Automatic multi-angle product detection equipment and detection method

Abstract

The invention relates to automatic multi-angle product detection equipment, which comprises a feeding module, a transfer module, a detection module and a discharging module, and is characterized in that the feeding module is used for placing products for the transfer module to carry; the transferring module comprises a feeding clamping jaw, a discharging clamping jaw, a transverse moving and lifting device and a transverse moving servo motor. The transverse moving servo motor is used for driving the transverse moving and lifting device to move between an initial point and a detection point; the feeding clamping jaw is used for carrying undetected products from the feeding module to the detection module, and the discharging clamping jaw is used for clamping and lifting the detected products on the detection module and then carrying the products to the discharging module. The detection module comprises a product clamp, an X driving module and a camera module; the product clamp is used for placing a product, and the X driving module is used for driving the product clamp to move between a transfer point and an imaging point in the second direction; the camera module is arranged in the circumferential direction of the imaging point and used for detecting the size of the product; and the discharging module is used for placing the detected products for transferring and sending out.

Description

Technical Field

[0001] The present invention relates to the technical field of product detection, and in particular to an automated multi-angle product detection device and a detection method. Background Art

[0002] The significance of measuring product dimensions lies in many aspects: by measuring product dimensions, it can be ensured that the product meets the design requirements and quality standards. Dimension measurement is a key link in the quality control process. It helps to identify deviations and variations in the production process, so that timely measures can be taken to adjust and correct them to avoid the production of defective products. In the early and mid-stages of product design, dimensional measurement can be used to verify the feasibility of the design plan. Through actual measurement, designers can confirm whether the dimensions of various parts of the product match each other, whether there are conflicts or unreasonable aspects in the design, and then optimize the design to improve the overall performance and reliability of the product. In the production process, dimensional measurement provides an important reference for the operation of the production line. By measuring product dimensions regularly or irregularly, problems in the production process, such as mold wear, equipment failure, etc., can be discovered in time, so that timely measures can be taken to repair and adjust them to ensure the stable operation of the production line and the stability of product quality.

[0003] Before the automated multi-angle product inspection equipment was put into production, the length of the product needed to be measured manually using a height gauge, and the roundness of the product needed to be measured manually using a specific instrument. For a long time, manual operation would increase the probability of product wear and the error rate of dimensional inspection. Secondly, the increasing cost of labor would also increase the cost of the product itself.

[0004] To sum up, how to establish a complete measurement system and process, ensure the accuracy and reliability of measurement results, reduce labor cost investment, reduce product wear, promptly detect and intervene in product size unqualified problems, reduce material waste, and increase shipment yield is an urgent problem to be solved. Summary of the invention

[0005] In response to the above technical problems, the present invention provides an automated multi-angle product inspection equipment and inspection method, which can automatically send the products to be tested into the inspection equipment for multi-angle inspection, reduce the probability of wear and tear during manual inspection, reduce the error rate of manual inspection, improve the yield of the product, and reduce labor costs and the cost of the product itself.

[0006] In order to solve the above technical problems, an automated multi-angle product inspection device of the present invention comprises a feeding module, a transfer module, a detection module and a discharging module arranged on an operating table, wherein the feeding module is used to place uninspected products for the transfer module to carry; the transfer module comprises a loading clamp, a unloading clamp, a transverse and lifting device and a transverse servo motor; the transverse servo motor is used to drive the transverse and lifting device to move along a first direction between an initial point and a detection point, when the transverse and lifting device is located at the initial point, the loading clamp is above the feeding module, and the unloading clamp is above the detection module, and when the transverse and lifting device is located at the detection point, the loading clamp is above the detection point. The module is located above the unloading clamp; the loading clamp is used to clamp and lift the uninspected products from the feeding module and then transport them to the inspection module, and the unloading clamp is used to clamp and lift the inspected products on the inspection module and then transport them to the unloading module; the inspection module includes a product fixture, an X-drive module and a camera module; the product fixture is used to place the product, and the product fixture is arranged on the X-drive module, and the X-drive module is used to drive the product fixture to move along the second direction between the transfer point and the imaging point; the camera module is arranged in the circumference of the imaging point to detect the size of the product; the unloading module is used to place the inspected products for transfer and delivery.

[0007] Furthermore, the loading clamp is also used to clamp and lift the inspected products on the inspection module and then transport them to the feeding module; the feeding module is also used to place the inspected products for transfer and delivery.

