Intelligent terminal key appearance defect inspection machine

Abstract

The invention relates to the field of appearance defect detection machines, in particular to an intelligent terminal key appearance defect detection machine which comprises a main core module and an appearance defect detection module. Each appearance detection module comprises a turntable, a plurality of bearing seats and a plurality of detection camera devices which are arranged on one sides of the bearing seats and are used for detecting different visual angles of products; all the bearing seats are borne by the rotary table, all the bearing seats are arranged in a circle around the edge of the rotary table, a plurality of clamps used for clamping products are arranged on each bearing seat, and each clamp is rotationally arranged on the corresponding bearing seat; the first manipulator is used for transferring the product on the feeding module to the clamp on the bearing seat; through highly-automatic feeding, detecting, overturning and discharging processes, manual intervention is remarkably reduced, and the detecting speed and the production efficiency are improved. Compared with a traditional scheme, appearance defect detection of a large number of products can be completed more quickly.

Description

Technical Field

[0001] The invention relates to the field of appearance defect inspection machines, in particular to an intelligent terminal key appearance defect inspection machine. Background Art

[0002] With the rapid development of the consumer electronics market, consumers have higher and higher requirements for the quality of electronic products, such as mobile phones, especially the attention to the appearance details has reached an unprecedented level. As an important part of the appearance of mobile phones, the appearance defects of the top and sides of mobile phone buttons directly affect the user's visual experience and overall satisfaction. Therefore, how to efficiently and accurately detect the appearance defects of the top and side surfaces of mobile phone buttons has become a key issue that needs to be solved in the mobile phone manufacturing industry.

[0003] Existing key detection methods mainly include manual visual inspection and machine vision inspection based on a single viewing angle. Although manual visual inspection is intuitive, it is inefficient and easily affected by subjective factors, resulting in inconsistent detection results. The machine vision inspection system based on a single viewing angle, although it has improved the detection efficiency to a certain extent, is often difficult to fully capture all the details of the top and side of the key due to the limitation of the viewing angle, thus posing the risk of missed detection or false detection, and can only capture the image of the key from a fixed angle, resulting in low detection efficiency. Summary of the invention

[0004] To solve the above problems, the present invention provides a smart terminal key appearance defect inspection machine, which significantly reduces manual intervention and improves inspection speed and production efficiency through highly automated feeding, inspection, flipping and unloading processes. Compared with traditional manual visual inspection and machine vision inspection based on a single perspective, this solution can complete the appearance defect inspection of a large number of products more quickly.

[0005] To achieve the above object, the technical solution adopted by the present invention is: a smart terminal key surface defect inspection machine, comprising

[0006] Feeding module, to realize product feeding;

[0007] An appearance defect detection module, the appearance defect detection module includes at least one appearance detection module, each appearance detection module includes a turntable, a plurality of bearing seats, and a plurality of detection camera devices arranged on one side of the bearing seat and used to detect different viewing angles of the product; all the bearing seats are carried by the turntable, all the bearing seats are arranged in a circle around the edge of the turntable, and each bearing seat is provided with a plurality of clamps for clamping the product, and each clamp is rotatably arranged on the corresponding bearing seat;

[0008] A first manipulator, the first manipulator transfers the product on the feeding module to the fixture on the bearing seat;

[0009] A product flip module, which is located between adjacent appearance inspection modules and is used to flip the product so that the next appearance inspection module can inspect the product;

[0010] The second robot is located on one side of the product flip module and transfers the flipped product to the next appearance inspection module;

[0011] The unloading robot moves the products that have been inspected by the appearance defect inspection module to the sorting tray for sorting and unloading.

[0012] Furthermore, it also includes a working platform, wherein a feeding module, an appearance defect detection module, a first manipulator, a product flipping module, a second manipulator, and a unloading manipulator are all arranged on the working platform; wherein the feeding module includes a lifting plate, a lifting drive mechanism, and a fixed plate arranged on the working platform and located above the lifting plate, the lifting plate is used to stack pallets, the lifting drive mechanism is connected to the lifting plate to drive the lifting plate to lift and lower, and also includes a sensing module communicatively connected to the lifting drive mechanism, the sensing module senses the pallet and controls the lifting drive mechanism to drive the lifting plate to drive the pallet to lift and lower, and an empty slot is opened in the middle of the fixed plate to form a material slot for the pallet to pass through, and the first manipulator clamps the product on the pallet.

[0013] Furthermore, the fixed plate is provided with a group of positioning components which are symmetrically distributed on the left and right sides, and the positioning components include at least two positioning rods mounted on the fixed plate, and the positioning rods are in contact with the left and right sides of the pallet; the positioning component also includes a material stopping rod which is arranged on the front side of the positioning rod and mounted on the fixed plate, and the material stopping rod is in contact with the front side of the pallet; the positioning component also includes a mounting plate, wherein the end of the positioning rod is mounted on the mounting plate, and the inner end of the mounting plate is formed with a mounting protrusion for connecting with the end of the material stopping rod.

[0014] Furthermore, a driving member and at least two positioning members located on one side of the trough are provided on the surface of the fixed plate, and the driving member pushes the tray to move and makes the tray close to the positioning member; at the same time, a total of four positioning members are provided, each of which is an L-shaped protrusion, and the four positioning members are symmetrically distributed at the four corners of the trough.

[0015] Furthermore, a driving member and at least two positioning members located on one side of the material trough are provided on the surface of the fixed plate, and the driving member pushes the tray to move and makes the tray close to the positioning member.

[0016] Furthermore, all the clamps on the same supporting seat are arranged in a row at intervals and rotate synchronously; and a driven wheel is coaxially fixedly connected to the bottom of each clamp, and a driving wheel is rotatably connected to the fixed end of the supporting seat, and the driving wheel drives all the driven wheels on the corresponding supporting seat to rotate synchronously through a belt; a transition wheel is eccentrically provided between two adjacent driven wheels, and the belt is wrapped around all the transition wheels.

