General visual inspection equipment for special-shaped glass appearance parts

Abstract

The application discloses a general visual inspection equipment for special-shaped glass appearance parts, which comprises a shell and a detection module arranged in the shell, wherein the detection module comprises a phase light imaging module and a detection grabbing module, the phase light imaging module is arranged above the detection grabbing module, the detection grabbing module is used for grabbing, moving or placing target glass, and the detection grabbing module moves according to whether the corresponding target glass surface is a non-detection surface in an initial state, and the non-detection surface of the target glass is adsorbed and grabbed, and the phase light imaging module is used for detecting defects of the target glass grabbed by the detection grabbing module. Therefore, the degree of automation is high, various appearance defects of the target glass (for example, special-shaped glass, coated arc glass and the like) can be comprehensively detected, and the detection efficiency and detection accuracy are high.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of visual inspection of glass products, and particularly to a universal visual inspection device for special-shaped glass appearance parts. BACKGROUND

[0002] In modern industrial automatic production processes, for transparent glass or coated glass detection, such work with high repeatability and intelligence is generally completed by human eyes; however, in actual detection processes, workers cannot continuously and stably use their eyes to detect, so the detection stability and reliability are poor, and the work efficiency is low.

[0003] Conventional visual inspection methods usually directly take pictures of target glass placed on a belt line or a roller line through a photographing assembly. This method is prone to cause image wavy lines and different brightness due to the jumping in the transmission process, thereby affecting the detection judgment result and causing misjudgment. In addition, due to the transparent and high-reflective characteristics of transparent glass or coated glass, even with the aid of conventional visual inspection methods, it is still difficult to achieve comprehensive and accurate detection of various types of defects of the products, and there are problems of incomplete detection and low detection efficiency. SUMMARY

[0004] The present application aims to at least solve one of the above technical problems to some extent.

[0005] To this end, a first object of the present application is to provide a universal visual inspection device for special-shaped glass appearance parts, which has high automation and can comprehensively detect various types of appearance defects of target glass (for example, special-shaped, coated arc-shaped glass, etc.), and has high detection efficiency and detection accuracy.

[0006] To achieve the above object, a universal visual inspection device for special-shaped glass appearance parts is provided in the first aspect of the present application, which comprises a housing and a detection module arranged in the housing, wherein the detection module comprises a phase light imaging module and a detection grabbing module, wherein the phase light imaging module is arranged above the detection grabbing module, wherein the detection grabbing module is used to grab, move or place target glass, and the detection grabbing module moves according to whether the corresponding target glass surface in the initial state is a non-detection surface, and the non-detection surface of the target glass is adsorbed and grabbed; the phase light imaging module is used to detect defects of the target glass grabbed by the detection grabbing module.

[0007] The universal visual inspection device for special-shaped glass appearance parts of the present application has high automation and can comprehensively detect various types of appearance defects of target glass (for example, special-shaped, coated arc-shaped glass, etc.), and has high detection efficiency and detection accuracy.

[0008] In addition, the general visual inspection equipment for the special-shaped glass appearance part according to the above-mentioned embodiments of the present application can further have the following additional technical features.

[0009] In one embodiment of the present application, when the target glass corresponding to the detection and grabbing module is detected, the corresponding surface of the target glass is a non-detection surface, the detection and grabbing module grabs the non-detection surface of the target glass; when the target glass corresponding to the detection and grabbing module is detected, the corresponding surface of the target glass is a detection surface, the target glass is lifted to a preset height, and then the non-detection surface of the target glass is grabbed; the phase light imaging module generates multiple image channels in one shooting, and simultaneously obtains multiple detection information through the multiple image channels.

[0010] In one embodiment of the present application, the detection and grabbing module comprises a first mechanical arm and a grabbing device, wherein the first mechanical arm is arranged on the inner wall of the shell, and the grabbing device is arranged on the driving end of the first mechanical arm, wherein the grabbing device comprises a telescopic cylinder, a connecting frame, a first swing limiting block, a cylinder connecting block, a connecting rod, a swing rod and a first vacuum suction disc device, wherein the fixed end of the telescopic cylinder is connected with the output end of the first mechanical arm, the first swing limiting block is connected with the fixed end of the telescopic cylinder through the connecting frame, the cylinder connecting block is arranged on the output end of the telescopic cylinder, the connecting rod is connected with the cylinder connecting block through a pin shaft, and the first vacuum suction disc device is connected with the connecting rod through the swing rod, wherein the swing rod and the connecting rod are connected through a pin shaft.

