorted into qualified products and defective products.

[0053] It can be understood that through this method, a complete set of equipment can be used to detect the BG surface and CG surface of the detection object, so that the appearance defects that may exist at the detection object can be covered more comprehensively, and thus a large number of detection objects can be detected and defective products can be sorted out efficiently.

[0054] In this embodiment, an appearance defect detection device includes a device main body 100. The device main body 100 includes a loading end and a discharging end. From the loading end to the discharging end, a loading system 110, a dust removal system 120, a CG surface area 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 area array detection system 170 are arranged in sequence.

[0055] Specifically, the device main body 100 in this embodiment can preferably cover all regions at the detection object through a single device, and a targeted system is used to detect different detection parts, so that the defective product detection rate can be preferably improved, thereby ensuring the quality of the product.

[0056] In addition, the device main body 100 in this embodiment can complete all operations from loading to dust removal to targeted detection of each region and then to discharging through a single device, so that the entire detection process can be made more compact with fewer intermediate idle periods, thereby preferably improving the overall detection efficiency, ensuring the detection efficiency, and meeting the detection requirements of large production volumes.

[0057] Embodiment 2

[0058] This embodiment provides a CG surface positioning tooling 200 for positioning and cooperating with the CG surface of the detection object in Embodiment 1 and a BG surface product positioning fixture for positioning and cooperating with the BG surface of the mobile phone middle frame.

[0059] The CG surface positioning tooling 200 includes a CG surface positioning base plate 210 for connecting and arranging the air circuit. A CG surface suction head arrangement plate 220 is attached to the upper end surface of the CG surface positioning base plate 210. A CG surface adsorption position is formed on the upper end surface of the CG surface suction head arrangement plate 220. A plurality of CG surface suction nozzles 221 connected to the air circuit are arranged on the CG surface suction head arrangement plate 220, and the plurality of CG surface suction nozzles 221 cooperate to adsorb the detection object at the CG surface adsorption position.

[0060] A CG surface installation groove 222 is formed on the long side side wall of the CG surface suction head arrangement plate 220. A CG surface proximity sensor 223 is installed in the CG surface installation groove 222, and the sensing direction of the CG surface proximity sensor 223 faces the CG surface adsorption position for sensing and identification. Two CG surface air circuit openings 211 are respectively arranged at the center of the side wall and the bottom wall of the CG surface positioning base plate 210. An O-ring 212 for sealing is arranged at the CG surface air circuit opening 211 at the center of the bottom wall of the CG surface positioning base plate 210.

[0061] A CG surface process hole 213 for machining the internal air circuit is formed on the side wall of the CG surface positioning base plate 210 where the CG surface air circuit opening 211 is provided. After machining and assembly are completed, the process hole is blocked by a screw. The CG surface air circuit opening 211 is connected to the CG surface suction nozzle 221 through the internal air circuit.

[0062] The number of suction nozzles on the CG surface suction head arrangement plate 220 is four. The four suction nozzles are respectively arranged at positions close to the four corners relative to the center position of the CG surface suction head arrangement plate 220. A wiring groove is formed at the corner of the outer wall of the CG surface positioning base plate 210 close to the CG surface proximity sensor 223. The wiring groove extends along the corner to the CG surface installation groove 222 where the proximity sensor is located and forms a connection. A fillet is formed at the connection area between the wiring groove and the CG surface installation groove 222.

[0063] Through holes 214 are formed at the four corners where the CG surface positioning base plate 210 and the CG surface suction head arrangement plate 220 are attached. The through holes 214 are used to screw in screws to position and connect the CG surface positioning base plate 210 and the CG surface suction nozzle 221.

[0064] The BG surface product positioning fixture includes a fixture main body 400. The fixture main body 400 includes a BG surface placement base plate 410 arranged at its bottom and horizontally. An BG surface placement frame 420 arranged in the vertical direction is provided on the upper part of the BG surface placement base plate 410. A BG surface placement position for placing the detection object is formed on the upper end surface of the BG surface placement frame 420. A BG surface adsorption component and a BG surface inner limit component for positioning the detection object at the BG surface placement position are provided on the BG surface placement frame 420.

[0065] The BG - surface adsorption assembly is used to cooperate with the bottom wall of the BG - surface of the detection object to achieve adsorption, and the BG - surface inner limit assembly is used to abut against the side wall of the BG - surface of the detection object to form an inner limit fit; the BG - surface placement rack 420 is in the shape of a four - legged stool; the BG - surface inner limit assembly includes a four - claw cylinder 430 arranged at the middle part of the lower side of the BG - surface placement rack 420, and the four claw bodies 431 of the four - claw cylinder 430 are annularly distributed relative to the center position of the BG - surface placement position; the four claw bodies 431 are respectively perpendicular to the four side lines of the detection object corresponding to the BG - surface placement position and are arranged to move along this vertical direction.

[0066] On the side of the four claw bodies 431 far from the center of the BG - surface placement position, there are BG - surface positioning pins 4311 arranged vertically. There are two BG - surface positioning pins 4311 at each claw body 431 and they are symmetrically arranged on both sides of the middle part of the corresponding side line; the BG - surface positioning pins 4311 at the four claw bodies 431 are respectively used to abut and cooperate with the side wall of the BG - surface of the corresponding detection object to form an inner expansion positioning in cooperation; at the side wall of the BG - surface placement rack 420, there is a gas source interface 421 for connecting the gas source pipeline.

[0067] Inside the area surrounded by the four claw bodies 431 of the four - claw cylinder 430 at the BG - surface placement position, there is a BG - surface suction head arrangement plate 440; at the four corner areas of the BG - surface suction head arrangement plate 440, there are BG - surface suction nozzles 441 respectively installed; the BG - surface suction nozzles 441 at the four corner areas are used to adsorb and cooperate with the bottom wall of the BG - surface to achieve the adsorption and release of the detection object; at the BG - surface suction cup mounting plate at one of the corner areas, there is also a BG - surface proximity sensor 442 for identifying the detection object installed.

[0068] Embodiment 3

[0069] This embodiment provides a feeding device and method for appearance defect detection applicable to Embodiment 1. Among them, a feeding method for appearance defect detection specifically includes the following steps:

[0070] Step 1: Feeding of the full - load tray

[0071] Stack the trays full of materials to be detected vertically to form a vertical column of trays and place them at the lower part of the feeding device.

[0072] Step 2: Lifting of the tray

[0073] Use the feeding process lifting module 640 to lift the entire vertical column of trays upward to the picking position.

[0074] Step 3: Picking of the tray at the top of the vertical column of trays

[0075] The feeding process picking assembly arranged above the picking position picks the tray at the top of the vertical column of trays and transfers it to the next working station.

[0076] Step Four: Empty Tray Collection

[0077] The lifting module 640 of the loading process lifts the entire stack of trays vertically upward to the empty tray collection position 630; the empty tray clamping mechanism 635 at the empty tray collection position 630 clamps and fixes the empty tray at the top of the stack of trays that has completed the material picking operation.

[0078] Step Five: Retraction of the Stack of Trays

[0079] After the empty tray is fixed at the empty tray collection position 630 by the empty tray clamping mechanism, the entire stack of trays is driven by the lifting module to retract downward to the material picking position.

[0080] Step Six: Repeat Steps Three - Five

[0081] Repeat the operations of picking materials from the stack of trays, collecting empty trays, and retracting the stack of trays.

[0082] Step Seven: Stacking of the Column of Empty Trays

[0083] All the trays loaded with materials to be inspected in the stack of trays have completed the material picking operation through the 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 a column of empty trays.

[0084] Step Eight: Retrieval of the Empty Trays

[0085] The empty tray clamping mechanism 635 releases, and the manipulator or manual labor takes out the entire column of empty trays.

[0086] Specifically, through the above - mentioned method, it is possible to pick materials from the trays containing materials and retrieve the empty trays more efficiently and conveniently; and this method can make the arrangement of the used loading device more reasonable; combined with Figure 6 , the loading device used for appearance defect detection in this method includes a loading device main body 600. The loading device main body 600 is arranged from bottom to top with a full - tray feeding part 610 for stacking and placing full trays to form a stack of trays, a material picking position for picking the materials to be inspected at the full trays and moving them to the next station, and an empty tray collection position 630 for stacking and collecting the empty trays after the material picking operation to form a column of empty trays; a loading - process lifting module 640 for lifting the trays is also arranged on the loading device main body 600.

[0087] Specifically, the device main body in this embodiment is first arranged in the form of tray stacking; it can be understood that

[0088] First, the number of trays that can be stacked at one time in the form of tray stacking is relatively large, so that a larger amount of materials can be loaded in one feeding process; and since the materials in the trays are mainly for electronic products with a square three-dimensional structure, stacking along the vertical direction can keep the end faces of the electronic products stable and horizontal for subsequent material picking.

[0089] Second, the form of tray stacking can cooperate with the full-tray feeding part 610, the material picking position, and the empty-tray collection position 630 arranged in sequence along the vertical direction, so that the layout structure of the whole device is concentrated in the vertical direction as a whole, and thus it can be ensured that the space occupied by the device main body in the horizontal direction is small.

[0090] Third, the trays stacked along the vertical direction can naturally form an uppermost part that is convenient for material picking and a lowermost part that is convenient for cooperating with the support structure to support the whole; thus, it is convenient to realize the single-unloading function of the uppermost tray, that is, to pick and lift and separate the uppermost tray alone without affecting other trays.