[0017] Furthermore, the bearing end of each bearing seat is in a long T-shape, all the clamps on the same bearing seat are located in the gap corresponding to the upper end of the bearing seat, and all the driven wheels on the same bearing seat are located in the gap corresponding to the lower end of the bearing seat.

[0018] Furthermore, an electric slip ring is passed through the center of the turntable, and a fixed part on the top of the electric slip ring is fixedly connected to the turntable via a fixing frame.

[0019] Furthermore, the product flipping module includes a linear drive module, a flipping drive module, and a flipping negative pressure shaft, wherein the flipping negative pressure shaft is provided with a plurality of product slots for adsorbing products; wherein the flipping drive module drives the flipping negative pressure shaft to rotate and flips the product slot 180°; the linear drive module drives the flipping drive module to move along the Z-axis direction of the space; and also includes a secondary positioning module, wherein the secondary positioning module includes a positioning mounting bracket, and a positioning fixture is installed on the positioning mounting bracket, and a plurality of product positioning slots for placing and positioning products are provided on the surface of the positioning fixture, wherein the second manipulator clamps the product on the product slot and transfers it to the product positioning slot for positioning, and then transfers it to the next appearance inspection module.

[0020] Further, the detection camera device includes a top surface detection camera, wherein the workbench is connected with a top surface linear module through a plurality of support columns, a slide is slidably connected to the top surface linear module, the top surface detection camera is vertically slidably arranged on the slide, and the top surface linear module drives the top surface detection camera to reciprocate along the length direction corresponding to the bearing seat;

[0021] The detection camera device also includes a side detection camera. A side linear module is provided on the workbench. The side detection camera is slidably set on the side linear module. The side linear module drives the side detection camera to reciprocate along the length direction corresponding to the supporting seat.

[0022] Furthermore, an annular light source is provided at the light outlet of the top surface detection camera, and the annular light source is adjustably connected to the slide via a connecting rod.

[0023] The beneficial effect of the present invention is that through highly automated feeding, testing, flipping and unloading processes, manual intervention is significantly reduced, and the testing speed and production efficiency are improved. Compared with traditional manual visual inspection and machine vision inspection based on a single perspective, this solution can complete the appearance defect inspection of a large number of products more quickly.

[0024] At the same time, this application adopts multi-view detection technology, combined with the design of turntable, bearing seat, detection camera device, etc., which can detect products from all directions and angles, effectively avoiding the risk of missed detection and false detection, and improving the accuracy and reliability of detection. Moreover, the equipment design is flexible. By adjusting the number and layout of product slots on the flip negative pressure axis, as well as the design of the positioning fixture, it can adapt to the detection needs of products of different sizes, shapes and weights, increasing the versatility and flexibility of the equipment.

[0025] In general, the highly automated design reduces the reliance on manual labor, reduces the company's investment in labor costs, and also reduces the labor intensity of workers. The automated process reduces manual operations, reduces the risk of accidents caused by human factors, and improves the safety of the production process. The clear structure of the equipment and the modular design make it easy to maintain and replace each component, reducing the difficulty and cost of maintenance. At the same time, the automated detection process also facilitates data recording and analysis, which is helpful for production management and quality control. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 The present invention is a schematic diagram of the overall structure of an intelligent terminal key surface defect inspection machine.

[0027] Figure 2 A perspective view of the automatic pallet feeding device of the present invention from a front perspective;

[0028] Figure 3 A three-dimensional diagram of the automatic pallet feeding device of the present invention from a rear view angle;

[0029] Figure 4 for Figure 3 A magnified view of the structure of part A;

[0030] Figure 5 This is a top view of the automatic pallet feeding device of the present invention.

[0031] Figure 6 is a stereogram of the appearance inspection module;

[0032] Figure 7 It is a three-dimensional enlarged view of the turntable and multiple bearing seats;

[0033] Figure 8 It is a three-dimensional enlarged view of the bearing seat of the present invention and various components carried by it;

[0034] Fig. 9 It is a three-dimensional enlarged view of the bearing seat of the present invention and each component carried by the bearing seat from another perspective;

[0035] Fig.10 It is a three-dimensional enlarged view of the belt passing around a row of driven wheels and transition wheels on the bearing seat of the present invention;

[0036] Fig.11 It is a three-dimensional enlarged view of the top surface detection camera of the present invention and its driving part.

[0037] Fig.12 It is a structural diagram of the product flip module.

[0038] Fig.13 This is a schematic diagram of the structure of the product flip module after omitting the positioning base plate.

[0039] Fig.14 This is a structural diagram from another perspective after the product flip module omits the positioning base plate.

[0040] Description of Figure Numbers:

[0041] 10. Feeding module; 100. Loading bin; 200. Lowering bin; 101. Material trough; 102. Fixing plate; 103. Tray; 104. Positioning member; 105. Induction module; 106. Driving member; 107. Stop rod; 108. Mounting convex block; 109. Induction unit; 110. Lifting plate; 111. Positioning assembly; 112. Positioning rod; 113. Mounting plate; 116. Induction block; 117. Mechanism mounting box; 118. Lifting servo motor; Appearance inspection module; 2011. Support column; 20 2. Turntable; 203. Bearing seat; 2031. Detection rotating motor; 20311. Driving wheel; 2032. Clamp; 2033. Driven wheel; 2034. Transition wheel; 2035. Belt; 204. Electric slip ring; 2041. Fixed frame; 2042. Speed ​​reducer; 2043. Rotation drive motor; 205. Top surface detection camera; 2051. Top surface linear module; 2052. Vertical movement motor; 2053. Slide; 2054. Ring light source; 20541. Connecting rod; 20542. Adjustment Block; 206, side detection camera; 2061, side linear module; 30, product flip module; 301, linear drive module; 302, flip drive module; 303, flip negative pressure axis; 3031, negative pressure optical axis; 3032, assembly fixture; 3033, product slot; 304, positioning mounting bracket; 3041, first fixed bracket; 3042, second fixed bracket; 3043, first adjustment screw; 3044, first adjustment block; 3045, second adjustment screw; 3046, second adjustment block ; 3047, clearance hole; 3048, positioning base plate; 305, positioning fixture; 3051, product positioning groove; 306, first mounting bracket; 3061, vertical mounting plate; 3062, horizontal mounting plate; 3063, side mounting plate; 307, flip motor; 308, flip reducer; 309, bearing seat; 3010, photoelectric sensor; 3011, induction sheet; 40, first manipulator; 50, second manipulator; 60, unloading manipulator; 70, working platform; 80, sorting and loading. DETAILED DESCRIPTION