[0011] In one embodiment of the present application, further comprising a transmission module, wherein the transmission module comprises an upper feeding chain plate conveying line, a finished product lower feeding chain plate conveying line and a substandard product lower feeding chain plate conveying line, wherein the upper feeding chain plate conveying line, the finished product lower feeding chain plate conveying line and the substandard product lower feeding chain plate conveying line are arranged on the lower inner wall of the shell respectively, and the upper feeding chain plate conveying line is arranged between the finished product lower feeding chain plate conveying line and the substandard product lower feeding chain plate conveying line, wherein the upper feeding chain plate conveying line, the finished product lower feeding chain plate conveying line and the substandard product lower feeding chain plate conveying line all adopt a multi-section chain plate line body, and each section of the chain plate line body is connected through an anti-falling linking section.

[0012] In one embodiment of the present application, a glass grabbing module and a product lateral positioning assembly are arranged on each section of the chain plate line body respectively, the glass grabbing module comprises a lifting servo linear assembly and a second vacuum suction disc device, the lifting servo linear assembly is arranged on one section of the chain plate line body, and the second vacuum suction disc device is arranged on the output end of the lifting servo linear assembly, wherein the contact part of the chain plate line body with the target glass is made of PE material.

[0013] In an embodiment of the present application, further comprising: a cleaning machine and a feeding module, wherein the feeding module is arranged between the cleaning machine and the shell, wherein the feeding module comprises: a mounting bin, a feeding grabbing device, an upper code reader and a lower code reader, wherein the mounting bin is arranged on the shell, the feeding grabbing device is arranged on the mounting bin, the upper code reader is arranged on the inner wall of the upper part of the mounting bin, and the lower code reader is arranged directly below the upper code reader, wherein the lower code reader and the upper code reader cooperate to identify the product code of the target glass.

[0014] In an embodiment of the present application, the feeding grabbing device comprises: a second mechanical arm, a plurality of lifting cylinders and a plurality of third vacuum suction cup devices, wherein the second mechanical arm is arranged on the mounting bin, the fixed end of the lifting cylinder is connected to the driving end of the second mechanical arm, and the third vacuum suction cup device is arranged at the driving end of the lifting cylinder, wherein a second swing limiting block is arranged on the third vacuum suction cup device.

[0015] In an embodiment of the present application, the number of segments of the chain plate line on the feeding chain plate conveying line, the finished product discharging chain plate conveying line and the substandard product discharging chain plate conveying line is the same, wherein the number of segments of the feeding chain plate conveying line is the same as the number of the third vacuum suction cup devices.

[0016] In an embodiment of the present application, further comprising: a positioning assembly, wherein the positioning assembly comprises: a load-bearing frame, a driving device, two limiting devices and a shaft coupling, wherein the load-bearing frame is arranged on the feeding chain plate conveying line, the driving device is arranged on the load-bearing frame, one of the limiting devices is connected to the driving device, and the two limiting devices are connected through the shaft coupling, wherein a reduction box is arranged on the driving device, and the output end of the reduction box constitutes the driving end of the driving device, wherein the limiting device comprises: a ball screw, a ball sliding block, a guide rail, a blocking cylinder and a blocking block, wherein the guide rail is arranged on the load-bearing frame, the ball sliding block is arranged on the ball screw, and the ball sliding block is slidingly connected to the guide rail, the blocking cylinder is arranged on the ball sliding block, and the blocking block is arranged at the output end of the blocking cylinder; one of the ball screws is connected to the driving end of the driving device, and the two ball screws are connected through the shaft coupling.

[0017] In an embodiment of the present application, further comprising: a positioning platform, a positioning camera, a control console, an emergency stop button and a plurality of fan filter units, wherein the positioning platform and the positioning camera are respectively arranged on the inner wall of the installation warehouse, and the positioning camera is arranged above the positioning platform, and the control console and the emergency stop button are respectively arranged on the outer wall of the installation warehouse; a plurality of fan filter units are respectively arranged on the shell, and the number of the fan filter units is the same as the number of the chain plate line body of the feeding chain plate conveying line, wherein the fan filter units are arranged directly above the feeding chain plate conveying line.

[0018] The present application has the following advantages:

[0019] 1. The phase light imaging module designed and manufactured by the principle of the phase light imaging system has a defect resolution capability of hundreds of nanometers, can capture subtle defects that cannot be seen by traditional visual inspection (directly photographed by a photographing assembly), and can present defects in multiple dimensions and accurately identify abnormal defects on the product based on a defect detection engine (for example, an AI defect detection engine) based on deep learning.

