Multi-angle visual inspection equipment

Abstract

The invention discloses a multi-angle visual inspection device. According to the technical scheme, a material disc feeding and discharging mechanism, a material disc transferring mechanism, a three-axis material transferring mechanism, a material detection mechanism and a material sorting mechanism are arranged on a rack, and the material detection mechanism can conduct visual detection on materials in four directions; firstly, a negative pressure material transferring suction cup of the three-axis material transferring mechanism grabs materials to a bottom face visual detection unit for detection, if bottom face detection is not qualified, a detection transferring negative pressure suction cup of the material sorting mechanism sucks the materials and transfers the materials to an NG product discharging belt line to be released, and if bottom face detection is qualified, the detection transferring negative pressure suction cup of the material sorting mechanism transfers the materials to the NG product discharging belt line to be released. The detection feeding linear module drives the carrier and the material to move towards the detection fixing frame, and the first upper CCD, the first left CCD and the first right CCD conduct visual detection on the top face, the left side face and the right side face of the material correspondingly. According to the scheme, full-process automation, multi-surface detection, automatic feeding and discharging and automatic tray transferring can be achieved, and the detection efficiency and accuracy are high.

Description

Technical Field

[0001] The present invention relates to the technical field of detection equipment, and in particular to a multi-angle visual detection equipment. Background Art

[0002] In the prior art, the appearance inspection of terminal modules usually adopts manual visual inspection, which is prone to errors, low inspection efficiency and high labor costs. In particular, if the terminal module needs to be inspected from multiple sides, it is more likely to cause missed inspections and wrong inspections. Therefore, designing a device that can realize fully automated visual inspection and can perform multi-side inspections is exactly the problem that the inventors want to solve. Summary of the invention

[0003] In view of the deficiencies in the prior art, the main purpose of the present invention is to provide a high-efficiency and high-precision visual inspection equipment that can achieve full automation of inspection, multi-faceted inspection, automatic loading and unloading, and automatic pallet transfer.

[0004] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a multi-angle visual inspection device, comprising a frame, on which a material tray loading and unloading mechanism is arranged, including a loading unit and an unloading unit with the same structure and arranged side by side, the loading unit and the unloading unit both include a roller conveyor line and a material tray lifting module arranged at the end of the roller conveyor line, the roller conveyor line is provided with a plurality of blocking cylinders, each of which is respectively connected to a block capable of blocking the material tray, the material tray lifting module includes a lifting frame, on which a lifting linear module is arranged, and the lifting linear module is connected to a load-bearing lifting plate capable of bearing the material tray;

[0005] The tray transfer mechanism comprises a pair of slide rails arranged on a frame, the pair of slide rails being connected to a tray fixing platform via sliders, the tray fixing platform being provided with a tray loading hole and a tray unloading hole, the tray loading hole being located just above a tray lifting module of a loading unit, and the tray unloading hole being located just above a tray lifting module of a unloading unit, a fixed cylinder being respectively provided on four sides of the tray loading hole and the tray unloading hole on the tray fixing platform, the fixed cylinder being connected with an abutting plate capable of abutting the tray, a tray transfer linear module being provided on the frame capable of driving the fixed platform to move along the pair of slide rails, the tray transfer linear module being capable of driving the tray loading hole to move just above the tray lifting module of the unloading unit, and a plurality of photoelectric sensors capable of detecting the tray being provided on the tray fixing platform;

[0006] A three-axis material transfer mechanism comprises two parallel Y-axis linear support frames arranged at both ends of a frame, each Y-axis linear support frame is respectively fixedly provided with a Y-axis linear module, an X-axis linear support plate is commonly connected between the two Y-axis linear modules, an X-axis linear module is fixedly provided on the X-axis linear support plate, a Z-axis support frame is fixedly connected to the X-axis linear module, a Z-axis lifting linear module is arranged on the Z-axis support frame, the Z-axis lifting linear module is fixedly connected to a motor support frame, a servo rotary motor is fixedly connected to the motor support frame, the output shaft of the servo rotary motor is connected to a fixed frame, a plurality of negative pressure material transfer suction cups capable of sucking and releasing materials are fixedly provided on the fixed frame, and a material positioning CCD is arranged on the fixed frame;