[0042] See also Figure 1-14 As shown, the present invention relates to a smart terminal key surface defect inspection machine, including a feeding module 10, the feeding module 10 realizes the feeding of products;

[0043] An appearance defect detection module, the appearance defect detection module includes a plurality of appearance detection modules 20, wherein each appearance detection module 20 includes a turntable 202 and a plurality of bearing seats and a plurality of detection camera devices arranged on one side of the bearing seat and used to detect products at different viewing angles; all the bearing seats are carried by the turntable 202, and all the bearing seats are arranged in a circle around the edge of the turntable 202, and each bearing seat is provided with a plurality of clamps for clamping the product, and each clamp is rotatably arranged on the corresponding bearing seat;

[0044] A first robot 40, the first robot 40 transfers the product on the feeding module 10 to the fixture on the supporting seat;

[0045] A product flip module 50, which is located between adjacent appearance inspection modules 20 and is used to flip the product to facilitate the next appearance inspection module 20 to inspect the product;

[0046] The second robot 50 is located between adjacent appearance inspection modules 20 and is used to transfer the flipped product to the next appearance inspection module 20;

[0047] The unloading robot 60 moves the products inspected by the appearance defect inspection module to the sorting tray 80 for sorting and unloading.

[0048] Furthermore, it also includes a working platform 70 , wherein the feeding module 10 , the appearance defect detection module, the first robot 40 , the product flipping module 50 , the second robot 50 , and the unloading robot 60 are all arranged on the working platform 70 .

[0049] Specifically, there are two feeding modules 10, which have the same structure and are arranged side by side. One of the feeding modules 10 is responsible for loading to form a loading bin 100, and the other feeding module 10 is responsible for unloading to form a unloading bin 200. The subsequent station of the feeding module 10 is provided with a manipulator for cooperating with it to realize loading and unloading; the feeding module 10 includes a fixed plate 102, a lifting plate 110, a lifting drive mechanism and a sensing module 105. The lifting plate 110 is used to stack trays 103, each tray 103 is placed with products, and when the products on the tray 103 are grabbed by the robot, an empty tray 103 is formed; the lifting drive mechanism The mechanism is connected to the lifting plate 110 to drive the lifting plate 110 to lift relative to the fixed plate 102. The sensing module 105 is used to sense the tray 103 and is connected to the lifting drive mechanism to control the lifting drive mechanism to drive the lifting plate 110 to drive the tray 103 to lift. The lifting drive mechanism includes a lifting servo motor 118, a mechanism installation box 117, and a lifting unit installed inside the mechanism installation box 117. The lifting servo motor 118 is connected to the lifting plate 110 through the lifting unit. The lifting unit is a traditional structure such as a screw type, a gear type, a chain drive type, or a synchronous belt type, which can drive the lifting plate 110 to move up or down.

[0050] The sensor unit 109 is also included to detect the height position of the lifting plate 110, and is connected to the lifting drive mechanism control to control the start or stop of the lifting drive mechanism. The lifting plate 110 is L-shaped, and a sensing block 116 for being sensed by the sensing unit 109 is provided on one side of the lifting plate 110. In the initial state, the lifting plate 110 in the lower bin 200 is at the highest value, and the lifting plate 110 in the upper bin 100 is at the lowest value. The staff stacks the pallet 103 on the lifting plate 110 in the upper bin 100. Therefore, the sensing block 116 in the upper bin 100 triggers the sensing unit 109. The sensing unit 109 sends a start signal to the lifting drive mechanism in the upper bin 100, so that the lifting drive mechanism drives the lifting plate 110 to drive the pallet 103 to rise a certain distance. After the sensing module 105 senses the pallet 103, the robot arm of the subsequent station grabs it. The products on the pallet 103, when the robot takes away all the products on the pallet 103, the robot will grab the empty pallet 103 and put it into the lower bin 200. After the sensing module 105 senses the empty pallet 103, the lifting drive mechanism drives the lifting plate 110 to drive the empty pallet 103 to descend a certain distance, and repeats the above steps until the loading is completed. At this time, the lifting plate 110 in the upper bin 100 is at the highest value, and the lifting plate 110 in the lower bin 200 is stacked to the maximum value because the empty pallets 103 have been stacked. The sensing block 116 in the lower bin 200 triggers the sensing unit 109, and the sensing unit 109 sends a stop signal to the lifting drive mechanism in the lower bin 200, and the empty pallet 103 is manually taken away, and the pallet 103 is stacked on the lifting plate 110 in the upper bin 100 again, thereby saving manpower to frequently load and unload materials and greatly improving the efficiency of loading and unloading.