[0020] 2. The device detects comprehensively, distinguishes various appearance defects clearly and carefully, has high accuracy, and can detect multiple sides of the target glass.

[0021] 3. It is suitable for special-shaped glass products, whether coated or uncoated, especially for arc-shaped products, and for irregular arc-shaped products, it can be stably sucked and detected by the suction cup device. The suction cup is a traceless PEEK suction cup, which does not produce secondary pollution.

[0022] 4. High degree of automation and high efficiency to improve glass production capacity and reduce labor intensity.

[0023] 5. The overall structure is simple, compact, reasonable and ingenious, easy to maintain, has high cleanliness, occupies less space, and is fast to switch and configure, easy to use, has strong versatility, and the device has strong expandability and is easy to interface with upstream and downstream devices. BRIEF DESCRIPTION OF DRAWINGS

[0024] The above and / or additional aspects and advantages of the present application will become apparent and more readily appreciated from the following description, taken in conjunction with the following drawings, in which:

[0025] Figure 1 It is an external structure diagram of the universal visual inspection equipment for special-shaped glass appearance parts according to an embodiment of the present application.

[0026] Figure 2 It is an internal structure diagram of the universal visual inspection equipment for special-shaped glass appearance parts according to an embodiment of the present application.

[0027] Figure 3 Structure diagram of a detection module according to an embodiment of the present application;

[0028] Figure 4 Structure diagram of a detection module according to an embodiment of the present application;

[0029] Figure 5 Top view structure diagram of a general visual detection equipment for a special-shaped glass appearance piece without a top cover of a shell according to an embodiment of the present application;

[0030] Figure 6 Structure diagram of a connection between a chain plate conveying line, a glass detection module and a positioning assembly according to an embodiment of the present application;

[0031] Figure 7 Local enlarged view of a position A according to an embodiment of the present application;

[0032] Figure 8 Structure diagram of a positioning assembly according to an embodiment of the present application;

[0033] Figure 9 Structure diagram of a connection between a chain plate conveying line, a glass detection module, a product lateral positioning assembly and a positioning assembly according to an embodiment of the present application;

[0034] Figure 10 Local enlarged view of a position B according to an embodiment of the present application;

[0035] Figure 11 Structure diagram of a feeding module according to an embodiment of the present application;

[0036] Figure 12 Structure diagram of a feeding detection module according to an embodiment of the present application;

[0037] Figure 13 Local enlarged view of a position C according to an embodiment of the present application.

[0038] The reference signs: 1, shell; 2, detection module; 21, phase light imaging module; 22, detection grabbing module; 221, first mechanical arm; 222, grabbing device; 2221, telescopic cylinder; 2222, connecting frame; 2223, first swing limiting block; 2224, cylinder connecting block; 2225, connecting rod; 2226, swing rod; 2227, first vacuum chuck device; 3, transmission module; 31, upper feeding chain plate conveying line; 32, finished product lower feeding chain plate conveying line; 33, substandard product lower feeding chain plate conveying line; 4, glass grabbing module; 41, lifting servo linear assembly; 42, second vacuum chuck device; 5, product lateral positioning assembly; 6, cleaning machine; 7, feeding module; 71, mounting bin; 72, feeding grabbing device; 721, second mechanical arm; 722, lifting cylinder; 723, third vacuum chuck device; 724, second swing limiting block; 73, upper code reader; 74, lower code reader; 8, positioning assembly; 81, load-bearing frame; 82, driving device; 83, limiting device; 831, ball screw; 832, ball slider; 834, guide rail; 835, blocking cylinder; 836, blocking block; 84, coupling; 9, positioning platform; 10, positioning camera; 11, control console; 12, emergency stop button; 13, fan filter unit. DETAILED DESCRIPTION

[0039] The embodiments of the present application are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference signs represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the accompanying drawings are exemplary and are intended to explain the present application, and cannot be understood as a limitation of the present application.

[0040] A general visual detection device for anisotropic glass appearance parts of an embodiment of the present application is described below with reference to the accompanying drawings.

[0041] The general visual detection device for anisotropic glass appearance parts provided by the embodiment of the present application can be applied in the modern industrial automatic production process of glass products (for example, arc-shaped glass products, anisotropic glass products, etc.), and can comprehensively detect various appearance defects of target glass.