[0007] The material detection mechanism comprises a bottom surface visual detection unit and left and right upper three-surface visual detection units arranged on a frame, the bottom surface visual detection unit comprises a bottom surface CCD with a lens facing upward, a lower base for fixing the bottom surface CCD, and two profile protection fences fixed on the lower base, the left and right upper three-surface visual detection units comprise a detection and feeding linear module and a three-surface CCD fixing assembly, the detection and feeding linear module is provided with a carrier capable of fixing materials, the three-surface CCD fixing assembly comprises a detection fixing frame, the detection and feeding linear module passes through the detection fixing frame, a first upper CCD is arranged on the top of the detection fixing frame, a left bracket and a right bracket are respectively arranged on both sides of the detection fixing frame, and a left CCD and a right CCD are respectively fixedly connected to the left bracket and the right bracket;

[0008] The material sorting mechanism includes a rotary transfer unit arranged on one side of the detection and feeding linear module and an NG product discharge belt line arranged on one side of the rotary transfer unit, the rotary transfer unit includes a rotary cylinder fixedly arranged on a frame, the rotary cylinder is fixedly connected to a slide lifting cylinder, the slide lifting cylinder is fixedly connected to a sorting bracket, the sorting bracket is fixedly provided with a detection and transfer negative pressure suction cup capable of adsorbing and releasing materials on a carrier, and the rotary cylinder can drive the negative pressure suction cup on the slide lifting cylinder to rotate from the carrier to the NG product discharge belt line.

[0009] Preferably, a baffle is fixedly provided at the entrance of the roller conveyor line.

[0010] Preferably, the abutment plate is in an L-shape capable of supporting the tray.

[0011] Preferably, a light curtain sensor capable of detecting the carrier and the material is provided at the entrance of the detection fixing frame.

[0012] Preferably, the three-side CCD fixing assembly further comprises an auxiliary bracket arranged on one side of the detection and feeding linear module and a second upper CCD arranged on the auxiliary bracket.

[0013] Compared with the prior art, the present invention has the following advantages: the material detection mechanism can perform visual detection on the material in four directions. First, the negative pressure material transfer suction cup of the three-axis material transfer mechanism grabs the material to the bottom visual detection unit, and the bottom CCD performs a visual detection of the bottom of the material through two profile protection fences. Then the negative pressure material transfer suction cup places the material on the carrier. If the bottom surface detection fails, the detection transfer negative pressure suction cup of the material sorting mechanism absorbs the material and transfers it to the NG product discharge belt line for release. If the bottom surface detection is qualified, the detection feeding is completed. The linear module drives the carrier and the material to move toward the inspection fixed frame. After moving into position, the first upper CCD, the left CCD and the right CCD respectively perform visual inspection on the top, left and right sides of the material. Then the linear module drives the carrier and the material to move back. Only if the inspection fails, the inspection transfer negative pressure suction cup of the material sorting mechanism will absorb the material and transfer it to the NG product discharge belt line for release. If the bottom surface inspection is qualified, the negative pressure material transfer suction cup of the three-axis material transfer mechanism grabs the material to the tray of the unloading unit. This solution can realize full automation of the inspection, multi-faceted inspection, automatic loading and unloading, and automatic transfer of pallets, with high inspection efficiency and accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 The overall structure of a multi-angle visual inspection device of the present invention is shown in FIG. Figure 1 ;

[0015] Figure 2 The overall structure of a multi-angle visual inspection device of the present invention is shown in FIG. Figure 2 ;

[0016] Figure 3 A schematic structural diagram of a loading unit or unloading unit of a multi-angle visual inspection device of the present invention;

[0017] Figure 4 It is a structural schematic diagram of a tray transfer mechanism of a multi-angle visual inspection device of the present invention;

[0018] Figure 5 It is a structural schematic diagram of a three-axis material transfer mechanism of a multi-angle visual inspection device of the present invention;

[0019] Figure 6 for Figure 5 A schematic diagram of the enlarged structure of the middle part A;

[0020] Figure 7 It is a structural schematic diagram of a material detection mechanism of a multi-angle visual inspection device of the present invention.