[0091] Fourth, in this embodiment, the operator can put the stacked full trays into the full-tray feeding part 610; then the height of the stacked trays themselves can form a coordination with the lifting module; so that only by controlling the lifting of one lifting module can the material on the uppermost tray be picked and the empty tray after the uppermost material is picked be lifted to the empty-tray collection position 630 in cooperation with the height formed by the trays themselves; in this way, the stacked full trays in the full-tray feeding part 610 are naturally gradually reduced by material picking, and the stacked empty trays at the empty-tray collection position 630 gradually rise and increase.

[0092] Fifth, since the empty trays in this embodiment are naturally stacked at the empty-tray collection position 630 to form a stack of empty trays, they can be conveniently taken away by a manipulator or a collector.

[0093] In this embodiment, combined with Figures 7 - 8 , the full-tray feeding part 610 includes a feeding part placing bottom plate 611 arranged in parallel along the horizontal direction; on the upper part of the placing bottom plate, there are arranged feeding part sliding guide rails 612 consistent with the extending direction of the placing bottom plate; at both sides of the feeding part sliding guide rails 612, there is arranged a feeding part sliding bottom plate that is slidably matched with both of them;

[0094] The part of the sliding bottom plate located between the sliding guide rails 612 of the two feeding parts forms a lifting opening 618 in the vertical direction to cooperate with the lifting module for lifting; a placement area for placing the tray is formed in the middle of the upper surface of the sliding bottom plate; vertical limiting blocks 613 are arranged at the four corners of the placement area; the limiting blocks 613 are trapezoidal and two are provided at each corner and are respectively located on both sides of the vertex of the corner to limit the tray; a handle 614 for pulling the sliding bottom plate of the feeding part to slide along the sliding guide rail 612 of the feeding part is provided at the middle of the upper surface of the side of the sliding bottom plate of the feeding part away from the lifting opening 618.

[0095] It can be understood that the sliding bottom plate of the feeding part can preferably support the lowest tray in the vertical column of trays at the feeding part; moreover, the sliding bottom plate can cooperate with the limiting blocks 613 to jointly form a placement area for placing the vertical column of trays in the vertical direction; the vertical column of trays located in the placement area can preferably be limited in the vertical direction to ensure that its position in the vertical direction corresponds to the picking position and the empty tray collection position 630.

[0096] In this embodiment, a feeding part cylinder assembly 615 for driving the sliding bottom plate of the feeding part to slide along the sliding guide rail 612 of the feeding part is further arranged at the feeding part placement bottom plate 611; the sliding mover of the feeding part cylinder assembly 615 is connected to the sliding bottom plate of the feeding part; a feeding part positioning pin 616 driven by a gas source to move in the vertical direction is arranged at the position of the feeding part placement bottom plate 611 below the handle 614; a feeding part positioning through hole for cooperating with the feeding part positioning pin 616 to limit the sliding bottom plate of the feeding part in the sliding direction is formed at the sliding bottom plate of the feeding part.

[0097] It can be understood that the movement and positioning of the sliding bottom plate of the feeding part and the vertical column of trays placed at the feeding part in the horizontal direction can be preferably controlled by the feeding part cylinder assembly 615 and the feeding part positioning pin 616.

[0098] An L-shaped feeding part induction piece 617 is arranged at the outer wall of the end of the sliding bottom plate on one side of the lifting opening 618; sensors for inductively cooperating with the feeding part induction piece 617 are respectively arranged at both ends of the feeding part placement bottom plate 611 along the sliding direction of the sliding guide rail 612 of the feeding part; feeding part opposed photoelectric sensors 619 for inductively identifying the trays at the feeding part are further arranged at the positions of the feeding part placement bottom plate 611 on both sides of the sliding guide rail 612 of the feeding part.

[0099] Specifically, the feeding device can be better automatically controlled through such sensors.

[0100] Further, in this embodiment, in combination with Figure 9, the lifting module 640 of the loading process includes a lifting mounting frame 641 arranged in the vertical direction. At the lifting mounting frame 641, a servo electric slide table in the form of an electric cylinder is arranged in the vertical direction. There are two lifting sliding blocks 642 sliding in the vertical direction on both sides of the servo electric slide table. The lifting sliding blocks 642 are driven by a servo motor with a brake 643; A vertically placed lifting mounting plate 644 is commonly connected to the two lifting sliding blocks 642. On both sides of the upper part of the lifting mounting plate 644 along the horizontal direction, right-angled lifting mounting brackets 645 are symmetrically connected. On the upper parts of the two lifting mounting brackets 645, a lifting bottom plate 646 extending along the direction of the lifting opening 618 of the sliding bottom plate of the feeding part is arranged; The upper end surface of the lifting bottom plate 646 is used to support the vertical columns of trays at the full-tray feeding part 610 and lift vertically along with the lifting sliding blocks 642.

[0101] Specifically, by using the servo motor with a brake 643 as the drive, it can preferably drive the vertical columns of trays to move up and down and then achieve positioning; In addition, through the relevant mechanisms at the lifting sliding blocks 642, the vertical columns of trays can be preferably and stably supported to ensure that the entire vertical column remains vertical, and each individual tray can be kept horizontal for subsequent material picking.

[0102] On the outer wall of one side of the lifting mounting frame 641 near the lifting bottom plate 646, a lifting limit stop rod is arranged in the vertical direction. The lifting limit stop rod abuts against the side wall of the vertical column of trays to form a vertical guide; A central opening is formed in the middle of the lifting bottom plate 646 in the vertical direction. A lifting photoelectric sensor is arranged on the lower bottom surface of the lifting bottom plate 646 beside the central opening. The lifting photoelectric sensor is used to sense the vertical column of trays placed on the upper surface of the lifting bottom plate 646.

[0103] In this embodiment, combined with Figure 10 , the picking position includes a picking bottom plate 621 arranged in the horizontal direction. In the middle of the upper surface of the picking bottom plate 621, a picking opening 622 for the vertical column of trays to pass through is formed; The picking opening 622 reserves a space for one more material size along the y-axis direction compared to the tray; Above the picking bottom plate 621, a picking component for the loading process is arranged. The picking component for the loading process includes a synchronous belt type picking process x-axis linear module 623 arranged along the x-axis direction on both sides of the upper surface of the picking bottom plate 621; The x-axis and y-axis directions are respectively consistent with the width and length directions of the trays at the vertical column of trays; A picking process x-axis mover moving along the x-axis is provided at the picking process x-axis linear module 623. The two x-axis movers on both sides are commonly connected with a synchronous belt type picking process y-axis linear module 624 moving along the x-axis with it;

[0104] Understandably, this implementation mainly uses the x-axis linear module 623 and the y-axis linear module 624 in the material picking process to achieve the required movement during material picking. On the one hand, the x-axis linear module 623 in the material picking process can be conveniently arranged on both sides of the material picking opening 622. On the other hand, a single y-axis linear module 624 in the material picking process can also better meet the material picking requirements and can pick up the materials at the tray in the specified picking order one by one.

[0105] At the y-axis linear module 624 in the material picking process, there are two adjacent y-axis movers 6241 in the y-axis direction. At both of the two y-axis movers 6241 in the material picking process, there is a z-axis cylinder 6242 in the vertical direction connected through an x-axis connecting block. The lower part of the piston rod of the z-axis cylinder 6242 in the material picking process is connected with an adsorption assembly 6243 in the material picking process. The adsorption assembly 6243 in the material picking process includes a z-axis connecting block that moves vertically along with the piston rod. Driven by the z-axis connecting block, there is a suction cup mounting plate 6244 in the horizontal direction connected to the lower surface. At the four corners of the suction cup mounting plate 6244 in the material picking process, there are material picking suction nozzles in the material picking process with the adsorption direction downward. The four material picking suction cups in the material picking process cooperate with each other to pick up the materials to be detected. On the upper side of the suction cup mounting plate 6244 in the material picking process, there is an encoder 6245 installed through a coding mounting plate.

[0106] Specifically, generally, the materials placed at the tray are arranged in a 2×5 distribution, with the length direction being 5 and the width direction being 2. A total of 10 materials are placed at a single tray. For the two adsorption assemblies 6243 in the material picking process at the y-axis mover 6241, starting from the first row, 2 materials are picked up and removed each time. When picking up the fifth one, it moves forward to the second row, picks up the first one in the second row, and then removes it. Finally, the remaining 4 materials in the second row are removed in sequence. Such an arrangement and picking order can, on the one hand, remove 10 materials one by one without an empty load each time, and on the other hand, can also better reduce the load borne by the y-axis sliding block; and the movement is relatively rapid.

[0107] On both sides of the material taking opening 622 of the material taking bottom plate 621 along the x-axis direction, there are respectively arranged material taking positioning components for fixing the uppermost material tray in the vertical column of material trays; the material taking positioning components include a material taking positioning cylinder 625 arranged along the x-axis direction, and the piston rod of the material taking positioning cylinder 625 is connected with a material taking positioning cross plate 626 extending along the y-axis direction. The material taking positioning cross plates 626 at both sides of the material taking positioning components are driven by cylinders to move to press against both sides of the uppermost material tray in the vertical column of material trays to achieve positioning; at both sides of the material taking opening 622 of the material taking bottom plate 621 along the x-axis direction, there are arranged material taking part pair of photoelectric sensors 627 for identifying and sensing the uppermost material tray in the vertical column of material trays. At both sides of the material taking opening 622 of the material taking bottom plate 621 along the x-axis direction, there are arranged a plurality of material taking guiding rods 628 in the vertical direction. The material taking guiding rods 628 are used to abut against the vertical column of material trays to form guiding in the vertical direction.