[0042] As shown in Figures 1-2 The general visual detection device for anisotropic glass appearance parts of the embodiment of the present application can include a shell 1 and a detection module 2 arranged in the shell 1, wherein the detection module 2 can include a phase light imaging module 21 and a detection grabbing module 22, wherein the phase light imaging module 21 is arranged above the detection grabbing module 22, and it should be noted that the phase light imaging module 21 is built-in with a positioning camera.

[0043] The detection and grabbing module 22 is used to grab, move or place the target glass. The detection and grabbing module 22 acts according to whether the corresponding face of the target glass is a non-detection face in the initial state, and the non-detection face of the target glass is adsorbed and grabbed. It should be noted that the initial state of the detection and grabbing module 22 is the state when the glass grabbing part of the detection and grabbing module 22 faces the target glass.

[0044] It can be understood that the detection and grabbing module 22 described in this embodiment can suck the target glass and adjust the position of the target glass according to the detection item.

[0045] The phase light imaging module 21 is used to detect defects of the target glass grabbed by the detection and grabbing module 22, and generate multiple image channels in one shooting, and obtain multiple detection information (such as gloss information, reflectivity information, etc.) through multiple image channels at the same time.

[0046] It should be noted that the phase light imaging module 21 described in this embodiment uses the phase change technology of light to image the surface micro-defects, solves the imaging problem of transparent and reflective surfaces, generates multiple image channels in one shooting, and can capture the fine defects that cannot be seen on the transparent / high-reflective surface through the defect resolution capability of hundreds of nanometers.

[0047] The pixel accuracy of the phase light imaging module 21 is 20um / pixel, and different image channels can detect different defects.

[0048] For example:

[0049] ①Gloss channel: capture defects such as color difference and stains.

[0050] ②Global aberration channel: capture defects such as fine scratches and textures.

[0051] ③3D structure channel: capture defects with three-dimensional features.

[0052] It can be understood that the phase light imaging module 21 described in this embodiment can be detected multiple times (for example, 3 times) for large-size target glass.

[0053] In order to clearly illustrate the above embodiment, in an embodiment of the present application, as shown in Figures 2-7 , the detection and grabbing module 22 is used to grab, move or place the target glass. The detection and grabbing module 22 acts according to whether the corresponding face of the target glass is a non-detection face in the initial state, and the non-detection face of the target glass is adsorbed and grabbed. It should be noted that the initial state of the detection and grabbing module 22 is the state when the glass grabbing part of the detection and grabbing module 22 faces the target glass.

[0054] When the corresponding target glass of the detection and grabbing module 22 is the non-detection face of the target glass, the detection and grabbing module 22 grabs the non-detection face of the target glass.

[0055] When the corresponding target glass of the detection and grabbing module 22 is the detection face of the target glass, the target glass is raised to a preset height, and then the non-detection face of the target glass is grabbed.

[0056] It should be noted that the corresponding surface of the target glass (the convex surface of the target glass) described in this embodiment is a non-coated surface (the concave surface is the detection surface), and the non-detection surface of the target glass can be directly adsorbed and grabbed. The corresponding surface of the target glass (the concave surface of the target glass) is a non-coated surface (the convex surface is the detection surface), and the non-detection surface of the target glass can be adsorbed and grabbed after the target glass is lifted to a predetermined height.

[0057] In an embodiment of the present application, as shown in Figure 3 and Figure 4 the detection and grabbing module 22 can include a first mechanical arm 221 and a grabbing device 222, wherein the first mechanical arm 221 is arranged on the inner wall of the shell 1, and the grabbing device 222 is arranged at the driving end of the first mechanical arm 221.

[0058] It can be understood that the first mechanical arm 221 described in this embodiment can freely adjust the working position of the grabbing device 222, which facilitates the grabbing of the target glass and also freely adjusts the position of the grabbed target glass.

[0059] The grabbing device 222 can include a telescopic cylinder 2221, a connecting frame 2222, a first swing limiting block 2223, a cylinder connecting block 2224, a connecting rod 2225, a swing rod 2226, and a first vacuum chuck device 2227.

[0060] The fixed end of the telescopic cylinder 2221 is connected to the output end of the first mechanical arm 221, the first swing limiting block 2223 is connected to the fixed end of the telescopic cylinder 2221 through the connecting frame 2222, the cylinder connecting block 2224 is arranged at the output end of the telescopic cylinder 2221, the connecting rod 2225 is connected to the cylinder connecting block 2224 through a pin shaft, and the first vacuum chuck device 2227 is connected to the connecting rod 2225 through the swing rod 2226. The swing rod 2226 and the connecting rod are connected through a pin shaft.