[0021] In the figure: 1. Frame; 2. Material tray loading and unloading mechanism; 21. Loading unit; 22. Unloading unit; 23. Roller conveyor line; 24. Material tray lifting module; 25. Blocking cylinder; 26. Block; 27. Lifting frame; 28. Lifting linear module; 29. ​​Load-bearing lifting plate; 210. Baffle; 3. Material tray transfer mechanism; 31. Slide rail; 32. Material tray fixing stand; 33. Material tray loading hole; 34. Material tray unloading hole; 35. Fixed cylinder; 36. Abutment plate; 37. Material tray transfer linear module; 4. Three-axis material transfer mechanism; 41. Y-axis linear support frame; 42. Y-axis linear module; 43. X-axis linear support plate; 44. X-axis linear module; 45. Z-axis support frame; 46. Z-axis lifting linear module; 47. Motor Support frame; 48. Servo rotary motor; 49. Fixed frame; 410. Negative pressure material transfer suction cup; 411. Material positioning CCD; 5. Material detection mechanism; 51. Bottom CCD; 52. Lower base; 53. Profile protection fence; 54. Detection and feeding linear module; 55. Carrier; 56. Detection fixed frame; 57. First upper CCD; 58. Left bracket; 59. Right bracket; 510. Left CCD; 511. Right CCD; 512. Light curtain sensor; 513. Auxiliary bracket; 514. Second upper CDD; 6. Material sorting mechanism; 61. NG product discharge belt line; 62. Rotating cylinder; 63. Slide lifting cylinder; 64. Sorting bracket; 65. Detection and transfer negative pressure suction cup; 7. Material tray; 8. Material. DETAILED DESCRIPTION

[0022] The present invention will be further described below in conjunction with the accompanying drawings.

[0023] like Figure 1 As shown, a multi-angle visual inspection device includes a frame 1, on which is provided:

[0024] The tray loading and unloading mechanism 2 comprises a loading unit 21 and an unloading unit 22 of the same structure and arranged side by side, wherein the loading unit 21 and the unloading unit 22 both comprise a roller conveyor line 23 and a tray lifting module 24 arranged at the end of the roller conveyor line 23, wherein the roller conveyor line 23 is provided with a plurality of blocking cylinders 25, each of which is respectively connected with a block 26 capable of blocking the tray, and the tray lifting module 24 comprises a lifting frame 27, wherein the lifting frame 27 is provided with a lifting linear module 28, and the lifting linear module 28 is connected with a load-bearing lifting plate 29 capable of bearing the tray;

[0025] The tray transfer mechanism 3 includes a pair of slide rails 31 arranged on the frame 1, and the pair of slide rails 31 are connected to a tray fixing stand 32 through a slider, and the tray fixing stand 32 is provided with a tray loading hole 33 and a tray unloading hole 34, the tray loading hole 33 is located directly above the tray lifting module 24 of the loading unit 21, and the tray unloading hole 34 is located directly above the tray lifting module 24 of the unloading unit 22. The four sides of the tray unloading hole 34 are respectively provided with fixed cylinders 35, and the fixed cylinders 35 are connected with abutment plates 36 that can abut the tray. The frame 1 is provided with a tray transfer linear module 37 that can drive the fixed stand to move along the pair of slide rails 31. The tray transfer linear module 37 can drive the tray loading hole 33 to move to the top of the tray lifting module 24 of the unloading unit 22. The tray fixed stand 32 is provided with a plurality of photoelectric sensors that can detect the tray.

[0026] The three-axis material transfer mechanism 4 comprises two Y-axis linear support frames 41 arranged in parallel at both ends of the frame 1, each Y-axis linear support frame 41 is respectively fixedly provided with a Y-axis linear module 42, an X-axis linear support plate 43 is commonly connected between the two Y-axis linear modules 42, an X-axis linear module 44 is fixedly provided on the X-axis linear support plate 43, a Z-axis support frame 45 is fixedly connected to the X-axis linear module 44, a Z-axis lifting linear module 46 is arranged on the Z-axis support frame 45, and the Z-axis lifting linear module 46 is fixedly connected to a motor support frame 47, a servo rotary motor 48 is fixedly connected to the motor support frame 47, and the output shaft of the servo rotary motor 48 is connected to a fixed frame 49, a plurality of negative pressure material transfer suction cups 410 capable of sucking and releasing materials are fixedly provided on the fixed frame 49, and a material positioning CCD 411 is arranged on the fixed frame 49;