[0008] Furthermore, while the loading clamp grabs and lifts the undetected products from the feeding module and transports them to the detection module, the unloading clamp grabs and lifts the detected products on the detection module and transports them to the discharging module.

[0009] Furthermore, the transverse movement and lifting device is provided with a lifting cylinder and a lifting platform arranged at one end of the lifting cylinder, the lifting cylinder is used to drive the lifting platform to move in the vertical direction, the length extension direction of the lifting platform is the same as the first direction, and the loading clamp and the unloading clamp are respectively arranged at both ends of the length extension direction of the lifting platform.

[0010] Furthermore, the transfer module also includes a loading jaw product detection sensor and a unloading jaw product detection sensor; the loading jaw product detection sensor is arranged on the loading jaw, and the unloading jaw product detection sensor is arranged on the unloading jaw.

[0011] Furthermore, the camera module includes two upper cameras located in a first plane and two first light sources opposite to the two upper cameras.

[0012] Furthermore, the camera module also includes a left camera, a right camera, a second light source opposite to the right camera, and a third light source opposite to the left camera located in a second plane, and the first plane is spaced apart from the second plane by a distance.

[0013] Furthermore, the size of the product includes length and roundness, the two upper cameras are used to detect the length of the product, and the left camera and the right camera are used to detect the roundness of the product.

[0014] Furthermore, the detection module also includes a correction module, which includes a product head correction module and a product tail correction module; the product head correction module is used to push the head of the product to a fixed position, and the product tail correction module is used to push the tail of the product to a fixed position.

[0015] Further, the feeding module includes a feeding slide table and a feeding cylinder and a feeding product detection photoelectric device arranged on the feeding slide table. The feeding cylinder can move back and forth between the feeding origin and the feeding moving point along the feeding slide table. The feeding product detection photoelectric device is arranged at one end of the feeding origin of the feeding slide table. The feeding cylinder is provided with a plurality of first acupuncture points for placing products. The feeding product detection photoelectric device is used to detect whether the number of products placed on the feeding cylinder is consistent with the number of the first acupuncture points. The discharging module includes a discharging sliding platform, a discharging cylinder and a discharging product detection photoelectric device arranged on the discharging sliding platform. The discharging cylinder can move back and forth between the discharging origin and the discharging moving point along the discharging sliding platform. The discharging product detection photoelectric device is arranged at one end of the discharging origin of the discharging sliding platform. The discharging cylinder is provided with a plurality of second acupuncture points for placing products. The discharging product detection photoelectric device is used to detect whether the number of products placed on the discharging cylinder is consistent with the number of the second acupuncture points. When the transverse movement and lifting device is located at the initial point, the loading clamp is above the feeding origin of the feeding slide table, and the unloading clamp is above the transfer point of the X-drive module of the detection module; when the transverse movement and lifting device is located at the detection point, the loading clamp is above the transfer point of the X-drive module of the detection module, and the unloading clamp is above the discharging origin of the discharging slide table.

[0016] The present invention also relates to an automated multi-angle product detection method, characterized in that the above-mentioned automated multi-angle product detection equipment is used for detection, and the automated multi-angle product detection method includes static GRR inspection, dynamic GRR inspection, single-person working mode and normal mode; During the static GRR inspection, the product is placed on the feeding module, the loading claw of the transfer module grabs and lifts the product and then moves it to the product fixture of the detection module, the X-driving module moves the product fixture from the transfer point to the detection point, the camera module sequentially detects the dimensions of all products on the product fixture, and performs a set number of cyclic detections. After the cyclic detection is completed, the X-driving module moves the product fixture from the detection point to the transfer point, the loading claw of the transfer module grabs and lifts the detected product from the product fixture and then moves it to the feeding module; During the dynamic GRR detection, the product is placed on the feeding module, the loading claw of the transfer module grabs and lifts the product and then moves it to the product fixture of the detection module, the X-driving module moves the product fixture from the transfer point to the detection point, the camera module sequentially detects the sizes of all products on the product fixture, after the detection of the detection module is completed, the X-driving module moves the product fixture from the detection point to the transfer point, the loading claw of the transfer module grabs and lifts the detected product from the product fixture and puts it into the product fixture again for detection, after the product fixture is repeatedly put into the product fixture for detection for a set number of times, the loading claw of the transfer module grabs and lifts the detected product from the product fixture and then moves it to the feeding module; In the single-person working mode, the product is placed on the feeding module, the loading claw of the transfer module grabs and lifts the product and then moves it to the product fixture of the detection module, the X-driving module moves the product fixture from the transfer point to the detection point, the camera module sequentially detects the sizes of all products on the product fixture, and after the detection is completed, the X-driving module moves the product fixture from the detection point to the transfer point, the loading claw of the transfer module grabs and lifts the detected product from the product fixture and then moves it to the feeding module; In the normal mode, the product is placed on the feeding module, the loading claw of the transfer module clamps and lifts the product and then moves it to the product fixture of the detection module, the X-drive module moves the product fixture from the transfer point to the detection point, and the camera module sequentially detects the sizes of all products on the product fixture. After the detection is completed, the X-drive module moves the product fixture from the detection point to the transfer point, and the unloading claw of the transfer module clamps and lifts the detected product from the product fixture and then moves it to the discharging module.