[0061] Specifically, when the detection and grabbing module 22 needs to grab and move the target glass, the first mechanical arm 221 moves the grabbing device 222 directly above the target glass, and drives the first vacuum chuck device 2227 to contact the non-detection surface of the target glass, thereby adsorbing and grabbing the target glass.

[0062] When the position of the first vacuum chuck device 2227 needs to be adjusted, the telescopic cylinder 2221 can drive the cylinder connecting block 2224 to move, and the moving cylinder connecting block 2224 drives the swing rod 2226 to move through the connecting rod 2225, thereby adjusting the position of the first vacuum chuck device 2227 through the swing rod 2226.

[0063] It should be noted that the first swing limiting block 2223 improves the adsorption stability of the curved glass product.

[0064] In an embodiment of the present application, as Figure 5 shown, it can also include a conveying module 3, wherein the conveying module 3 includes an upper feeding chain plate conveying line 31, a finished product lower feeding chain plate conveying line 32, and a defective product lower feeding chain plate conveying line 33.

[0065] The upper feeding chain plate conveying line 31, the finished product lower feeding chain plate conveying line 32, and the defective product lower feeding chain plate conveying line 33 are respectively arranged on the inner lower wall of the shell 1, and the upper feeding chain plate conveying line 31 is arranged between the finished product lower feeding chain plate conveying line 32 and the defective product lower feeding chain plate conveying line 33. Each of the upper feeding chain plate conveying line 31, the finished product lower feeding chain plate conveying line 32, and the defective product lower feeding chain plate conveying line 33 adopts a multi-segment chain plate line body, and each segment of the chain plate line body is connected by an anti-falling link segment.

[0066] It can be understood that the three chain plate conveying lines described in this embodiment all adopt a multi-segment PE chain plate conveying line body, and each segment has an independent power source, and the driving mode is an asynchronous motor driving a stainless steel chain transmission (a dust-free PE material chain plate is used to carry the product).

[0067] It should be noted that the parts of the three chain plate conveying lines described in this embodiment that contact the target glass, the guide wheels or guide strips on both sides all adopt a PE material, which will not cause three injuries to the product, and by adjusting the guide wheels or guide strips on both sides of the line body, the product conveying can be adapted to different width ranges, thereby improving the stability and applicability of the target glass transmission.

[0068] Further, as Figure 9 and Figure 10 shown, a glass grabbing module 4 and a product lateral positioning assembly 5 are respectively arranged on each segment of the chain plate line body. The glass grabbing module 4 includes a lifting servo linear assembly 41 and a second vacuum chuck device 42. The lifting servo linear assembly 41 is arranged on a segment of the chain plate line body, and the second vacuum chuck device 42 is arranged at the output end of the lifting servo linear assembly 41. The contact part of the chain plate line body with the target glass adopts a PE material.

[0069] The number of segments of the chain plate line body on the upper feeding chain plate conveying line 31, the finished product lower feeding chain plate conveying line 32, and the defective product lower feeding chain plate conveying line 33 is the same, and the number of segments of the upper feeding chain plate conveying line 31 is the same as the number of the third vacuum chuck device 723.

[0070] It should be noted that the lifting servo linear assembly 41 described in this embodiment can drive the second vacuum chuck device 42 to move vertically, and the target glass is lifted vertically by the second vacuum chuck device 42, which facilitates the first vacuum chuck device 2227 to suck the non-detection surface of the target glass.

[0071] Specifically, when the target glass is comprehensively detected, the feeding chain plate conveying line 31 moves a plurality of target glasses (the number of target glasses is the same as the number of chain plate conveying line sections) to a working position (the position is below the detection module 2), the convex surface of the target glass is the non-coated surface, and the first mechanical arm 221 can control the first vacuum suction cup device 2227 to directly adsorb and grasp the non-detection surface of the target glass. This glass grasping mode can be applied to various shapes of special-shaped glass, thereby improving the use range of the application. It should be noted that the phase light imaging module 21 is used for detecting product defects, and in addition, the product on the chain plate conveying line can be visually positioned, so that the feeding chain plate conveying line 31 accurately moves the target glass to the working position.

[0072] The position of the first vacuum suction cup device 2227 can be adjusted by the extension and retraction of the output end of the telescopic cylinder 2221, so that the first vacuum suction cup device 2227 can suck the target glass or adjust the position of the sucked target glass, thereby facilitating the phase light imaging module 21 to detect the entire target glass side, R angle and concave or convex surface, and improving the detection accuracy.