[0051] The fixed plate 102 is provided with an empty slot in the middle to form a material trough 101 for loading or unloading the tray 103. The fixed plate 102 is provided with a group of positioning components 111 which are symmetrically distributed on the left and right sides to perform preliminary positioning on the tray 103. The positioning components 111 include a stopper rod 107 and four positioning rods 112. The left and right sides of the mechanism installation box 117 are provided with mounting plates 113 fixedly connected thereto. The two ends of the positioning rod 112 are respectively connected to the fixed plate 102 and the mounting plate 113, and the inner end of the mounting plate 113 is formed with a mounting protrusion 108 for mounting the stopper rod 107. The stopper rod 107 and the tray 1 03 is in contact with the front side of the tray 103 to limit the displacement of the tray 103, the positioning rod 112 is in contact with the left and right sides of the tray 103, so that the trays 103 are stacked flush, the fixed plate 102 is provided with a driving member 106 and four positioning members 104, the positioning members 104 are all L-shaped protrusions, and are symmetrically distributed, the driving member 106 is a driving cylinder, the driving cylinder pushes the tray 103 to move, so that the side of the tray 103 and the right-angle side of the positioning member 104 fit each other, so that the positioning member 104 can further position the tray 103, which can facilitate the robot arm of the subsequent workstation to grab the product or the empty tray 103.

[0052] Compared with the conventional technology: the lifting plate 110 is used to stack the trays 103, the lifting drive mechanism is connected to the lifting plate 110 to drive the lifting plate 110 to lift relative to the fixed plate 102, the sensing module 105 is used to sense the tray 103, and is connected to the lifting drive mechanism to control the lifting drive mechanism to drive the lifting plate 110 to lift the tray 103, and the lifting drive mechanism drives the lifting plate 110 to lift the tray 103 for a certain distance, so after the sensing module 105 senses the tray 103, the robot arm of the subsequent station grabs the tray 103. The products on the tray 103 are then grabbed by the robot arm, and placed into the unloading bin 200. After the sensing module 105 senses the empty tray 103, the lifting drive mechanism drives the lifting plate 110 to drive the empty tray 103 to descend a certain distance. On the one hand, the tray 103 can hold multiple buttons to be inspected, and on the other hand, the trays 103 are stacked for loading, so that the material can be fed at one time to meet the machine production, which can effectively avoid the problems of frequent manual loading and unloading, and frequent shutdowns to wait for feeding, thereby greatly improving the detection efficiency of button appearance defects.

[0053] Regarding the specific structure of the appearance defect detection module, each appearance detection module 20 includes a turntable 202 and multiple supporting seats 203 and a number of detection camera devices arranged on one side of the supporting seat and used to detect different angles of view of the product. The turntable 202 is rotatably set on the workbench 1, and all the supporting seats 203 are supported by the turntable 202. All the supporting seats 203 are arranged in a circle around the edge of the turntable 202. Each supporting seat 203 is provided with a plurality of clamps 2032 for clamping the product, and each clamp 2032 is rotatably set on the corresponding supporting seat 203.

[0054] The turntable 202 is located directly above the workbench 1 and is rotatably connected to the workbench 1. The turntable 202 is polygonal / circular, and all the bearing seats 203 are respectively located on the sides of the turntable 202. In this embodiment, the turntable 202 is preferably circular, and the number of bearing seats 203 is preferably six. The six bearing seats 203 are arranged on the surface of the turntable 202 in a one-to-one correspondence to form six workstations. An electric slip ring 204 is penetrated in the center of the turntable 202. The fixed part of the top of the electric slip ring 204 is fixedly connected to the turntable 202 through a fixing frame 2041. The electric slip ring 204 can allow the cables of each motor on the turntable 202 to rotate with it to prevent the cables from being tangled. A rotation drive motor 2043 is fixed at the bottom of the workbench 1. The rotation drive motor 2043 drives the entire turntable 202 to rotate through a reduction box 204242.

[0055] All the fixtures 2032 on the same supporting seat 203 are arranged in a row and rotate synchronously. In order to control the synchronous rotation of all the fixtures 2032 on the same supporting seat 203, a driven wheel 2033 is coaxially fixedly connected to the bottom of each fixture 2032. The entire supporting seat 203 is T-shaped, and the end of the supporting seat 203 fixed to the turntable 202 is its fixed end. The fixed end of the supporting seat 203 is rotatably connected to a driving wheel 20311. A detection rotating motor 2031 is fixed at the bottom of the fixed end of the supporting seat 203. The driving wheel 20311 is arranged on the output shaft of the detection rotating motor 2031. The detection rotating motor 2031 drives the driving wheel 20311 to rotate, and the driving wheel 20311 is driven by a belt 2035 drives all the driven wheels 2033 on the corresponding supporting seat 203 to rotate synchronously, a transition wheel 2034 is eccentrically provided between two adjacent driven wheels 2033, the belt 2035 is wrapped around all the transition wheels 2034, the driving wheel 20311, all the driven wheels 2033 and all the transition wheels 2034 on the same supporting seat 203 rotate synchronously, the other end of the supporting seat 203 is its supporting end, and the supporting end of each supporting seat 203 is in a long T-shape, all the clamps 2032 on the same supporting seat 203 are located in the notch at the upper end of the corresponding supporting seat 203, and all the driven wheels 2033 and all the transition wheels 2034 on the same supporting seat 203 are located in the notch at the lower end of the corresponding supporting seat 203.

[0056] Reference Figure 1 and Figure 6 In the present invention, the number of detection camera devices can be one or more, and the specific number is determined by the number of surfaces on the top of the product that need to be inspected (the top of some products is uneven, resulting in multiple surfaces that need to be photographed and inspected). Different detection camera devices have different shooting heights and focuses;

[0057] In a specific example, the detection camera device for detecting the top surface of the product includes a top surface detection camera 205, which is vertically slidably arranged on a slide 2053. A vertical movement motor 2052 is provided on the top of the slide 2053. The vertical movement motor 2052 drives the top surface detection camera 205 to move up and down through a screw rod. The slide 2053 is slidably arranged on a top surface linear module 2051. The bottom of the top surface linear module 2051 is connected to the workbench 1 through a plurality of support columns 2011. The top surface linear module 2051 drives the top surface detection camera 205 to move along the length direction of the corresponding support seat 203. It moves back and forth so as to take pictures of the top of the product clamped by each clamp 2032 on the corresponding supporting seat 203 in turn. An annular light source 2054 is arranged at the light outlet of the top surface detection camera 205. The annular light source 2054 is adjusted and connected with the slide 2053 through a connecting rod 20541. An adjusting block 20542 is arranged on the slide 2053. The top of the connecting rod 20541 is inserted into the adjusting block 20542. By turning the screw on the adjusting block 20542 and changing the fixed position of the connecting rod 20541, the distance between the annular light source 2054 and the top surface detection camera 205 can be adjusted.