[0027] The material detection mechanism 5 includes a bottom surface visual detection unit and left and right upper three-surface visual detection units arranged on the frame 1, the bottom surface visual detection unit includes a bottom surface CCD51 with a lens facing upward, a lower base 52 for fixing the bottom surface CCD51, and two profile protection fences 53 fixed on the lower base 52, the left and right upper three-surface visual detection units include a detection and feeding linear module 54 and a three-surface CCD fixing component, the detection and feeding linear module 54 is provided with a carrier 55 capable of fixing materials, the three-surface CCD fixing component includes a detection fixing frame 56, the detection and feeding linear module 54 passes through the detection fixing frame 56, the top of the detection fixing frame 56 is provided with a first upper CCD57, the two sides of the detection fixing frame 56 are respectively provided with a left bracket 58 and a right bracket 59, and the left bracket 58 and the right bracket 59 are respectively fixedly connected with a left CCD510 and a right CCD511;

[0028] The material sorting mechanism 6 includes a rotary transfer unit arranged on one side of the detection and feeding linear module 54 and an NG product discharge belt line 61 arranged on one side of the rotary transfer unit. The rotary transfer unit includes a rotary cylinder 62 fixedly arranged on the frame 1, and a slide lifting cylinder 63 is fixedly connected to the rotary cylinder 62. The slide lifting cylinder 63 is fixedly connected to a sorting bracket 64. A detection and transfer negative pressure suction cup 65 capable of adsorbing and releasing materials on the carrier 55 is fixedly arranged on the sorting bracket 64. The rotary cylinder 62 can drive the negative pressure suction cup on the slide lifting cylinder 63 to rotate from the carrier 55 to the NG product discharge belt line 61.

[0029] The present scheme is a multi-angle visual inspection device, whose working principle is that the material tray 7 loaded with materials 8 is manually placed in the loading unit 21 of the material tray loading and unloading mechanism 2, that is, on the roller conveyor line 23 of the loading unit 21. If the equipment is already running and the previously placed material tray 7 is still on the load-bearing lifting plate 29, then the blocking cylinder 25 on the roller conveyor line 23 drives the block 26 to rise to block the newly placed material tray. When the previous material tray 7 is used up, the blocking cylinder 25 drives the block 26 to descend, and the lifting linear module drives the load-bearing lifting plate 29 to descend to the lowest level. At this time, the roller conveyor line 23 drives the newly placed material tray 7 to move to the load-bearing lifting plate 29, and then the lifting linear module drives the load-bearing lifting plate 29 and the material tray 7 to rise to the material tray transfer mechanism 3. The conveying direction of the roller conveyor line 23 of the unloading unit 22 is opposite to that of the roller conveyor line 23 of the loading unit 21. After a certain amount of material trays 7 are carried on the load-bearing lifting plate 29 of the unloading unit 22, the load-bearing lifting plate 29 drives the material trays to descend, and the roller conveyor line 23 drives the material trays 7 to move out. At this time, the blocking cylinder 25 of the unloading unit 22 drives the block 26 to rise and block the material trays 7 until the material trays 7 are taken away manually.

[0030] The tray transfer mechanism 3 is used to receive the tray 7 filled with the material 8 to be tested and to transfer the empty tray 7. The tray loading hole 33 is located directly above the tray lifting module 24 of the loading unit 21. The full tray 7 is lifted by the load-bearing lifting plate 29 of the loading unit 21. After the top tray 7 is detected by the photoelectric sensor, the fixed cylinder 35 drives the abutment plate 36 to abut and fix the top A tray. After the A tray is fixed, the three-axis material transfer mechanism 4 can take materials normally. When the material in the A tray is taken out, the transfer action begins. First, the fixed cylinder 35 located at the tray unloading hole 34 retracts the abutment plate 36, then the load-bearing lifting plate 29 of the unloading unit 22 drives the B tray at the tray unloading hole 34 to descend, and then the tray transfer linear module 37 drives the entire tray fixing stand 32 and the A tray to move along the slide rail 31, and the tray transfer linear module 37 can drive the A tray to move to just above the tray lifting module 24 of the unloading unit 22, then the fixed cylinder 35 at the tray loading hole 33 retracts the abutment plate 36, and the A tray falls onto the B tray, and then the tray transfer linear module 37 can drive the tray fixing frame to reset, and after the photoelectric sensor on the tray fixing frame detects the A tray, the fixed cylinder 35 at the tray unloading hole 34 drives the abutment plate 36 to fix the A tray, and then the loading unit 21 drives the C tray to rise to the tray loading hole 33 again, and the fixing method is the same as that of the A tray, and the tray turnover is realized in this reciprocating manner.