[0073] After the detection is completed, the target glass is placed on the downstream work station on the discharging belt line, the finished product discharging chain plate conveying line 32 (OK discharging conveying line) places the target glass with qualified quality, and the substandard product discharging chain plate conveying line 33 (NG discharging conveying line) places the target glass with unqualified quality.

[0074] In an embodiment of the application, as shown in Figures 11-13 It further comprises a cleaning machine 6 and a feeding module 7, wherein the feeding module 7 is arranged between the cleaning machine 6 and the shell 1.

[0075] It can be understood that the cleaning machine 6 described in this embodiment can clean the target glass, and the clean target glass is helpful to the detection accuracy.

[0076] The feeding module 7 can comprise a mounting bin 71, a feeding grasping device 72, an upper code reader 73 and a lower code reader 74, wherein

[0077] The mounting bin 71 is arranged on the shell 1, the feeding grasping device 72 is arranged on the mounting bin 71, the upper code reader 73 is arranged on the inner wall of the upper part of the mounting bin 71, and the lower code reader 74 is arranged directly below the upper code reader 73, wherein

[0078] The lower code reader 74 and the upper code reader 73 cooperate to identify the product code of the target glass.

[0079] It should be noted that the lower code reader 74 and the upper code reader 73 described in this embodiment can read the product information of the target glass, and then the target glass is placed on the upper feeding chain conveying line 31 through the upper feeding grabbing device 72. It should be noted that the detection surface of different types of target glass is different, and after the code reader reads the product information of the target glass, the product information can be transmitted to the detection grabbing module 2, so that the detection grabbing module 2 obtains the detection surface information of the target glass to be detected.

[0080] In order to clearly illustrate the above embodiment, as shown in Figure 12 and Figure 13 The upper feeding grabbing device 72 comprises a second mechanical arm 721, a plurality of lifting cylinders 722 and a plurality of third vacuum chuck devices 723, and the plurality of lifting cylinders 722 correspond to the plurality of third vacuum chuck devices 723 one by one.

[0081] The second mechanical arm 721 is arranged on the mounting bin 71, the fixed end of the lifting cylinder 722 is connected with the driving end of the second mechanical arm 721, and the third vacuum chuck device 723 is arranged on the driving end of the lifting cylinder 722. The second swing limiting block 724 is arranged on the third vacuum chuck device 723.

[0082] It can be understood that the second mechanical arm 721 described in this embodiment can adjust the position of the third vacuum chuck device 723 through the lifting cylinder 722, and the second swing limiting block 724 can improve the adsorption stability of the arc surface product. It should be noted that the extension and retraction of the output end of the lifting cylinder 722 can make the third vacuum chuck device 723 swing.

[0083] In an embodiment of the present application, as shown in Figures 6-8 It further comprises a positioning assembly 8, wherein the positioning assembly 8 comprises a load-bearing frame 81, a driving device 82, two limiting devices 83 and a shaft coupling 84. The load-bearing frame 81 is arranged on the upper feeding chain conveying line 31, the driving device 82 is arranged on the load-bearing frame 81, one limiting device 83 is connected with the driving device 82, and the two limiting devices 83 are connected through the shaft coupling 84. A reduction box is arranged on the driving device 82, and the output end of the reduction box constitutes the driving end of the driving device 82.

[0084] The limiting device 83 comprises a ball screw 831, a ball sliding block 832, a guide rail 834, a blocking cylinder 835 and a blocking block 836.

[0085] The guide rail 834 is arranged on the load-bearing frame 81, the ball sliding block 832 is arranged on the ball screw 831, and the ball sliding block 832 is connected with the guide rail 834 in a sliding manner. The blocking cylinder 835 is arranged on the ball sliding block 832, and the blocking block 836 is arranged on the output end of the blocking cylinder 835.

[0086] One ball screw 831 is connected with the driving end of the driving device 82, and the two ball screws 831 are connected through the shaft coupling 84.

[0087] Specifically, after the phase light imaging module 21 visually positions the target glass, the positioning assembly 8 positions the target glass, and the driving device 82 (for example, a motor) can drive one ball screw 831 to rotate (for example, forward rotation). The rotating ball screw 831 can drive the other ball screw 831 to rotate synchronously through the shaft coupling 84. The ball slider 832 can move on the rotating ball screw 831. The two ball sliders 832 move relative to each other on the guide rail 834. The blocking cylinder 835 can lift the blocking block 836. After the blocking block 836 is respectively in contact with the target glass, the target glass can be positioned. Before the next target glass enters the upper chain plate conveying line 31, the blocking cylinder 835 can lower the blocking block 836, and the driving device 82 (for example, reverse rotation) can move the two blocking blocks 836 away from each other.