[0058] Reference Figure 1 In the present invention, another specific example is given. The detection camera device for detecting the side of the product also includes a side detection camera 206. The number of the side detection cameras 206 can be one or more. The specific number is determined by the number of surfaces that need to be detected on the side of the product (some products have uneven sides, resulting in multiple surfaces that need to be photographed and detected). Different side detection cameras 206 have different shooting heights and focuses. A side linear module 2061 is provided on the workbench 1. The side detection camera 206 is slidably set on the side linear module 2061. The side linear module 2061 drives the side detection camera 206 to reciprocate along the length direction of the corresponding support seat 203, so as to take pictures of the sides of the products clamped by each clamp 2032 on the corresponding support seat 203 in turn.

[0059] Of course, the detection camera device can also include multiple detection cameras for detecting other viewing angles of the product, and their structure and driving method are similar to the above-mentioned side detection camera 206 and top surface detection camera 205. For example, in this embodiment, a total of 2 appearance detection modules 20 are arranged, wherein the first appearance detection module 20 includes side detection camera No. 1 206, side detection camera No. 206, top surface detection camera No. 3 205, and top surface detection camera No. 4 205; and the other appearance detection module 20 includes stud side wall detection camera No. 5, column top hole detection camera No. 6, bottom surface detection camera No. 7, column end face detection camera No. 8, and stud side wall detection camera No. 9.

[0060] The working principle of the first appearance inspection module 20 of the present invention is: the rotating drive motor 2043 controls the reduction box 204242 to drive the turntable 202 to rotate, and the six supporting seats 203, the multiple clamps 2032 carried by each supporting seat 203, and the products clamped by the clamps 2032 also rotate a certain angle with the turntable 202; when one of the supporting seats 203 rotates to the front of the side inspection camera 206, the side linear module 2061 controls the side inspection camera 206 to move horizontally along the corresponding edge of the turntable 202, and inspects the side appearance defects of the products on the same supporting seat 203 one by one. When one of the bearing seats 203 rotates to the position directly below the top surface inspection camera 205, on the one hand, the vertical movement motor 2052 controls the screw rod to rotate and drives the top surface inspection camera 205 to move vertically up and down, adjusting the vertical distance between the top surface inspection camera 205 and the product; on the other hand, the top surface linear module 2051 controls the slide 2053 and the vertical movement motor 2052 and the top surface inspection camera 205 on the slide 2053 to move horizontally along the corresponding side of the turntable 202, so that the top surface inspection camera 205 can move the same bearing seat 203 to the top surface inspection camera 205. The products clamped by the multiple clamps 2032 on the 203 are photographed in sequence. At the same time, the detection rotating motor 2031 controls the driving wheel 20311 to rotate. The driving wheel 20311 drives the multiple driven wheels 2033 and the multiple transition wheels 2034 on the same supporting seat 203 to rotate synchronously through the belt 2035, thereby driving the multiple clamps 2032 on the same supporting seat 203 and the products clamped by each clamp 2032 to rotate synchronously, and the top surface appearance defects of the products on the same supporting seat 203 are detected one by one;

[0061] The multi-view visual rotation detection device of the present invention utilizes a turntable 202 to drive the clamps 2032 on multiple support seats 203 and all the keys clamped by the clamps 2032 to rotate synchronously, and cooperates with a top surface detection camera 205 for detecting appearance defects on the top surface of the keys and a side surface detection camera 206 for detecting appearance defects on the side of the product to simultaneously capture image information of the keys from multiple angles, thereby achieving all-round detection of all keys and improving the appearance detection efficiency of the keys.

[0062] In addition, the function of the product flipping module 30 of the present application is to flip the product to facilitate the inspection of the product by the next appearance inspection module 20; at the same time, a product flipping module 30 is also arranged between the second appearance inspection module 20 and the unloading robot 60. The function of the product flipping module 30 at this position is to flip the product to facilitate the unloading robot 60 to grab it, and then transfer it to the sorting tray 80 to realize sorting and unloading.

[0063] The product flipping module 30 includes a linear drive module 301, a flipping drive module 302, and a flipping negative pressure shaft 303, wherein the flipping negative pressure shaft 303 is provided with a plurality of product slots 3033 for adsorbing products; wherein the flipping drive module 302 drives the flipping negative pressure shaft 303 to rotate, and causes the product slots 3033 to flip 180°; and the linear drive module 301 drives the flipping drive module 302 to move along the Z-axis direction of the space; and also includes a secondary positioning module, which includes a positioning mounting bracket 304, and a positioning fixture 305 is mounted on the positioning mounting bracket 304, and a plurality of product positioning slots 3051 are provided on the surface of the positioning fixture 305 for placing and positioning products.

[0064] The automated flipping module reduces the complex flipping actions that the robot needs to perform, thereby speeding up the production cycle. The rapid response and precise control of the linear drive module 301 and the flipping drive module 302 ensure the rapid completion of the flipping and unloading process, further improving production efficiency. In addition, the product slot 3033 on the flipping negative pressure shaft 303 generates a stable adsorption force through an external negative pressure device, ensuring that the product will not fall off or be damaged during the flipping process, thereby protecting the product's appearance and performance. The secondary positioning module uses a precise positioning fixture 305 to ensure that the product can be accurately placed in the predetermined position after flipping, reducing quality problems caused by position offset.