[0017] The automated multi-angle product inspection equipment of the present invention is provided with a feeding module, a transfer module, a detection module and a discharging module. The feeding module is used for placing uninspected products for the transfer module to carry; the transfer module comprises a loading clamp, a unloading clamp, a transverse movement and lifting device and a transverse movement servo motor; the transverse movement servo motor is used for driving the transverse movement and lifting device to move between an initial point and a detection point along a first direction. When the transverse movement and lifting device is located at the initial point, the loading clamp is above the feeding module, and the unloading clamp is above the detection module. When the transverse movement and lifting device is located at the detection point, the loading clamp is above the detection module, and the unloading clamp is below the detection module. The material clamp is above the discharging module; the feeding clamp is used to clamp and lift the undetected products from the feeding module and then transport them to the detection module, and the unloading clamp is used to clamp and lift the detected products on the detection module and then transport them to the discharging module; the detection module includes a product fixture, an X-drive module and a camera module; the product fixture is used to place the product, and the product fixture is set on the X-drive module, and the X-drive module is used to drive the product fixture to move between the transfer point and the imaging point along the second direction; the camera module is set in the circumference of the imaging point to detect the size of the product; the discharging module is used to place the detected product for transfer and delivery. The automated multi-angle product inspection equipment realizes automatic detection of product size, thereby reducing labor costs and improving production efficiency. At the same time, it greatly reduces the product material turnover cost, reduces labor cost investment, reduces product wear, can timely discover product size unqualified problems and intervene in production equipment, greatly reduces material waste, and also has a significant effect in increasing the shipment yield. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of an automated multi-angle product inspection device shown in a preferred embodiment of the present invention.

[0019] Figure 2 It is a schematic diagram of another viewing angle of the automated multi-angle product inspection device shown in a preferred embodiment of the present invention.

[0020] Figure 3 It is a schematic diagram of a feed module of an automated multi-angle product inspection device shown in a preferred embodiment of the present invention.

[0021] Figure 4 It is a schematic diagram of a transfer module of an automated multi-angle product inspection device shown in a preferred embodiment of the present invention.

[0022] Figure 5 It is a schematic diagram of a feeding clamp and a feeding clamp product detection sensor of an automated multi-angle product detection device shown in a preferred embodiment of the present invention.

[0023] Figure 6It is a schematic diagram of a detection module of an automated multi-angle product detection device shown in a preferred embodiment of the present invention.

[0024] Figure 7 It is a schematic diagram of another viewing angle of the detection module of the automated multi-angle product detection device shown in a preferred embodiment of the present invention.

[0025] Figure 8 It is a schematic diagram of another viewing angle of the detection module of the automated multi-angle product detection device shown in the preferred embodiment of the present invention.

[0026] Fig. 9 It is a schematic diagram of a correction module and a product fixture in a detection module of an automated multi-angle product detection device shown in a preferred embodiment of the present invention.

[0027] Fig.10 It is a schematic diagram of a discharging module of an automated multi-angle product inspection device shown in a preferred embodiment of the present invention. DETAILED DESCRIPTION

[0028] In order to facilitate the understanding of the present invention, the present invention will be described more fully below with reference to the relevant drawings. The preferred embodiments of the present invention are given in the drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present invention more thoroughly understood.