[0088] In an embodiment of the present application, as shown in Figure 1 , Figure 5 and Figure 10 , it can further include a positioning platform 9, a positioning camera 10, a control console 11 and an emergency stop button 12, wherein the positioning platform 9 and the positioning camera 10 are respectively arranged on the inner wall of the mounting bin 71, and the positioning camera 10 is arranged above the positioning platform 9. The control console 11 and the emergency stop button 12 are respectively arranged on the outer wall of the mounting bin 71.

[0089] It can be understood that the control console 11 can be electrically connected with multiple components of the present application (for example, the detection module 2, the transmission module 3, the glass grabbing module 4, the product lateral positioning assembly 5, the cleaning machine 6, the upper feeding module 7, the positioning assembly 8, the positioning platform 9, the positioning camera 10, the emergency stop button 12, the fan filter unit 13)

[0090] It should be noted that the positioning platform 9 and the positioning camera 10 described in this embodiment can position the target glass twice. The second mechanical arm 721 of the upper feeding module 7 can place the target glass (after cleaning) on the positioning platform 9 through the third vacuum suction cup device 723, and assist in positioning through the positioning camera 10.

[0091] In an embodiment of the present application, as shown in Figure 1 , it can further include multiple fan filter units 13, wherein the multiple fan filter units 13 are respectively arranged on the housing 1, and the number of the fan filter units 13 is the same as the number of the chain plate line segments of the upper chain plate conveying line 31, wherein the fan filter units 13 are arranged directly above the upper chain plate conveying line 31.

[0092] It can be understood that the fan filter unit 13 (FFU) at the top of the shell 1 described in the embodiment ensures the cleanliness of the shell 1 inside the shell 1, reduces the interference of the outside world, and improves the accuracy of detection.

[0093] It should be noted that the present application can cooperate with an external AI defect detection engine, and users can continuously add new types of defects, label them after training, and continuously improve the overall detection effect.

[0094] In summary, the general visual inspection equipment for the special-shaped glass appearance part of the embodiment of the present application has high automation, can comprehensively detect various appearance defects of the target glass (for example, special-shaped, coated curved glass, etc.), and has high detection efficiency and detection accuracy.

[0095] In the description of the present specification, the terms "first", "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "a plurality of" is at least two, such as two, three, etc., unless otherwise specifically limited.

[0096] In the description of the present specification, the description of the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any appropriate manner in any one or more embodiments or examples. In addition, the person skilled in the art can combine and combine the different embodiments or examples described in the present specification and the features of the different embodiments or examples without contradiction.

[0097] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limiting the present application, and those skilled in the art can make changes, modifications, replacements and variations to the above embodiments within the scope of the present application.

Claims

1. A universal visual inspection device for irregularly shaped glass exterior parts, characterized in that, include: The housing and a detection module disposed within the housing, the detection module comprising: a phase light imaging module and a detection grasping module, the phase light imaging module being disposed above the detection grasping module. The detection and grasping module is used to grasp, move, or place the target glass. The detection and grasping module performs actions based on whether the target glass surface corresponding to it is a non-detection surface in the initial state, and performs adsorption and grasping on the non-detection surface of the target glass. A phase light imaging module is used to perform defect detection on the target glass grasped by the detection and grasping module; The detection and gripping module includes a first robotic arm and a gripping device. The first robotic arm is disposed on the inner wall of the housing, and the gripping device is disposed at the drive end of the first robotic arm. The gripping device includes: a telescopic cylinder, a connecting frame, a first swing limiting block, a cylinder connecting block, a connecting rod, a swing rod, and a first vacuum suction cup device. The fixed end of the telescopic cylinder is connected to the output end of the first robotic arm. The first swing limit block is connected to the fixed end of the telescopic cylinder through the connecting frame. The cylinder connecting block is located at the output end of the telescopic cylinder. The connecting rod is connected to the cylinder connecting block through a pin. The first vacuum suction cup device is connected to the connecting rod through the swing rod. The swing rod and the connecting rod are connected through a pin. It also includes: a transmission module, which includes: a feeding chain conveyor line; It also includes a positioning assembly, which comprises a support frame, a drive unit, two limiting devices, and a coupling. The support frame is mounted on the feeding chain conveyor line. The drive unit is mounted on the support frame, and one of the limiting devices is connected to the drive unit. The two limiting devices are connected to each other via the coupling. The drive unit is equipped with a reduction gearbox, and the output end of the reduction gearbox constitutes the drive end of the drive unit. The limiting device includes: a ball screw, a ball slider, a guide rail, a blocking cylinder, and a blocking block. The guide rail is mounted on the load-bearing frame, the ball slider is mounted on the ball screw, and the ball slider is slidably connected to the guide rail. The blocking cylinder is mounted on the ball slider, and the blocking block is mounted on the output end of the blocking cylinder. One of the ball screws is connected to the drive end of the drive device, and the two ball screws are connected by the coupling.