[0065] Moreover, this technical solution can adapt to the flipping requirements of products of different sizes, shapes and weights. By adjusting the number and layout of product slots 3033 on the flipping negative pressure shaft 303, as well as the design of the positioning fixture 305 of the secondary positioning module, rapid switching and adaptation can be achieved.

[0066] Further, the flip driving module 302 includes a first mounting and fixing bracket 306 and a flip motor 307, wherein the movable end of the linear driving module 301 is drivingly connected to the first mounting and fixing bracket 306, and the flip motor 307 is mounted on the first mounting and fixing bracket 306 and drives the flip negative pressure shaft 303 to rotate. The flip driving module 302 also includes a flip reducer 308, a driving pulley, a transmission pulley, and a transmission belt, wherein the output end of the flip motor 307 is connected to the input end of the flip reducer 308, the output end of the flip reducer 308 is connected to the driving pulley, and the flip negative pressure shaft 303 is mounted to the transmission pulley, and the transmission belt is respectively sleeved between the driving pulley and the transmission pulley.

[0067] The flip drive module 302 integrates a first mounting fixed bracket 306, a flip motor 307, a flip reducer 308, a driving pulley, a transmission pulley and a transmission belt to form a compact and efficient drive system. This integrated design not only reduces the floor space, but also improves the overall rigidity and stability of the equipment. The output power of the flip motor 307 is decelerated and torque-increased by the flip reducer 308 to meet the torque demand of the flip negative pressure shaft 303. The addition of the reducer enables the motor to drive the load more effectively and reduces the wear and vibration that may be generated by the direct drive of the motor. The output end of the reducer is connected to the driving pulley, and the power is transmitted to the transmission pulley through the transmission belt, thereby driving the flip negative pressure shaft 303 to rotate. This belt drive mode has the advantages of smooth transmission, low noise, and easy maintenance, which ensures the accuracy and reliability of the flip action.

[0068] Furthermore, the first mounting and fixing bracket 306 includes a vertical mounting plate 3061, a horizontal transverse mounting plate 3062, and a side mounting plate 3063. The vertical mounting plate 3061 is mounted on the movable end of the linear drive module 301, and the flip motor 307 and the flip reducer 308 are both mounted on the horizontal transverse mounting plate 3062; the horizontal transverse mounting plate 3062 is mounted on the top of the vertical mounting plate 3061, and the side mounting plate 3063 is installed on one side of the horizontal transverse mounting plate 3062, wherein the side mounting plate 3063 is equipped with a bearing seat 309, and the end of the flip negative pressure shaft 303 away from the transmission pulley is movably mounted on the bearing seat 309.

[0069] The first mounting bracket 306 is composed of a vertical mounting plate 3061, a horizontal transverse mounting plate 3062 and a side mounting plate 3063, forming a stable three-dimensional support structure. This layout not only ensures the stable installation of key components such as the flip motor 307 and the flip reducer 308, but also facilitates the connection and coordination with other components (such as the linear drive module 301). The vertical mounting plate 3061 is directly mounted on the movable end of the linear drive module 301 as the basic support of the entire flip drive module 302. It bears the gravity from components such as the flip motor 307 and the flip negative pressure shaft 303, ensuring the smooth progress of the flip action. The horizontal transverse mounting plate 3062 is mounted on the top of the vertical mounting plate 3061, providing horizontal support for the flip motor 307 and the flip reducer 308. This design makes the installation of the motor and reducer more stable, reducing the looseness and damage caused by vibration and impact. The side mounting plate 3063 is mounted on one side of the horizontal transverse mounting plate 3062, providing lateral support for the flip negative pressure shaft 303. By assembling the bearing seat 309, the flip negative pressure shaft 303 can rotate stably and withstand various forces and moments during the flipping process.

[0070] Furthermore, a plurality of photoelectric sensors 3010 are mounted on the side mounting plate 3063 , and a sensing sheet 3011 is mounted on one end of the flip negative pressure shaft 303 close to the bearing seat 309 .

[0071] The photoelectric sensor 3010 can confirm the current position of the flip negative pressure shaft 303 by detecting whether the induction sheet 3011 on the flip negative pressure shaft 303 passes through its detection area. When the induction sheet 3011 is within the detection range of the sensor, the sensor will output a corresponding signal, indicating that the flip negative pressure shaft 303 has reached the predetermined position. In this example, two photoelectric sensors 3010 are set to further detect the upward or downward state of the flip negative pressure shaft 303. By comparing the sequence or state combination of the two sensor signals, the control system can determine whether the flip negative pressure shaft 303 has been correctly flipped 180°, that is, whether the flipping action from upward to downward or from downward to upward has been completed. Combined with the control system, the two photoelectric sensors 3010 can achieve precise control of the flipping action. When the flip negative pressure shaft 303 does not reach the predetermined position or the flipping direction is incorrect, the control system can receive the signal feedback of the sensor and prompt an alarm signal accordingly.