[0031] The two Y-axis linear modules 42 of the three-axis material transfer mechanism 4 can realize the movement of the negative pressure material transfer suction cup 410 along the Y-axis direction, the X-axis linear module 44 can realize the movement of the negative pressure material transfer suction cup 410 along the X-axis direction, and the Z-axis lifting linear module 46 can drive the negative pressure material transfer suction cup 410 to move along the Z-axis direction. The three cooperate to realize the full-range movement of the negative pressure material transfer suction cup 410 on the entire frame 1. The servo rotary motor 48 can drive the fixed frame 49 and the negative pressure material transfer suction cup 410 to turn and rotate. The negative pressure material transfer suction cup 410 realizes negative pressure adsorption through a micro vacuum generator. When grabbing materials, the negative pressure material transfer suction cup 410 contacts the materials. In order to ensure the accuracy of grabbing, a material positioning CCD411 is provided, which can ensure the accuracy of the material grabbing process and can identify whether the materials in the material tray have been grabbed.

[0032] The material detection mechanism 5 can perform visual inspection on the material in four directions. First, the negative pressure material transfer suction cup 410 of the three-axis material transfer mechanism 4 grabs the material to the bottom visual inspection unit, and the bottom CCD51 performs visual inspection on the bottom of the material through two profile protection fences 53. Then the negative pressure material transfer suction cup 410 places the material on the carrier 55. If the bottom surface inspection fails, the inspection transfer negative pressure suction cup 65 of the material sorting mechanism 6 absorbs the material and transfers it to the NG product discharge belt line 61 for release. If the bottom surface inspection is qualified, the inspection feeding linear module 54 drives the carrier 55 and the material in the direction of The inspection frame moves to the fixed frame 56. After moving into place, the first upper CCD57, the left CCD510 and the right CCD511 respectively perform visual inspections on the top, left and right sides of the material. Then the linear module drives the carrier 55 and the material to move back. Only if unqualified is to be inspected, the inspection and transfer negative pressure suction cup 65 of the material sorting mechanism 6 will absorb the material and transfer it to the NG product discharge belt line 61 for release. If all the inspections are qualified, the negative pressure material transfer suction cup 410 of the three-axis material transfer mechanism 4 grabs the material into the material tray of the unloading unit 22. Each material is inspected according to this step.

[0033] Preferably, a baffle 210 is fixedly provided at the entrance of the roller conveyor line 23. The baffle 210 can prevent the stacked pallets from escaping from the roller conveyor line 23.

[0034] Preferably, the abutment plate 36 is in an L-shape capable of supporting the tray. This arrangement enables the abutment plate 36 to support the tray, resulting in a better fixing effect.

[0035] Preferably, a light curtain sensor 512 capable of detecting the carrier 55 and the material is provided at the entrance of the detection fixed frame 56. The light curtain sensor 512 can detect the carrier 55 and the material entering and leaving the detection fixed frame 56.

[0036] Preferably, the three-side CCD fixing assembly further includes an auxiliary bracket 513 disposed on one side of the detection feeding linear module 54 and a second top CCD 514 disposed on the auxiliary bracket 513. Usually, the top surface of the material has more appearance information, and such a setting can further improve the detection accuracy.

[0037] The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments. All technical solutions under the concept of the present invention belong to the protection scope of the present invention. It should be pointed out that for ordinary technicians in this technical field, some improvements and modifications without departing from the principle of the present invention should also be regarded as the protection scope of the present invention.