[0108] Specifically, through the material taking positioning components, the uppermost material tray to be taken in the vertical column of material trays can be preferably fixed during material taking, so as to ensure that the position of the material tray does not shift during the whole material taking process. In addition, through the material taking guiding rods 628, the vertical column of material trays can be preferably ensured to be stably arranged in the vertical direction to correspond to the feeding part and the empty material tray collection position 630 to ensure the normal progress of the whole feeding process.

[0109] Combined with Figure 11 , the empty material tray collection position 630 includes a collection position bottom plate 631 arranged along the horizontal direction; on both sides of the upper surface of the collection bottom plate, there are respectively arranged collection position linear guide rails 632; a plurality of collection position sliding blocks 633 slidably matched with them are arranged on both sides of the collection position linear guide rails 632; a collection position annular plate 634 is jointly connected to the upper surfaces of the plurality of collection position sliding blocks 633; collection openings for the vertical column of material trays to pass through are formed in the middle of the collection position bottom plate 631 and the collection position annular plate 634; on both sides of the collection opening of the collection position annular plate 634, there are arranged empty material tray clamping mechanisms 635;

[0110] Specifically, the collection opening can preferably correspond to the aforementioned material taking opening 622 and the lifting opening 618 for the vertical movement of the vertical column of material trays to pass through.

[0111] The empty tray clamping mechanism 635 includes an empty tray clamping cylinder 6351. The end of the piston rod of the empty tray clamping cylinder 6351 is connected with an empty tray clamping plate 6352. The empty tray clamping plate 6352 is L-shaped and includes a clamping vertical plate 63521 in the vertical direction and a clamping horizontal plate 63522 in the horizontal direction. The clamping horizontal plates 63522 at the two sides of the empty tray clamping mechanism 635 cooperate to abut against the bottom surface of the lowermost empty tray in the vertical row of empty trays to support the vertical row of empty trays in the vertical direction. The clamping vertical plates 63521 at the two sides of the empty tray clamping mechanism 635 abut against the side walls of the empty trays in the vertical row of empty trays to form a limit.

[0112] A plurality of vertically arranged empty tray limit plates 636 are provided on the side walls of the mobile phone openings at the collecting position annular plate 634. The empty tray limit rods cooperate with the clamping vertical plates 63521 to form a vertical passage for limiting the vertical passage of the vertical row of empty trays.

[0113] It can be understood that through the above-mentioned empty tray clamping mechanism 635, the vertical row of empty trays located at the empty tray collecting position 630 can be stably supported from the bottom. Moreover, after the picking is completed, the vertical row of trays jacks up the vertical row of empty trays from the lower part, and then the empty tray clamping mechanism 635 clamps and removes the empty tray at the uppermost part of the vertical row of trays and serves as the bottom of the vertical row of empty trays.

[0114] Embodiment 3

[0115] This embodiment provides a dust removal and detection system applicable to the equipment main body 100 in Embodiment 1, which is realized based on the mutually cooperating dust removal device 1300 and the area array detection device 1700. The area array detection device 1700 is simultaneously applicable to the CG surface area array detection system 130 and the BG surface area array detection system 170. This embodiment also provides a method for dust removal and detection of the material surface realized based on the dust removal device 1300 and the area array detection device 1700, which specifically includes the following steps:

[0116] Step 1: Loading for dust removal

[0117] Place the detection object to be dusted at the turning position 1310 and keep the BG surface facing up.

[0118] Step 2: Turning the detection object to be dusted

[0119] Turn the detection object located at the turning position 1310 by 180 degrees to the lifting position 1320. At this time, the detection object is positioned at the lifting position 1320 with the CG surface facing up.

[0120] Step 3: Lifting the detection object to be dusted

[0121] Lift the detection object located at the lifting position 1320 upward to the height that can be picked up by the subsequent dust removal two-axis module 1330.

[0122] Step 4: Pick up the detection object and move it to the dust removal position

[0123] Move the dust removal two-axis module 1330 and suck up the detection object lifted to the pick-up height; keep the BG surface of the detection object facing downwards. After sucking, first move horizontally along the x-axis to directly above the dust removal position, and then move down along the z-axis to the dust removal position;

[0124] Step 5: Dust removal

[0125] Use the dust removal typhoon system located below the dust removal position to remove dust from the detection object at the dust removal position, blow the dust up and suck it away from the top;

[0126] Step 6: Transport the detection object to the area array detection position 1713

[0127] Move the detection object after dust removal to the area array detection position 1713 at the area array camera 1714 through the dust removal two-axis module 1330;

[0128] Step 7: Area array detection

[0129] The area array detection position 1713 has degrees of freedom in two rotation directions around the y-axis and relative to its own central axis; the area array camera 1714 has degrees of freedom in three directions along the x-axis, y-axis, and z-axis; through the cooperation of the movements in five axial directions of the area array detection position 1713 and the area array camera 1714, the relative spatial position relationship between the detection object to be detected and the area array camera 1714 is adjusted; by adjusting the position relationship, the four side edges, four diagonals, and four sides on the plane where defects are likely to occur on the detection object are detected successively.

[0130] Specifically, in this embodiment, the detection object with the CG surface facing upwards from the previous loading station is turned over to the BG surface facing downwards through the turning mechanism. Since the BG surface has parts such as grooves and cracks that are prone to accumulating dust, dust removal is carried out at the dust removal position with the BG surface facing downwards, so that the BG surface that is prone to accumulating dust can be better dusted, and the dust removal effect is better; at the same time, this can also effectively avoid the situation that the subsequent image acquisition of the appearance defects of the BG surface is affected by excessive dust accumulation on the BG surface area of the detection object; furthermore, it can ensure that the surface condition of the BG surface can be clearly imaged and recognized during the subsequent detection process.

[0131] In addition, the dust removal method in this embodiment can be smoothly connected to the prior feeding device and the subsequent area array detection better, so that the entire visual detection process can be carried out efficiently and continuously without the need to remove dust from the detection object through other external devices additionally; in addition, after dust removal, the detection object is directly transported to the area array detection location, so that the detection object will not come into contact with the external environment again, thus avoiding the situation of re-dusting due to contact with the external environment. Therefore, the dust removal method in this embodiment can ensure that the detection object can better maintain the surface cleanliness after dust removal is completed.

[0132] In this embodiment, in combination with Figure 13 , a turning position 1310, a lifting position 1320, and a dust removal typhoon system are arranged in sequence along the x-axis direction at the dust removal device 1300; above the dust removal typhoon system, a dust removal two-axis module 1330 for transporting the detection object between the turning position 1310, the lifting position 1320, the dust removal position formed on the upper side of the dust removal typhoon system, and the detection position in the area array detection device 1700 is arranged; at the area array detection device 1700, an area array camera 1714 for performing area array visual detection on the detection object to be detected is provided.

[0133] It can be understood that through the above structure, the aforementioned dust removal and area array detection processes can be better realized.

[0134] In combination with Figure 14 , the turning position 1310 includes a turning placement part 1311 that adsorbs the detection object by adsorbing the CG surface and is installed at intervals along the y-axis direction at the turning rotating shaft 1312; one end of the turning rotating shaft 1312 is connected to a power wheel, and the power wheel is connected to the output end of the turning servo motor 1313 through a transmission belt and a transmission wheel to realize controlled rotation, and the turning placement part 1311 realizes the adsorption and release of the detection object through a vacuum chuck;

[0135] In combination with Figure 15 , the lifting position 1320 includes a lifting placement part 1321 that adsorbs the detection object by adsorbing the BG surface and is arranged at intervals corresponding to the turning placement plate along the y-axis direction. The lower part of the lifting placement part 1321 is connected to a lifting bottom plate 1322 arranged along the y-axis. A plurality of lifting placement plates are symmetrically arranged on both sides of the middle of the lifting bottom plate 1322. The lower end of the middle of the lifting bottom plate 1322 is connected to the piston rod of the lifting cylinder 1323 to move along the z-axis direction therewith. The lifting placement part 1321 includes a BG surface product positioning fixture for fixing the detection object by detecting the BG surface of the detection object;

[0136] In combination with Figure 16, the dust removal two-axis module 1330 includes a synchronous belt type dust removal x-axis linear module 1331 arranged above both sides of the entire tipping position 1310, lifting position 1320 and dust removal typhoon system along the x-axis direction. The dust removal x-axis linear modules 1331 on both sides are driven by the same dust removal x-axis servo motor 1332, and synchronization is achieved between the dust removal x-axis linear modules 1331 on both sides through a synchronous rod 1333;

[0137] Above the upper parts of the dust removal x-axis sliders 1334 at both sides of the dust removal x-axis linear modules 1331, a dust removal y-axis cross beam 1335 along the y-axis direction is arranged. On the outer wall of the side of the dust removal y-axis cross beam 1335 away from the lifting position 1320, 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 moving 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 arranged in one-to-one correspondence with the lifting position 1320 along the y-axis direction. The lower part of the dust removal y-axis mounting plate 1338 is provided with dust removal position adsorption parts 1339 at intervals along the y-axis direction.

[0138] The dust removal position adsorption part 1339 includes a horizontally arranged dust removal position nozzle mounting plate. Nozzles with the adsorption direction facing downward are arranged at the four corners of the dust removal position nozzle mounting plate. The nozzles at the four corners cooperate with each other to cooperate with the CG surface of the detection object at the lifting position 1320 for picking up. The dust removal y-axis cross beam 1335 can move along the x-axis direction to the dust removal position located above the dust removal typhoon system.