[0072] Furthermore, the flip negative pressure shaft 303 includes a negative pressure optical shaft 3031 and a mounting fixture 3032. The surface of the negative pressure optical shaft 3031 is provided with a plurality of negative pressure slots for externally connected negative pressure equipment, and the surface of the mounting fixture 3032 is provided with a plurality of product slots 3033 for adsorbing products, and the bottom of the configuration is provided with a plurality of connecting slots corresponding to the product slots 3033, wherein the mounting fixture 3032 is mounted on the surface of the negative pressure optical shaft 3031, and the connecting slots are connected with the negative pressure slots. The flip negative pressure shaft 303 consists of two parts: the negative pressure optical shaft 3031 and the mounting fixture 3032. As the main structure, the negative pressure optical shaft 3031 provides a stable support and a channel for negative pressure transmission; while the mounting fixture 3032 is in direct contact with the product to achieve the adsorption and positioning of the product. The plurality of negative pressure slots on the surface of the negative pressure optical shaft 3031 are the key interfaces of the external negative pressure equipment. These slots allow the negative pressure generated by the negative pressure device to be transmitted to the mounting fixture 3032 through the optical axis, thereby achieving effective adsorption of the product. The number and distribution of the negative pressure slots need to be reasonably designed according to the size, weight and adsorption requirements of the product. In addition, several product slots 3033 opened on the surface of the mounting fixture 3032 are used to directly adsorb the product. The shape, size and distribution of these slots need to match the shape of the product to ensure that the product can be stably placed in the slot. At the same time, the bottom of the mounting fixture 3032 is provided with connecting slots corresponding to the product slots 3033, which are connected to the negative pressure slots on the negative pressure optical axis 3031, so that the negative pressure can be smoothly transmitted to the product slots 3033, achieving firm adsorption of the product. Through the above design, flipping the negative pressure axis 303 can achieve effective adsorption and stable fixation of the product. The negative pressure generated by the negative pressure device is transmitted to the product slot 3033 through the negative pressure slots and the connecting slots, forming a strong adsorption force, and the product is firmly adsorbed on the mounting fixture 3032. This design not only improves the stability of the product during flipping, but also reduces the risk of the product falling off or shifting.

[0073] Furthermore, the positioning mounting bracket 304 includes a positioning base plate 3048, a first fixed bracket 41, and a second fixed bracket 3042, wherein the first fixed bracket 41 is slidably mounted on the positioning base plate 3048, the second fixed bracket 3042 is slidably mounted on the first fixed bracket 41, and the positioning fixture 305 is mounted on the second fixed bracket 3042. The positioning base plate 3048 is provided with a first adjusting screw 3043, and the first fixed bracket 41 is provided with a first adjusting block 3044 screwed with the first adjusting screw 3043, and the first fixed bracket 41 is moved along the Y axis of the space by adjusting the first adjusting screw 3043; and the first fixed bracket 41 is also provided with a clearance hole 3047 for the linear drive module 301. The first fixed bracket 41 is provided with a second adjusting screw 3045, and the second fixed bracket 3042 is provided with a second adjusting block 3046 screwed to the second adjusting screw 3045. By adjusting the second adjusting screw 3045, the second fixed bracket 3042 is moved along the spatial X-axis. Its beneficial effect is that the positioning mounting bracket 304 is composed of the positioning base plate 3048, the first fixed bracket 41 and the second fixed bracket 3042, forming a multi-level sliding assembly structure. This design allows the positioning fixture 305 to be fine-tuned in three-dimensional space to meet the positioning requirements of products of different sizes and shapes. The positioning base plate 3048 is provided with a first adjusting screw 3043, and the first fixed bracket 41 is provided with a first adjusting block 3044 screwed to the first adjusting screw 3043. By rotating the first adjusting screw 3043, the first fixed bracket 41 can slide along the spatial Y-axis direction, thereby realizing the positioning fixture 305 accurately mounted on the second fixed bracket 3042 in the Y-axis direction). By rotating the second adjusting screw 3045, the second fixed bracket 3042 can slide along the spatial X-axis direction, further realizing the precise adjustment of the positioning fixture 305 in the X-axis direction. Combined with the adjustment mechanism of the Y-axis and the X-axis, the positioning mounting bracket 304 can fully adjust the positioning fixture 305 in a two-dimensional plane. This design greatly improves the flexibility and accuracy of positioning, making the flip module applicable to more types of products. The first fixed bracket 41 is also provided with a hole for the linear drive module 301 to make way. This design ensures that the linear drive module 301 will not interfere with the positioning mounting bracket 304 during movement, thereby ensuring the smooth operation of the flip module.

[0074] The complete working process of the product flip module 30 is as follows:

[0075] 1. Preliminary debugging and locking: Use the first adjustment screw 3043 and the second adjustment screw 3045 to perform preliminary debugging on the secondary positioning module to ensure that the positioning fixture 305 can accurately align with the position where the flip negative pressure shaft 303 releases the product. After the debugging is completed, the two screws are locked to prevent movement during normal operation, thereby ensuring the stability and accuracy of positioning.

[0076] 2. Product adsorption and preparation: Driven by the linear drive module 301, the flip drive module 302 moves downward along the Z axis to the predetermined position. At this time, the flip negative pressure shaft 303 is located above the product, ready for adsorption. The external negative pressure device is started, and the negative pressure is transmitted to the product slot 3033 through the negative pressure slot on the flip negative pressure shaft 303 and the connecting slot of the mounting fixture 3032. Under the action of negative pressure, the product to be flipped is firmly adsorbed on the product slot 3033 of the mounting fixture 3032, ready for the subsequent flipping action.

[0077] 3. Product flipping: The linear drive module 301 starts again, driving the flip drive module 302 to move up along the Z axis, and lifting the flip negative pressure shaft 303 to the optimal height for flipping. The flip motor 307 starts, and drives the flip negative pressure shaft 303 to rotate 180° through the reducer and belt drive system to achieve the product flipping action. In this process, the cooperation of the photoelectric sensor 3010 and the induction sheet 3011 ensures the precise control and position confirmation of the flipping action, and improves the accuracy and reliability of the flipping.

[0078] 4. Product removal and secondary positioning: After the flipping action is completed, the external negative pressure device stops working, and the negative pressure on the flipping negative pressure shaft 303 disappears. At this time, the cooperating manipulator takes the product out of the product slot 3033 and places it in the product positioning slot 3051 of the positioning fixture 305 to achieve secondary positioning.

[0079] 5. Product transfer: After the secondary positioning is completed, the robot is started again to remove the positioned product from the positioning fixture 305 and transfer it to the next station for subsequent treatment or processing.

[0080] 6. Module reset: After completing the product transfer, each component of the flip module (including the linear drive module 301, the flip drive module 302, etc.) is reset to the initial state, waiting for the start of the next flip operation.