Claims

1. A multi-angle visual inspection device, comprising a frame, characterized in that: The frame is provided with: The tray loading and unloading mechanism comprises a loading unit and an unloading unit of the same structure and arranged side by side, wherein the loading unit and the unloading unit both comprise a roller conveyor line and a tray lifting module arranged at the end of the roller conveyor line, wherein the roller conveyor line is provided with a plurality of blocking cylinders, each of which is respectively connected with a block capable of blocking the tray, and the tray lifting module comprises a lifting frame, wherein a lifting linear module is arranged on the lifting frame, and the lifting linear module is connected with a load-bearing lifting plate capable of bearing the tray; The tray transfer mechanism comprises a pair of slide rails arranged on a frame, the pair of slide rails being connected to a tray fixing platform via sliders, the tray fixing platform being provided with a tray loading hole and a tray unloading hole, the tray loading hole being located just above a tray lifting module of a loading unit, and the tray unloading hole being located just above a tray lifting module of a unloading unit, a fixed cylinder being respectively provided on four sides of the tray loading hole and the tray unloading hole on the tray fixing platform, the fixed cylinder being connected with an abutting plate capable of abutting the tray, a tray transfer linear module being provided on the frame capable of driving the fixed platform to move along the pair of slide rails, the tray transfer linear module being capable of driving the tray loading hole to move just above the tray lifting module of the unloading unit, and a plurality of photoelectric sensors capable of detecting the tray being provided on the tray fixing platform; A three-axis material transfer mechanism comprises two parallel Y-axis linear support frames arranged at both ends of a frame, each Y-axis linear support frame is respectively fixedly provided with a Y-axis linear module, an X-axis linear support plate is commonly connected between the two Y-axis linear modules, an X-axis linear module is fixedly provided on the X-axis linear support plate, a Z-axis support frame is fixedly connected to the X-axis linear module, a Z-axis lifting linear module is arranged on the Z-axis support frame, the Z-axis lifting linear module is fixedly connected to a motor support frame, a servo rotary motor is fixedly connected to the motor support frame, the output shaft of the servo rotary motor is connected to a fixed frame, a plurality of negative pressure material transfer suction cups capable of sucking and releasing materials are fixedly provided on the fixed frame, and a material positioning CCD is arranged on the fixed frame; The material detection mechanism comprises a bottom surface visual detection unit and left and right upper three-surface visual detection units arranged on a frame, the bottom surface visual detection unit comprises a bottom surface CCD with a lens facing upward, a lower base for fixing the bottom surface CCD, and two profile protection fences fixed on the lower base, the left and right upper three-surface visual detection units comprise a detection and feeding linear module and a three-surface CCD fixing assembly, the detection and feeding linear module is provided with a carrier capable of fixing materials, the three-surface CCD fixing assembly comprises a detection fixing frame, the detection and feeding linear module passes through the detection fixing frame, a first upper CCD is arranged on the top of the detection fixing frame, a left bracket and a right bracket are respectively arranged on both sides of the detection fixing frame, and a left CCD and a right CCD are respectively fixedly connected to the left bracket and the right bracket; The material sorting mechanism includes a rotary transfer unit arranged on one side of the detection and feeding linear module and an NG product discharge belt line arranged on one side of the rotary transfer unit, the rotary transfer unit includes a rotary cylinder fixedly arranged on a frame, the rotary cylinder is fixedly connected to a slide lifting cylinder, the slide lifting cylinder is fixedly connected to a sorting bracket, the sorting bracket is fixedly provided with a detection and transfer negative pressure suction cup capable of adsorbing and releasing materials on a carrier, and the rotary cylinder can drive the negative pressure suction cup on the slide lifting cylinder to rotate from the carrier to the NG product discharge belt line.

2. The multi-angle visual inspection device according to claim 1, characterized in that: A baffle is fixedly arranged at the entrance of the roller conveyor line.

3. The multi-angle visual inspection device according to claim 1, characterized in that: The abutting plate is in an L-shape capable of supporting the tray.

4. The multi-angle visual inspection device according to claim 1, characterized in that: A light curtain sensor capable of detecting the carrier and the material is arranged at the entrance of the detection fixing frame.

5. The multi-angle visual inspection device according to claim 1, characterized in that: The three-side CCD fixing assembly also includes an auxiliary bracket arranged on one side of the detection and feeding linear module and a second upper CCD arranged on the auxiliary bracket.

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