[0139] Combined with Figure 17 , a planar array two-axis rotating device 1710 is arranged at the planar array detection device 1700. The planar array two-axis rotating device 1710 includes a rotating housing 1711 arranged along the y-axis direction; both ends of the rotating housing 1711 along the y-axis direction are movably installed at the planar array x-axis moving plate 1712, and the rotating housing 1711 is rotated through a planar array servo motor arranged inside it;

[0140] A plurality of planar array detection positions 1713 are evenly arranged at intervals along the y-axis direction on the upper surface of the rotating housing 1711. The planar array detection positions 1713 can rotate around their own central axes relative to the rotating housing 1711; the planar array x-axis moving plate 1712 is slidably arranged along the x-axis direction on the planar array x-axis slide rail. The planar array camera 1714 is arranged on the upper side of the middle part of the planar array x-axis slide rail. The lower part of the planar array camera 1714 forms a planar array vision detection area; one end of the planar array x-axis slide rail along the x-axis direction is used to receive the detection object dusted by the dust removal device 1300, and the other end is used to cooperate with the 2D and 3D detection systems to send the detection object after planar array vision detection to the next detection station.

[0141] Specifically, through the above-mentioned entity structure, it is possible to preferably ensure the stable movement and smooth flipping of the object to be detected between different workstations during the entire dust removal and detection process, thereby ensuring the smooth progress of the entire dust removal and detection process. In addition, the area array camera 1714 and the area array two-axis rotation device 1710 can be preferably coordinated to collect images of the object to be detected at different angles, so as to comprehensively cover various positions on the appearance of the object to be detected where defects are likely to occur.

[0142] When the object to be detected is the middle frame of a mobile phone and the size ratio of the entire device is arranged according to the middle frame of the mobile phone, in the actual operation process, it takes 1 s for four middle frames of the mobile phone to flip simultaneously, 1.5 s for the pick-up position 1320 to receive materials, then 1 s for the turning position 1310 to flip back to the original position along the turning shaft 1312, 2 s for the dust removal position adsorption part 1339 at the dust removal two-axis module 1330 to move and pick up materials, 1 s for the dust removal position adsorption part 1339 to carry the middle frame of the mobile phone to the dust removal position, 3 s for tornado dust removal, 1 s for moving to the area array detection device 1700 after dust removal is completed, 1 s for the dust removal two-axis module 1330 to drive the dust removal position adsorption part 1339 back to the original position. The total time taken is 13 s, and a total of 4 middle frames of the mobile phone are dust-removed and area-array detected. It takes about 3.3 s for a single middle frame of the mobile phone. The entire dust removal process is rapid and efficient; and dust removal and area-array detection, as a link in the entire detection process, can smoothly transition with other links of the entire detection equipment to ensure the stable progress of the entire detection process.

[0143] When the object to be detected is the middle frame of a mobile phone and the size ratio of the entire device is arranged according to the middle frame of the mobile phone, in the actual area array detection process, at the beginning stage of area array detection, the suction nozzle at the dust removal position descends (0.2 s) to break the vacuum and release materials (0.3 s), the suction nozzle at the dust removal position ascends (0.2 s), the area array two-axis rotation device 1710 moves to the area array vision detection area (0.5 s), the rotation movement of the middle frame of the mobile phone is detected, and each of the four sides and four diagonals of the middle frame of the mobile phone and four sides on the plane are detected (17 s), the area array two-axis rotation device 1710 moves to a position where it cooperates with the 2D and 3D detection systems (0.5 s), the suction nozzles at the 2D and 3D detection systems descend (0.2 s) to open the vacuum and suck materials (0.3 s), the suction nozzles at the 2D and 3D detection systems ascend, and the area array two-axis rotation device 1710 returns to its position to wait for the next batch of mobile phone middle frames that have completed dust removal (1 s). The total time taken is 20.4 s, and it takes about 5.1 s for a single middle frame of the mobile phone. The running speed of the entire area array detection process remains relatively fast, thus ensuring the efficient operation of the entire process.

[0144] Embodiment 4

[0145] This embodiment provides an appearance 2D and 3D combined detection system applicable to the device main body 100 in Embodiment 1, which is implemented based on a detection device 1800 for combined 2D and 3D appearance; this device is also applicable to the 2D and 3D combined CG surface detection system 140 and the 2D and 3D combined BG surface detection system 160. This embodiment also provides an appearance 2D and 3D combined detection method and application implemented based on the appearance 2D and 3D combined detection system. This method can be applicable to CG surface detection and BG surface detection, and specifically includes the following steps:

[0146] Step 1: Loading for 2D and 3D combined detection

[0147] Grab the detection object that has been dust-removed and surface array vision-detected through the multi-head material grabbing module 1810;

[0148] Step 2: Unloading for 2D and 3D combined detection

[0149] The multi-head material grabbing module 1810 places the grabbed detection objects one by one at the initial position for combined detection;

[0150] Step 3: Material picking for 2D and 3D combined detection

[0151] Grab and place the detection objects located at the initial position for combined detection one by one in turn through the combined detection material picking component on the combined detection transportation path 1890;

[0152] Step 4: 2D detection

[0153] Transport a single detection object along the combined detection transportation path 1890 to the 2D line scan detection position, and perform 2D line scan detection on the scratches, dents, stress marks on the middle plate surface, and over / under washing of the middle plate on the detection object through the 2D detection module;

[0154] Step 5: 3D detection

[0155] Continue to transport the detection object along the combined detection transportation path 1890 to the 3D line laser detection position, and detect the stress marks on the middle plate surface, middle plate depression, middle plate surface steps, middle plate surface over-riveting, middle plate springback, middle plate surface deformation, middle plate over / under riveting, and middle plate tool marks on the detection object through the 3D detection module 1860;

[0156] Step 6: Unloading for 2D and 3D combined detection

[0157] Transport the detection object after 2D and 3D detections to the unloading position through the combined detection unloading handling shaft 1870.

[0158] Specifically, through the above-described combined 2D and 3D detection method, it is possible to preferably complete 2D detection and 3D detection in sequence through a single combined detection and transportation path 1890, so as to preferably capture and identify appearance defects that may occur at the detection object, with a relatively wide coverage range, thus being able to preferably ensure the accuracy of the detection results, and further being able to preferably identify products with appearance defects through detection.

[0159] Combination Figures 18 - 19 , a combined 2D and 3D appearance detection device 1800 includes a multi-head material grabbing module 1810 for feeding in combined 2D and 3D detection and a combined detection unloading and handling shaft 1870 for unloading in combined 2D and 3D detection. A combined detection and transportation path 1890 arranged along the x-axis direction is disposed below the multi-head material grabbing module 1810; a 2D detection module and a 3D detection module 1860 are sequentially arranged on the moving route of the combined detection and transportation path 1890 from the multi-head material grabbing module 1810 to the unloading and handling shaft.

[0160] Combination Figure 20 , the multi-head material grabbing module 1810 includes a vertically arranged multi-head material grabbing mounting frame 1811. A material grabbing x-axis linear module 1812 driven by a gas source is horizontally arranged along the x-axis direction on the upper surface of the multi-head material grabbing mounting frame 1811; a material grabbing mounting plate 1813 that moves along the x-axis with the material grabbing x-axis mover is connected to the upper part of the material grabbing x-axis mover of the material grabbing x-axis linear module 1812. A material grabbing z-axis linear module 1814 in the form of an electric cylinder is arranged along the z-axis on the material grabbing mounting plate 1813. A material grabbing z-axis mounting plate 1815 facing downward along the z-axis direction is arranged at the material grabbing z-axis mover of the material grabbing z-axis linear module 1814. A gripper head mounting plate 1816 along the y-axis direction is installed at the lower part of the material grabbing z-axis mounting plate 1815, and a plurality of material grabbing gripper heads 1817 are evenly spaced along the y-axis direction on the lower side of the gripper head mounting plate 1816.

[0161] One end of the material grabbing x-axis linear module 1812 along the x-axis direction is located above the discharge position of the previous station, and a material grabbing placement rack 1818 corresponding one-to-one to the material grabbing gripper heads 1817 at the gripper head mounting plate 1816 is arranged at the lower side position of the other end. The upper part of the material grabbing placement rack 1818 is used for positioning and cooperation with the detection object; Combination Figure 21, above the material grabbing and placing rack 1818, a combined detection y-axis material picking linear module 1820 which is an electric cylinder and arranged along the y-axis direction is provided. At the combined detection y-axis material picking mover that moves along the y-axis direction at the combined detection y-axis material picking linear module 1820, a combined detection z-axis material picking module 1821 in the form of a slide cylinder and arranged along the z-axis direction is connected. At the combined detection z-axis material picking mover that moves along the z-axis direction at the combined detection z-axis material picking module 1821, a horizontally arranged combined detection material picking plate 1822 is connected to the lower part. The lower surface of the combined detection material picking plate 1822 is used for positioning and releasing cooperation with the CG surface of the detection object, combined Figure 22 , the combined detection transportation path 1890 is arranged below the combined detection material picking plate 1822 and at the middle position of multiple material grabbing and placing racks 1818 along the y-axis direction; the combined detection material picking plate 1822 is used for positioning and cooperating with the detection object to carry it to the combined detection transportation path 1890 and release it to place it on the combined detection transportation path 1890.

[0162] The combined detection transportation path 1890 includes a combined detection x-axis transportation module 1891 which is a double-mover linear motor module and arranged along the x-axis direction. At the middle position of the combined detection x-axis transportation module 1891 along the x-axis direction, a separation inductor is arranged. The parts of the combined detection x-axis transportation module 1891 on both sides of the separation inductor respectively form a first mover moving part 18911 and a second mover moving part 18912. A first mover and a second mover that slide along the x-axis in their respective areas are respectively provided at the first mover moving part 18911 and the second mover moving part 18912; a combined detection transition component 1850 is provided at the junction of the first mover moving part 18911 and the second mover moving.