[0081] The above implementation modes are merely descriptions of the preferred implementation modes of the present invention, and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary engineering and technical personnel in the field shall fall within the protection scope determined by the claims of the present invention.

Claims

1. A smart terminal key surface defect inspection machine, characterized in that: Including feeding module to realize product feeding; An appearance defect detection module, the appearance defect detection module includes at least one appearance detection module, each appearance detection module includes a turntable, a plurality of bearing seats, and a plurality of detection camera devices arranged on one side of the bearing seat and used to detect different viewing angles of the product; all the bearing seats are carried by the turntable, all the bearing seats are arranged in a circle around the edge of the turntable, and each bearing seat is provided with a plurality of clamps for clamping the product, and each clamp is rotatably arranged on the corresponding bearing seat; A first manipulator, the first manipulator transfers the product on the feeding module to the fixture on the bearing seat; A product flip module, which is located between adjacent appearance inspection modules and is used to flip the product so that the next appearance inspection module can inspect the product; The second robot is located on one side of the product flip module and transfers the flipped product to the next appearance inspection module; The unloading robot moves the products that have been inspected by the appearance defect inspection module to the sorting tray for sorting and unloading; It also includes a working platform, wherein a feeding module, an appearance defect detection module, a first manipulator, a product flipping module, a second manipulator, and a unloading manipulator are all arranged on the working platform; wherein the feeding module includes a lifting plate, a lifting drive mechanism, and a fixed plate arranged on the working platform and located above the lifting plate, the lifting plate is used to stack pallets, the lifting drive mechanism is connected to the lifting plate to drive the lifting plate to lift and lower, and also includes a sensing module communicatively connected to the lifting drive mechanism, the sensing module senses the pallet and controls the lifting drive mechanism to drive the lifting plate to drive the pallet to lift and lower, and an empty slot is opened in the middle of the fixed plate to form a material slot for the pallet to pass through, and the first manipulator clamps the product on the pallet.

2. The intelligent terminal key surface defect inspection machine according to claim 1 is characterized in that: The fixed plate is provided with a group of positioning components which are symmetrically distributed on the left and right sides. The positioning components include at least two positioning rods mounted on the fixed plate, and the positioning rods are in contact with the left and right sides of the pallet; the positioning component also includes a material stopping rod which is arranged on the front side of the positioning rod and mounted on the fixed plate, and the material stopping rod is in contact with the front side of the pallet; the positioning component also includes a mounting plate, wherein the end of the positioning rod is mounted on the mounting plate, and a mounting protrusion is formed at the inner end of the mounting plate for connecting with the end of the material stopping rod.

3. The intelligent terminal key surface defect inspection machine according to claim 2, characterized in that: The surface of the fixed plate is provided with a driving member and at least two positioning members located on one side of the material trough. The driving member pushes the tray to move and makes the tray close to the positioning member. At the same time, there are a total of four positioning members, each of which is an L-shaped protrusion, and the four positioning members are symmetrically distributed at the four corners of the material trough.

4. The intelligent terminal key surface defect inspection machine according to claim 3 is characterized in that: A driving member and at least two positioning members located on one side of the material trough are arranged on the surface of the fixed plate. The driving member pushes the tray to move and makes the tray close to the positioning members.

5. The intelligent terminal key surface defect inspection machine according to claim 4, characterized in that: All the clamps on the same supporting seat are arranged in a row at intervals and rotate synchronously; and a driven wheel is coaxially fixedly connected to the bottom of each clamp, and a driving wheel is rotatably connected to the fixed end of the supporting seat, and the driving wheel drives all the driven wheels on the corresponding supporting seat to rotate synchronously through a belt; a transition wheel is eccentrically provided between two adjacent driven wheels, and the belt is wrapped around all the transition wheels.

6. The intelligent terminal key surface defect inspection machine according to claim 5, characterized in that: The bearing end of each bearing seat is in a long T-shape, all the clamps on the same bearing seat are located in the gap corresponding to the upper end of the bearing seat, and all the driven wheels on the same bearing seat are located in the gap corresponding to the lower end of the bearing seat.

7. The intelligent terminal key surface defect inspection machine according to claim 6, characterized in that: An electric slip ring is passed through the center of the turntable, and a fixed part on the top of the electric slip ring is fixedly connected to the turntable through a fixing frame.

8. The intelligent terminal key surface defect inspection machine according to claim 7, characterized in that: The product flip module includes a linear drive module, a flip drive module, and a flip negative pressure shaft, and the flip negative pressure shaft is provided with a plurality of product slots for adsorbing products; The flipping drive module drives the flipping negative pressure axis to rotate and flips the product slot 180°; the linear drive module drives the flipping drive module to move along the Z-axis direction of the space; it also includes a secondary positioning module, which includes a positioning mounting bracket, and a positioning fixture is installed on the positioning mounting bracket. The surface of the positioning fixture is provided with a plurality of product positioning grooves for placing and positioning products, wherein the second manipulator will clamp the product on the product slot and transfer it to the product positioning groove for positioning, and then transfer it to the next appearance inspection module.

9. The intelligent terminal key surface defect inspection machine according to claim 8, characterized in that: The detection camera device comprises a top surface detection camera, wherein the workbench is connected with a top surface linear module via a plurality of support columns, a slide is slidably connected to the top surface linear module, the top surface detection camera is vertically slidably arranged on the slide, and the top surface linear module drives the top surface detection camera to reciprocate along the length direction corresponding to the bearing seat; The detection camera device also includes a side detection camera. A side linear module is provided on the workbench. The side detection camera is slidably set on the side linear module. The side linear module drives the side detection camera to reciprocate along the length direction corresponding to the supporting seat.

10. The intelligent terminal key surface defect inspection machine according to claim 9, characterized in that: An annular light source is arranged at the light outlet of the top surface detection camera, and the annular light source is adjustably connected to the slide frame via a connecting rod.

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