2. The universal visual inspection equipment for irregularly shaped glass exterior parts according to claim 1, characterized in that, When the non-inspection surface of the target glass is opposite to the detection and gripping module, the detection and gripping module grips the non-inspection surface of the target glass; When the detection surface of the target glass is opposite to the detection and gripping module, the target glass rises to a preset height, and the detection and gripping module grips the non-detection surface of the target glass. The phase light imaging module generates multiple image channels in a single capture and simultaneously obtains multiple detection information through these multiple image channels.

3. The universal visual inspection equipment for irregularly shaped glass exterior parts according to claim 1, characterized in that, The transmission module also includes a finished product unloading chain conveyor line and a defective product unloading chain conveyor line. The feeding chain conveyor line, the finished product unloading chain conveyor line, and the defective product unloading chain conveyor line are respectively arranged on the lower inner wall of the housing. The feeding chain conveyor line is arranged between the finished product unloading chain conveyor line and the defective product unloading chain conveyor line. The feeding chain conveyor line, the finished product unloading chain conveyor line, and the defective product unloading chain conveyor line all adopt multi-segment chain plate lines, and each segment of the chain plate line is connected by a fall-prevention connecting section.

4. The universal visual inspection equipment for irregularly shaped glass exterior parts according to claim 3, characterized in that, Each segment of the chain conveyor is equipped with a glass gripping module and a product lateral positioning component. The glass gripping module includes a lifting servo linear assembly and a second vacuum suction cup device. The lifting servo linear assembly is installed on one segment of the chain conveyor, and the second vacuum suction cup device is installed at the output end of the lifting servo linear assembly. The contact parts between the chain conveyor and the target glass are all made of PE material.

5. The universal visual inspection equipment for irregularly shaped glass exterior parts according to claim 3, characterized in that, Also includes: A cleaning machine and a feeding module, wherein the feeding module is disposed between the cleaning machine and the housing. The feeding module includes: an installation bin, a feeding gripper, an upper barcode reader, and a lower barcode reader. The installation compartment is disposed on the housing, the feeding and gripping device is disposed on the installation compartment, the upper barcode reader is disposed on the upper inner wall of the installation compartment, and the lower barcode reader is disposed directly below the upper barcode reader. The lower barcode reader and the upper barcode reader work together to identify the product code on the target glass.

6. The universal visual inspection equipment for irregularly shaped glass exterior parts according to claim 5, characterized in that, The feeding and gripping device includes: a second robotic arm, multiple lifting cylinders, and multiple third vacuum suction cup devices, with each of the lifting cylinders corresponding to one of the third vacuum suction cup devices. The second robotic arm is mounted on the installation chamber. The fixed end of the lifting cylinder is connected to the driving end of the second robotic arm. The third vacuum suction cup device is mounted on the driving end of the lifting cylinder. The third vacuum suction cup device is equipped with a second swing limit block.

7. The universal visual inspection equipment for irregularly shaped glass exterior parts according to claim 6, characterized in that, The number of chain plate segments on the feeding chain plate conveyor line, the finished product unloading chain plate conveyor line, and the defective product unloading chain plate conveyor line is the same. The number of segments of the feeding chain conveyor is the same as the number of the third vacuum suction cup devices.

8. The universal visual inspection equipment for irregularly shaped glass exterior parts according to any one of claims 3-7, characterized in that, Also includes: The installation includes a positioning platform, a positioning camera, a control console, an emergency stop button, and multiple fan filter units. The positioning platform and the positioning camera are respectively installed on the inner wall of the installation chamber, with the positioning camera positioned above the positioning platform. The control console and the emergency stop button are respectively installed on the outer wall of the installation chamber. Multiple fan filter units are respectively installed on the housing. The number of fan filter units is the same as the number of segments of the feed chain conveyor. The fan filter units are located directly above the feed chain conveyor.

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