[0163] At the upper parts of the first mover and the second mover, a combined detection positioning component 1892 for positioning and releasing the BG surface of the detection object is installed. One end of the first mover moving part 18911 along the x-axis direction is located below the combined detection material picking plate 1822 to receive the detection object at the combined detection material picking plate 1822 through the combined detection positioning component 1892 at the first mover.

[0164] Combined Figure 23 , at the upper side of the other end of the first mover moving part 18911 along the x-axis direction, a combined detection transition component 1850 is arranged, combined Figure 23, the combination detection transition component 1850 is installed above the combination detection transportation path 1890 along the z-axis direction through the combination detection transition mounting bracket 1851. The combination detection transition component 1850 includes a combination detection transition z-axis module 1852 using a sliding table cylinder. A combination detection transition suction plate 1853 is horizontally arranged at the lower part of the combination detection transition z-axis mover at the combination detection transition z-axis module 1852. The combination detection transition suction plate 1853 is used to cooperate with the CG surface of the detection object at the first mover through controlled vacuum for positioning and releasing.

[0165] Above the middle position of the first mover moving part 18911 in the x-axis direction, a 2D detection module is arranged. The first mover 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 bionic AOI light source 1832 arranged in a ring around the upper part of the 2D line scan detection position. The combination bionic AOI light source 1832 is installed through a 2D camera mounting bracket 1830; on the side of the 2D line scan mounting bracket far from the combination detection transition component 1850, a shooting opening 1831 is formed. The 2D line scan camera 1840 is fixedly installed through the 2D camera mounting bracket 1830, and its shooting optical path is directly opposite to the 2D line scan detection position at the first mover moving part 18911 through the shooting opening 1831.

[0166] One end of the second mover moving part 18912 in the x-axis direction is located below the combination detection transition suction plate 1853 for receiving the detection object at the combination detection transition suction plate 1853 through the second mover. The other end of the second mover moving part 18912 in the x-axis direction is located below the combination detection blanking handling shaft 1870; combination Figure 26 , above the middle position of the second mover moving part 18912 in the x-axis direction, a 3D detection module 1860 is arranged; the second mover moving part 18912 located within 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 selected as a linear motor and arranged along the y-axis direction across the second mover moving part 18912 at the combination detection transition mounting bracket 1851. A 3D camera 1862 is installed at the lower part of the 3D detection y-axis mover of the 3D detection y-axis module and moves along the y-axis therewith to perform 3D detection on the detection object at the 3D line laser detection position. There are 3 3D detection cameras and they are installed in a staggered manner.

[0167] Combination Figure 27The combined detection material unloading conveying shaft 1870 includes a combined detection material unloading y-axis module 1871 which is located on the upper side of the end of the combined detection conveying passage 1890 and is arranged across along the y-axis direction and is controlled by an air source; a combined detection material unloading z-axis module 1872 which is arranged along the z-axis direction and is a slide cylinder is installed at the combined detection material unloading y-axis mover 18711 at the combined detection material unloading y-axis module 1871; a combined detection material unloading suction plate 18722 which is arranged horizontally is installed at the lower part of the combined detection material unloading z-axis mover 18721 of the combined detection material unloading z-axis module 1872; the combined detection material unloading suction plate 18722 is used for positioning and loosening the cooperation with the CG surface of the detection object;

[0168] The combined detection and unloading y-axis module 1871 is provided with a combined detection and unloading transition position on one side along the y-axis direction and a combined detection and unloading x-axis module 1880 controlled by an air source on the side along the x-axis direction toward the far 3D detection module, one end of the combined detection and unloading x-axis module 1880 along the x-axis direction is located above the combined detection and unloading transition position, and the combined detection and unloading x-axis mover 1881 of the combined detection and unloading x-axis module 1880 is connected to a ball screw type combined detection and transporting z-axis module 1882 arranged along the z-axis direction, and the combined detection and transporting z-axis mover 18821 moving along the z-axis direction at the combined detection and transporting z-axis module 1882 is connected to a horizontally arranged combined detection and transporting suction plate 1883, and the combined detection and transporting suction plate 1883 is positioned and adsorbed with the CG surface to be detected by controlling the vacuum.

[0169] Specifically, the above structure can better meet the transplantation and inspection requirements of the entire inspection process; during the inspection process, when used for inspection of the CG surface mid-plate area, the 2D inspection module and the 3D inspection module 1860 can take pictures and identify appearance defects such as dents, crushing marks and scratches on the CG surface mid-plate.

[0170] When the device is used for the inspection of the middle plate area of the BG surface (the inspection of the middle plate area of the BG surface is located after the macro inspection), the 2D inspection module and the 3D inspection module 1860 can be used to identify the appearance defects such as stress marks, dents, crush marks, scratches, edge burrs, edge burrs, edge curling, over-milling, missed milling and incomplete milling in the middle plate of the BG surface. At the same time, it can also identify the burrs, 2D code scratches, over-milling, missed milling and incomplete milling in the 2D code area.

[0171] When the object to be detected is the middle frame of a mobile phone and the size ratio of the entire device is arranged according to the middle frame of the mobile phone, during the entire 2D line scan detection process, first, the combination detection pick-up plate 1822 descends (0.2 s), breaks the vacuum to release the material to the first mover at the combination detection transport path 1890 (0.3 s), and then rises back to the original position (0.2 s). The object to be detected moves along the combination detection transport path 1890 to the 2D line scan detection position (2 s), and then moves to the lower side of the combination detection transition suction plate 1853 (0.5 s). The combination detection transition suction plate 1853 descends (0.2 s) and turns on the vacuum to suck the material (0.3 s). After sucking the material, the combination detection transition suction plate 1853 rises (0.2 s), and the first mover returns to its position (1 s). The entire 2D detection process takes 5.4 s to complete the 2D detection of a single detection object, and the detection time can be controlled within a short time, thus ensuring the efficient progress of the entire detection process.

[0172] When the object to be detected is the middle frame of a mobile phone and the size ratio of the entire device is arranged according to the middle frame of the mobile phone, during the entire 3D laser detection process, first, the combination detection transition suction plate 1853 descends (0.2 s) and breaks the vacuum to release the material (0.3 s), the macro detection transition suction plate rises (0.2 s), the second mover carries the middle frame of the mobile phone to the photographing position (0.5 s), then 3D line laser (150 mm / s) is performed for 2 s, the second mover carries the middle frame of the mobile phone to the blanking position (0.5 s), the combination detection transport suction plate 1883 descends (0.2 s) and turns on the vacuum to suck the material (0.3 s). After sucking the material, the combination detection transport suction plate 1883 rises (0.2 s), and the empty jig at the second mover returns to its position (1 s). The 3D detection takes 5.4 s.

[0173] The 2D camera parameters used in this implementation are: camera model: DASLA LA-CM-16K05A-00-R, telecentric lens: DTCM16-80H-AL, working distance: 120 mm, scanning interval: 0.005 mm, movement mode: the camera is fixed, and the product moves horizontally.

[0174] The parameters of the 3D camera 1862 used in this embodiment are: camera SR8060, object distance: 60 mm, sampling frequency: 3.2k - 13k.

[0175] Embodiment 5

[0176] This embodiment provides a macro detection system for appearance defects applicable to the device main body in Embodiment 1. This embodiment also provides an appearance defect macro detection method and application implemented based on an appearance defect macro detection system. This method can be applicable to CG surface detection and BG surface detection, and specifically includes the following steps:

[0177] Step 1: Macro detection loading

[0178] Place the inspection object to be microscopically inspected at the microscopical inspection loading position;

[0179] Step 2: CG surface inspection

[0180] Turn the CG surface of the inspection object upwards and pass it through the first microscopical inspection station 3000 and the second microscopical inspection station 3100 in sequence; the first microscopical inspection station 3000 is used to inspect the middle plate edge of the CG surface of the inspection object, and the second microscopical inspection station 3100 is used to inspect the waterproof surface of the CG surface of the inspection object.

[0181] Step 3: Flip the inspection object

[0182] Flip the inspection object with the CG surface upwards to the BG surface upwards

[0183] Step 4: BG surface inspection

[0184] Turn the BG surface of the inspection object upwards and pass it through the third microscopical inspection station 3200, the fourth microscopical inspection station 3300, the fifth microscopical inspection station 3400 and the sixth microscopical inspection station 3500 in sequence; the third microscopical inspection station 3200 is used to inspect the nut position on the inner cavity surface of the BG of the inspection object, the fourth microscopical inspection station 3300 is used to inspect the upper and lower U-shaped regions on the inner cavity surface of the BG of the inspection object, the fifth microscopical inspection station 3400 is used to inspect the four corners of the upper and lower U regions on the inner cavity surface of the BG of the inspection object, and the sixth microscopical inspection station 3500 is used to inspect the T-slot region on the inner cavity surface of the BG of the inspection object.

[0185] Step 5: Microscopical inspection unloading

[0186] Unload the inspection object that has completed the microscopical inspection to the next station.

[0187] Specifically, through the above microscopical inspection method, it is possible to preferably separately inspect each part on the CG surface and the BG surface of the material that is prone to appearance defects through multiple stations, and at the same time, at each station, the best inspection effect can be achieved through a unique arrangement method of the microscopical inspection cameras.

[0188] The microscopical inspection device includes a microscopical BG surface inspection part and a microscopical CG surface inspection part; the first microscopical inspection station 3000 and the second microscopical inspection station 3100 are arranged at the microscopical CG surface inspection part; the third microscopical inspection station 3200, the fourth microscopical inspection station 3300, the fifth microscopical inspection station 3400 and the sixth microscopical inspection station 3500 are arranged at the microscopical BG surface inspection part.

[0189] Both the first macro detection station 3000 and the second macro detection station 3100 include a CG surface positioning tooling for adsorbing and releasing the detection object by cooperating with the CG surface of the detection object. The third macro detection station 3200, the fourth macro detection station 3300, the fifth macro detection station 3400, and the sixth macro detection station 3500 all include a BG surface positioning fixture for adsorbing and releasing the detection object by cooperating with the BG surface of the detection object. A macro detection z-axis lifting module using an electric cylinder for lifting the detection object is provided below both the CG surface positioning tooling and the BG surface positioning fixture. The macro BG surface detection unit and the macro CG surface detection unit both use a plurality of macro detection cameras arranged and coordinated to perform macro detection of the BG surface and the CG surface of the detection object.

[0190] Combined with Figure 29 , the macro detection camera includes a macro camera body 2900. A macro camera mounting block 2910 is formed at 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 detection station for arrangement and installation. A first macro shooting lens 2920 with a downward shooting optical path is arranged at the lowermost end face of the macro camera body 2900. A second macro shooting lens 2930 with an outward shooting optical path is arranged at the lower part of the side wall of the macro camera body 2900 opposite to the side where the macro camera mounting block 2910 is provided. The lens axes of the first macro shooting lens 2920 and the second macro shooting lens 2930 are perpendicular to each other.

[0191] Combined with Figure 30 , the first macro detection station 3000 further includes a first macro detection camera assembly directly above the CG surface positioning tooling at this station. A plurality of macro detection cameras at the first macro detection camera assembly cooperate to form a first macro detection position. The macro detection z-axis lifting module can drive the CG surface positioning tooling and the detection object at this station upward to the first macro detection position. The first macro detection camera assembly includes a plurality of macro detection cameras respectively arranged outside the two wide sides of the CG surface of the detection object. The macro detection cameras on both sides are arranged in parallel at intervals between the two ends in the width direction of the CG surface of the detection object. The macro detection cameras are all arranged obliquely through the adapter plate. The outer wall planes of the macro detection cameras at the first macro detection camera assembly are all inclined at an angle between 20 - 30 degrees relative to the CG surface of the detection object. The first macro shooting lens 2920 and the second macro shooting lens 2930 of each macro detection camera at this station both face the side of the wide side edge of the CG middle plate for macro detection of the CG middle plate edge;

[0192] Combined with Figure 31, the second macro-detection station 3100 further includes a second macro-detection camera assembly located directly above the CG surface positioning tooling at this station. A second macro-detection position is formed at the second macro-detection camera assembly. The macro-detection z-axis lifting module can drive the CG surface positioning tooling and the detection object at this station upward to the second macro-detection position. The second macro-detection camera assembly includes two rows of macro-detection cameras arranged in parallel between the two long sides of the CG surface. The two rows of macro-detection cameras are respectively parallel to the two long sides of the CG surface of the detection object. The macro-detection cameras in a single row are arranged at parallel intervals from one wide side of the CG surface to the other wide side to cover the entire CG waterproof surface. The first macro-shooting lenses 2920 of each macro-detection camera in the two rows of macro-detection cameras are all vertically oriented towards the bottom plane of the CG surface, and the second macro-shooting lenses 2930 are all oriented towards the long side of the CG surface for macro-detection of the CG waterproof surface.

[0193] Combined with Figure 32 , the third macro-detection station 3200 further includes a third macro-detection camera assembly located directly above the BG surface positioning fixture at this station. Multiple macro-detection cameras at the third macro-detection camera assembly cooperate with each other to form a third macro-detection position. The macro-detection z-axis lifting module can drive the CG surface positioning tooling and the detection object at this station upward to the third macro-detection position. The third macro-detection camera assembly includes two rows of macro-detection cameras arranged in parallel between the two long sides of the inner cavity of the BG surface of the detection object. Each row of macro-detection cameras is arranged at parallel intervals from one wide side of the inner cavity of the BG surface to the other wide side. The first macro-shooting lenses 2920 of each macro-detection camera at this station are all vertically oriented towards the bottom plane of the inner cavity of the BG surface, and the second macro-shooting lenses 2930 are all vertically oriented towards the inner side 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 cavity surface of the BG;

[0194] Combined with Figure 33 , the fourth macro-detection station 3300 further includes a fourth macro-detection camera assembly located directly above the BG surface positioning fixture at this station. Multiple macro-detection cameras at the fourth macro-detection camera assembly cooperate with each other to form a fourth macro-detection position. The macro-detection z-axis lifting module can drive the CG surface positioning tooling and the detection object at this station upward to the fourth macro-detection position. The fourth macro-detection camera assembly includes two rows of macro-detection cameras arranged in parallel with the two wide sides of the inner cavity of the BG surface. Each row of macro-detection cameras is arranged at parallel intervals from one wide side of the inner cavity of the BG surface to the other wide side. The first macro-shooting lenses 2920 of each macro-detection camera at this station are all vertically oriented towards the bottom plane of the inner cavity of the BG surface, and the second macro-shooting lenses 2930 are all vertically oriented towards the inner side wall of the wide side protruding perpendicular to the bottom plane of the inner cavity of the BG surface for macro-detection of the upper and lower U regions on the inner cavity surface of the BG;

[0195] Combined withFigure 34 , the fifth macro-detection station 3400 further includes a fifth macro-detection camera assembly located directly above the BG surface positioning fixture at this station. Multiple macro-detection cameras at the fifth macro-detection camera assembly cooperate with each other to form a fifth macro-detection position. The macro-detection z-axis lifting module can drive the CG surface positioning tooling and the detection object at this station to move upward to the fifth macro-detection position. The fifth macro-detection camera assembly includes four macro-detection cameras respectively arranged inside the four corners of the inner cavity of the BG surface. The first macro-photographing lens 2920 of each macro-detection camera is vertically oriented towards the bottom plane of the inner cavity of the BG surface, and the second macro-photographing lens 2930 is facing the inner wall of the corner of the BG surface inner cavity for macro-detection of the four corners of the upper and lower U regions of the BG inner cavity surface;

[0196] Combined with Figure 35 , the sixth macro-detection station 3500 further includes a sixth macro-detection camera assembly located directly above the BG surface positioning fixture at this station. Multiple macro-detection cameras at the sixth macro-detection camera assembly cooperate with each other to form a sixth macro-detection position. The macro-detection z-axis lifting module can drive the CG surface positioning tooling and the detection object at this station to move upward to the sixth macro-detection position. The sixth macro-detection camera assembly includes two rows of macro-detection cameras arranged parallel to the two long sides of the inner wall of the BG surface. Each row of macro-detection cameras is arranged at parallel intervals from one wide side to the other wide side of the inner cavity of the BG surface. The first macro-photographing lens 2920 of each macro-detection camera at this station is vertically oriented towards the bottom plane of the inner cavity of the BG surface, and the second macro-photographing lens 2930 is vertically oriented towards the inner side wall of the long side protruding perpendicular to the bottom plane in the inner cavity of the BG surface for macro-detection of the T-groove region of the BG inner cavity surface.

[0197] Specifically, through the above stations and the corresponding arrangement method of macro-detection cameras, it is possible to better cover the parts of the detection object where appearance defects are likely to occur, and the multi-station arrangement method can make the coverage of appearance defect detection more complete, thus ensuring the detection accuracy of macro-detection and the overall detection process; in addition, the macro-detection is arranged in the middle of the entire detection equipment. On the one hand, because the arrangement of macro-detection is relatively delicate, placing the BG surface detection and the CG surface detection together can be better arranged and can reduce costs compared with separate arrangements; at the same time, the detection object is turned over during macro-detection; so that the parts on both sides of the macro-detection device in the entire equipment can be used for CG surface and BG surface detection respectively. Furthermore, in the overall process, starting from feeding, the first half is CG surface detection and the second half is BG surface detection, which is convenient for subsequent image analysis data processing.

[0198] The parameters of the macro-detection camera used in this embodiment are as follows: lens structure: 3P+IR, lens-matched wafer: 1 / 6'', maximum image plane of the lens: diameter 3.3 mm; lens focal length: 1.35 mm; total lens length: 2.90±0.1 mm; lens aperture: 2.2±5%; lens diagonal angle: D = 88.7°; lens optical distortion <1.5%; relative illuminance of the lens >39.6%; pixel accuracy 0.01 mm. The macro-detection camera and the detection position are both kept at a distance of 10 mm±0.03 mm.

[0199] Embodiment 6

[0200] This embodiment provides a macro-detection device applicable to the macro-detection system in Embodiment 5. Combining Figure 36 , it includes a macro-device main body 3600, and the macro-device main body 3600 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 part, a macro-detection flipping assembly 3630, and a macro BG surface detection part are arranged in sequence from the macro-loading position 3610 to the macro-unloading position 3620. Above the macro CG surface detection part and the macro BG surface detection part, a CG surface camera assembly for detecting the CG surface of the detection object at the CG surface detection part and a BG surface camera assembly for detecting the BG surface of the detection object at the BG surface detection part are respectively arranged.

[0201] At the macro-device main body 3600, a total of sixteen macro-detection placement positions are arranged in parallel at 4×4 intervals along the x-axis and y-axis directions. The sixteen macro-detection placement positions are divided into four rows of first, second, third, and fourth macro-detection parts arranged along the y-axis direction. The CG surface detection part includes the first and second macro-detection parts, and the BG surface detection part includes the third and fourth macro-detection parts; the macro-loading position 3610 is located at the first macro-detection part of the CG surface detection part, and the macro-unloading position 3620 is located at the fourth macro-detection part of the BG surface detection part. The sixteen macro-detection placement positions jointly form the movement route of the detection object in the macro-detection from the macro-loading position 3610 to the macro-unloading position 3620, and the movement route of the detection object is S-shaped from the first macro-detection part to the fourth macro-detection part.

[0202] Understandably, in this embodiment, through the 4×4 arrangement, both sides of each row of positions in the y-axis direction are used as the loading and unloading positions of the row, and the middle two positions can be used as detection stations and cooperate with the corresponding macro detection cameras. The 4×4 arrangement can better meet the layout requirements of eight detection stations. At the same time, this enables the BG surface detection part and the CG surface detection part to be symmetrically structured and each occupy two rows of macro detection parts. This also enables the macro detection flipping assembly 3630 to be exactly arranged at the position where the BG surface detection part and the CG surface detection part meet, thus making the overall layout structure and subsequent operation more stable.

[0203] The 4 macro detection placement positions at the first macro detection part sequentially form a macro loading position 3610, a first macro detection station 3000, a second macro detection station 3100, and a macro detection transition position along the positive y-axis direction; the 4 macro detection placement positions at the second macro detection part sequentially form a macro detection transition position, a first reserved macro detection station, a second reserved macro detection station, and a macro detection flipping loading position along the negative y-axis direction; the 4 macro detection placement positions at the third macro detection part sequentially form a macro detection flipping unloading position, a third macro detection station 3200, a fourth macro detection station 3300, and a macro detection transition position along the positive y-axis direction, and the 4 macro detection positions at the fourth macro detection part sequentially form a macro detection transition position, a fifth macro detection station 3400, a sixth macro detection station 3500, and a macro detection unloading position along the negative y-axis direction.

[0204] 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, 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 are cooperatively arranged for detection and use multiple macro detection cameras are respectively arranged.

[0205] Combined with Figure 37, the transition position of the macro detection at the first macro detection unit and the transition position of the macro detection at the second macro detection unit are realized by the macro detection x-axis material transfer component 3700. The macro detection x-axis material transfer component 3700 includes a macro detection x-axis linear module 3710 arranged along the x-axis direction and controlled by a gas source. At the macro detection x-axis mover 3711 of the macro detection x-axis linear module 3710, a macro detection z-axis module 3720 in the form of a slide cylinder is arranged along the z-axis direction. At the macro detection z-axis mover 3721 of the macro detection z-axis module 3720, a macro detection transition material transfer plate 3730 is connected. At the macro detection transition material transfer plate 3730, a macro detection transition material transfer position for transporting the detection object between the macro detection transition positions is arranged; between the macro detection transition position at the third macro detection unit and the macro detection transition position at the fourth macro detection unit, a macro detection x-axis material transfer component 3700 for transporting the detection object is also arranged;

[0206] Combined with Figure 36 and Figure 38 , the transition position between the macro detection flipping loading position and the macro detection flipping unloading position of the second macro detection unit is realized by the macro detection flipping component 3630. The macro detection flipping component 3630 includes a macro detection flipping servo motor 3631. The output end of the macro detection servo motor is connected with an L-shaped cantilever plate 3632 through a speed reducer. The macro detection flipping unloading position is arranged at the L-shaped cantilever plate 3632, and the macro detection flipping loading position is arranged at the position where the macro detection servo motor drives the cantilever plate 3632 to rotate 180 degrees.

[0207] Combined with Figure 39 , at the position between the first macro detection unit and the second macro detection unit, two macro detection y-axis material transfer components 3900 are arranged along the y-axis direction. The two macro detection y-axis material transfer components 3900 are respectively used in cooperation with the first macro detection unit and the second macro detection unit. Each macro detection y-axis material transfer component 3900 includes a macro detection y-axis linear module 3910 arranged along the y-axis direction in the form of a ball screw. At the macro detection y-axis mover 3911 of the macro detection y-axis linear module 3910, a macro detection material transfer plate 3912 is connected. Along the y-axis direction at the macro detection material transfer plate 3912, three macro detection material transfer positions 3913 are arranged at intervals. The interval distance between the three macro detection material transfer positions 3913 is the same as the spacing between the four macro detection placement positions at the first macro detection unit; the three macro detection material transfer positions 3913 are used to move the detection object at each macro detection placement position forward by one position along an S-shaped movement route.

[0208] Product positioning jigs for fixing the inspection object by means of the BG surface of the inspection object are provided at the macro inspection placement positions of the first macro inspection unit and the second macro inspection unit; CG surface positioning tooling for fixing the mobile phone middle frame by means of the CG surface of the mobile phone middle frame is provided at the macro inspection placement positions of the third macro inspection unit and the fourth macro inspection unit.

[0209] The first macro inspection station 3000, the second macro inspection station 3100, the first reserved macro inspection station and the second reserved macro inspection station, the third macro inspection station 3200, the fourth macro inspection station 3300, the fifth macro inspection station 3400, and the sixth macro inspection station 3500 all achieve lifting through the macro inspection z-axis lifting module. The macro inspection z-axis lifting module includes a CG surface z-axis lifting linear module and a BG surface z-axis lifting linear module; a CG surface z-axis lifting linear module using an electric cylinder is provided below the first macro inspection station 3000, the second macro inspection station 3100, the first reserved macro inspection station and the second reserved macro inspection station at the macro CG surface inspection unit, and a BG surface z-axis lifting linear module using an electric cylinder is provided below the third macro inspection station 3200, the fourth macro inspection station 3300, the fifth macro inspection station 3400, and the sixth macro inspection station 3500 at the macro BG surface inspection unit.

[0210] Combined 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 main body 4000. The lifting linear module main body 4000 includes a lifting linear electric cylinder module 4010. A macro lifting frame 4030 is connected to the lifting linear electric cylinder mover 4020 of the lifting linear electric cylinder module 4010. Four groups of lifting connecting rods are provided on the upper end surface of the macro lifting frame 4030; the four groups of macro lifting connecting rods 4040 at the CG surface z-axis lifting linear module are respectively connected to the lower ends of the first macro inspection station 3000, the second macro inspection station 3100, the first reserved macro inspection station and the second reserved macro inspection station to drive them to move upward to the corresponding inspection positions; the four groups of macro lifting connecting rods 4040 at the BG surface z-axis lifting linear module are respectively connected to the lower ends of the third macro inspection station 3200, the fourth macro inspection station 3300, the fifth macro inspection station 3400, and the sixth macro inspection station 3500 to drive them to move upward to the corresponding inspection positions.

[0211] Macro lifting cylinders arranged along the z-axis direction are provided below the remaining macro inspection placement positions except for the first, second, third, fourth, fifth, and sixth macro inspection stations and the first and second reserved macro inspection stations. The end of the piston rod of the macro lifting cylinder is connected to the lower end of the remaining macro inspection placement position and drives it to move upward to cooperate with the macro inspection y-axis material transfer component 3900 to achieve the handover of the inspection object.

[0212] Specifically, through the above structure, it is possible to better meet the transplanting of the detection object among various workstations during the entire macro detection process, and the detection object at each of the four macro detection placement positions in each row can be stably moved forward by one unit along the movement route each time it is picked up by the three macro detection material transfer positions 3913. Such an operation is simple and efficient, and can better cooperate with the 4×4 layout method to ensure the normal operation of the entire macro detection.

[0213] It is easy to understand that those skilled in the art can combine, split, reorganize, etc. the embodiments of the present application based on one or several embodiments provided by the present application to obtain other embodiments, and these embodiments do not exceed the protection scope of the present application.

[0214] The above schematically describes the present invention and its implementation manners. This description is not restrictive, and what is shown in the embodiments is only part of the implementation manners of the present invention. The actual structure is not limited thereto. Therefore, if those of ordinary skill in the art are inspired by it and, without departing from the gist of the present invention creation, design similar structural manners and embodiments to this technical solution without creative efforts, they shall fall within the protection scope of the present invention.

Claims

1. A dust removal and detection system for a material surface, characterized in that, It is realized based on a material surface dust removal device and a linear array detection device, and the dust removal device and the linear array detection device are arranged in sequence along the x-axis direction; along the x-axis direction at the dust removal device (1300), there are arranged a turning position (1310), a lifting position (1320) and a dust removal typhoon system in sequence; above the dust removal typhoon system, there is arranged a dust removal two-axis module (1330) for transporting a detection object between the turning position (1310), the lifting position (1320), a dust removal position formed on the upper side of the dust removal typhoon system and a detection position in the linear array detection device (1700); at the linear array detection device (1700), there is arranged a linear array camera (1714) for performing linear array visual detection on the detection object to be detected. The dust removal two-axis module (1330) includes a synchronous belt type dust removal x-axis linear module (1331) arranged along the x-axis direction above both sides of the entire turning position (1310), the lifting position (1320) and the dust removal typhoon system. The two dust removal x-axis linear modules (1331) on both sides are driven by the same dust removal x-axis servo motor (1332), and synchronization is achieved between the two dust removal x-axis linear modules (1331) through a synchronous rod (1333); above the dust removal x-axis sliding blocks (1334) at the two dust removal x-axis linear modules (1331) on both sides, there is jointly arranged a dust removal y-axis cross beam (1335) along the y-axis direction. On the outer wall of the side of the dust removal y-axis cross beam (1335) far from the lifting position (1320), there is arranged a synchronous belt type dust removal z-axis linear module (1336) along the z-axis direction. The lower part of the dust removal z-axis sliding plate (1337) moving along the z-axis direction at the dust removal z-axis linear module (1336) is connected with a dust removal y-axis mounting plate (1338) arranged in one-to-one correspondence with the lifting position (1320) along the y-axis direction. At the lower part of the dust removal y-axis mounting plate (1338), there are arranged dust removal position adsorption parts (1339) at intervals along the y-axis direction. The dust removal position adsorption part (1339) includes a horizontally arranged dust removal position suction nozzle mounting plate. At the four corners of the dust removal position suction nozzle mounting plate, there are suction nozzles with the adsorption direction facing downward. The suction nozzles at the four corners cooperate with each other to cooperate with the CG surface of the detection object at the lifting position (1320) for picking up, and the dust removal y-axis cross beam (1335) can move along the x-axis direction to the dust removal position located on the upper side of the dust removal typhoon system.

2. The dust removal and detection system for a material surface according to claim 1, characterized in that, The turnover position (1310) includes a turnover placement part (1311) that is installed at intervals along the y-axis direction at the turnover rotating shaft (1312) and adsorbs the detection object through the adsorption of the CG surface; one end of the turnover rotating shaft (1312) is connected to the driving wheel, and the driving wheel is connected to the output end of the turnover servo motor (1313) through the transmission belt and the transmission wheel to achieve controlled rotation. The turnover placement part (1311) uses a vacuum chuck to adsorb and release the detection object; the lifting position (1320) includes a lifting placement part (1321) that is arranged at intervals along the y-axis direction corresponding to the turnover placement plate one by one and adsorbs the detection object through the adsorption of the BG surface. The lower part of the lifting placement part (1321) is connected to the lifting bottom plate (1322) arranged along the y-axis. A plurality of lifting placement plates are symmetrically arranged on both sides of the middle part of the lifting bottom plate (1322). The lower end of the middle part of the lifting bottom plate (1322) is connected to the piston rod of the lifting cylinder (1323) to move along the z-axis direction accordingly.

3. The dust removal and detection system for a material surface according to claim 2, characterized in that, The turnover placement part includes a CG surface positioning tooling (200). The CG surface positioning tooling (200) includes a CG surface positioning bottom plate (210) for connecting and arranging the air circuit. A CG surface suction head arrangement plate (220) is attached to the upper end surface of the CG surface positioning bottom plate (210). A CG surface adsorption position is formed on the upper end surface of the CG surface suction head arrangement plate (220). A plurality of CG surface suction nozzles (221) connected to the air circuit are arranged on the CG surface suction head arrangement plate (220). The plurality of CG surface suction nozzles (221) cooperate to adsorb the detection object at the CG surface adsorption position; a CG surface installation groove (222) is formed on the long side side wall of the CG surface suction head arrangement plate (220). A CG surface proximity sensor (223) is installed in the CG surface installation groove (222). The sensing direction of the CG surface proximity sensor (223) faces the CG surface adsorption position for sensing and identification; two CG surface air circuit openings (211) are respectively arranged at the center of the side wall and the bottom wall of the CG surface positioning bottom plate (210). An O-ring (212) for sealing is arranged at the CG surface air circuit opening (211) at the center of the bottom wall of the CG surface positioning bottom plate (210); A CG surface process hole (213) for processing the internal air circuit is formed on the side wall of the CG surface positioning bottom plate (210) where the CG surface air circuit opening (211) is provided. The CG surface air circuit opening (211) is connected to the CG surface suction nozzle (221) through the internal air circuit; the number of suction nozzles at the CG surface suction head arrangement plate (220) is four, and the four suction nozzles are respectively arranged at positions close to the four corners relative to the center position of the CG surface suction head arrangement plate (220). On the corner of the outer wall of the CG surface positioning base plate (210) near the CG surface proximity sensor (223), a wiring groove is formed. The wiring groove extends along the corner to the CG surface mounting groove (222) where the proximity sensor is located and is connected. A fillet is formed at the connection area between the wiring groove and the CG surface mounting groove (222). At the four corners where the CG surface positioning base plate (210) and the CG surface suction head arrangement plate (220) are in contact, through screw holes (214) are formed. The screw holes (214) are used to screw in screws to positionally connect the CG surface positioning base plate (210) and the CG surface suction nozzle (221).

4. The material surface dust removal and detection system according to claim 2, characterized in that, The material lifting and placing part includes a BG surface product positioning fixture for fixing the detection object by the BG surface of the detection object. The BG surface product positioning fixture includes a fixture main body (400). The fixture main body (400) includes a BG surface placing base plate (410) arranged at its bottom and horizontally. Above the BG surface placing base plate (410), a BG surface placing frame (420) is arranged in the vertical direction. At the upper end surface of the BG surface placing frame (420), a BG surface placing position for placing the detection object is formed. At the BG surface placing frame (420), a BG surface adsorption assembly and a BG surface inner limiting assembly for positioning the detection object at the BG surface placing position are provided. The BG surface adsorption assembly is used to cooperate with the bottom wall of the BG surface of the detection object to achieve adsorption. The BG surface inner limiting assembly is used to abut against the side wall of the BG surface of the detection object to form an inner limiting fit. The BG surface placing frame (420) is in the shape of a four-legged stool.

5. The dust removal and detection system for a material surface according to claim 4, characterized in that, The BG surface inner limiting assembly includes a four-jaw cylinder (430) arranged in the middle at the lower side of the BG surface placing frame (420). The four jaw bodies (431) of the four-jaw cylinder (430) are annularly distributed relative to the center position of the BG surface placing position. The four jaw bodies (431) are respectively perpendicular to the four side edges of the detection object corresponding to the BG surface placing position and are arranged to move along this vertical direction. On the side away from the center of the BG surface placing position of the four jaw bodies (431), BG surface positioning pins (4311) are vertically arranged. At each jaw body (431), two BG surface positioning pins (4311) are provided and are symmetrically arranged on both sides of the middle of the corresponding side edge. The BG surface positioning pins (4311) at the four jaw bodies (431) are respectively used to abut against the side wall of the BG surface of the corresponding detection object to cooperate to form an inner expansion positioning. At the side wall of the BG surface placing frame (420), a gas source interface (421) for connecting the gas source pipeline is provided. Inside the area surrounded by the four jaw bodies (431) of the four-jaw cylinder (430) at the BG surface placing position, a BG surface suction head arrangement plate (440) is provided. At the four corner areas of the BG surface suction head arrangement plate (440), BG surface suction nozzles (441) are respectively installed. The BG surface suction nozzles (441) at the four corner areas are used to adsorb and cooperate with the bottom wall of the BG surface to achieve the adsorption and release of the detection object. At the BG surface suction cup mounting plate at one of the corner areas, a BG surface proximity sensor (442) for identifying the detection object is also installed.

6. The dust removal and detection system for a material surface according to claim 1, characterized in that, A planar array detection device (1700) is provided with a planar array two-axis rotation device (1710). The planar array two-axis rotation device (1710) includes a rotating housing (1711) arranged along the y-axis direction. The two ends of the rotating housing (1711) in the y-axis direction are respectively movably installed at the planar array x-axis moving plate (1712). The rotating housing (1711) rotates through a planar array servo motor arranged inside it. A plurality of planar array detection positions (1713) are evenly spaced along the y-axis direction on the upper surface of the rotating housing (1711). The planar array detection positions (1713) can rotate around their own central axes relative to the rotating housing (1711). The planar array x-axis moving plate (1712) is slidably arranged along the x-axis direction at the planar array x-axis slide rail. The planar array camera (1714) is arranged on the upper side of the middle part of the planar array x-axis slide rail. The lower part of the planar array camera (1714) forms a planar array vision detection area. One end of the planar array x-axis slide rail in the x-axis direction is used to receive the detection object after being dust-removed by the dust-removing device (1300), and the other end is used to cooperate with the 2D and 3D detection systems to send the detection object after planar array vision detection to the next detection station.

7. A method for dust removal and detection of a material surface, which is realized based on the material surface dust removal and detection system according to any one of claims 1-6, and is specifically realized based on the mutually cooperating material surface dust removal device and planar array detection device, including the following steps: Step 1: Loading for dust removal Place the detection object to be dust-removed at the turning position (1310) and keep the BG surface facing up. Step 2: Turning the detection object to be dust-removed Turn the detection object at the turning position (1310) by 180 degrees to the lifting position (1320). At this time, the detection object is positioned at the lifting position (1320) with the CG surface facing up. Step 3: Lifting the detection object to be dust-removed Lift the detection object at the lifting position (1320) upward to a height that can be picked up by the subsequent dust removal two-axis module (1330). Step 4: Picking up the detection object and moving it to the dust removal position Move the dust removal two-axis module (1330) and suck up the detection object lifted to the pick-up height. Keep the BG surface of the detection object facing down. After sucking, first move horizontally along the x-axis to directly above the dust removal position, and then move down along the z-axis to the dust removal position. Step 5: Dust removal Use the dust removal typhoon system located below the dust removal position to dust the detection object at the dust removal position, blow up the dust and suck it away from the top. Step 6: Transporting the detection object to the planar array detection position (1713) Move the detection object after dust removal to the planar array detection position (1713) at the planar array camera (1714) through the dust removal two-axis module (1330). Step 7: Planar array detection The area array detection position (1713) has degrees of freedom in two rotation directions, namely, the rotation direction around the y-axis and relative to its own central axis; the area array camera (1714) has degrees of freedom in three directions, namely, the x-axis, y-axis, and z-axis; the relative spatial position relationship between the detection object to be detected and the area array camera (1714) is adjusted through the movement of the area array detection position (1713) and the area array camera (1714) in five axial directions; the four side edges, four diagonal corners where defects are likely to occur on the detection object, and four sides on the plane are detected successively by adjusting the position relationship.

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