[0029] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used in the specification of the present invention herein are only for the purpose of describing specific embodiments and are not intended to limit the present invention. In the present invention, "each" includes one and more than two quantities.

[0030] Figure 1 is a schematic diagram of an automated multi-angle product inspection device according to a preferred embodiment of the present invention. Figure 2 This is a schematic diagram of another perspective of the automatic multi-angle product inspection device shown in the preferred embodiment of the present invention. Please refer to Figure 1 and Figure 2 The automated multi-angle product inspection device of a preferred embodiment of the present invention includes a feeding module 1, a transfer module 2, a detection module 3 and a discharging module 4 arranged on an operating table 10.

[0031] The feeding module 1 is used to place uninspected products for transport by the transfer module 2. Specifically, Figure 3 This is a schematic diagram of a feed module of an automated multi-angle product inspection device according to a preferred embodiment of the present invention. Figures 1 to 3The feeding module 1 includes a feeding slide table 13, a feeding cylinder 11 and a feeding product detection photoelectric 12 arranged on the feeding slide table 13. The feeding cylinder 11 can move back and forth along the feeding origin and the feeding moving point of the feeding slide table 13. The feeding moving point is the position where the product is placed manually, and the feeding origin is the position where the transfer module 2 transports the product. The feeding product detection photoelectric 12 is arranged at one end of the feeding origin of the feeding slide table 13; the feeding cylinder 11 is provided with a plurality of first acupoints for placing products, and each first acupoint is used to place a product. The feeding product detection photoelectric 12 is used to detect whether the number of products placed on the feeding cylinder 11 is consistent with the number of the first acupoints. When there is a vacancy in the first acupoint, the automatic multi-angle product detection equipment will beep to remind manual processing of the shortage of materials.

[0032] In the initial state of the automated multi-angle product inspection equipment, the feed cylinder 11 is at the feed moving point, and there is no signal from the product detection photoelectric 42. The feed cylinder 11 of the feed module 1 moves to the feed origin after the product is manually placed, and the product detection photoelectric 12 detects the feed cylinder 11 to ensure that there is no material shortage, so that the product to be inspected can be sent into the automated multi-angle product inspection equipment.

[0033] Figure 4 is a schematic diagram of a transfer module of an automated multi-angle product inspection device according to a preferred embodiment of the present invention, Figure 5 This is a schematic diagram of the feeding clamp and the feeding clamp product detection sensor of the automatic multi-angle product detection equipment shown in the preferred embodiment of the present invention. Please refer to Figure 1 , Figure 2 , Figure 4 and Figure 5 The transfer module 2 includes a loading clamp 21, a discharging clamp 22, a lateral movement and lifting device 25, and a lateral movement servo motor 26. The lateral movement servo motor 26 is used to drive the lateral movement and lifting device 25 to move between the initial point and the detection point along the first direction. When the lateral movement and lifting device 25 is located at the initial point, the loading clamp 21 is above the feeding module 1, and the discharging clamp 22 is above the detection module 3. When the lateral movement and lifting device 25 is located at the detection point, the loading clamp 21 is above the detection module 3, and the discharging clamp 22 is above the discharging module 4; the loading clamp 21 is used to clamp and lift the undetected products from the feeding module 1 and then transport them to the detection module 3, and the discharging clamp 22 is used to clamp and lift the detected products on the detection module 3 and then transport them to the discharging module 4.

[0034] Specifically, a mounting bracket 27 is fixedly provided on the operating platform 10, and the mounting bracket 27 is roughly in the shape of a door frame. A traverse slide rail 271 is provided on the mounting bracket 27, and the traverse and lifting device 25 is movably arranged on the traverse slide rail 271. The traverse servo motor 26 is arranged at one end of the traverse slide rail 271, and the traverse servo motor 26 is transmission-connected to the traverse and lifting device 25.

[0035] Furthermore, the transverse movement and lifting device 25 is provided with a lifting cylinder 251 and a lifting platform 252 arranged at one end of the lifting cylinder 251. The lifting cylinder 251 is used to drive the lifting platform 252 to move in the vertical direction. The length extension direction of the lifting platform 252 is the same as the first direction. The loading clamp 21 and the unloading clamp 22 are respectively arranged at the two ends of the length extension direction of the lifting platform 252.

[0036] The lateral movement and lifting device 25 is also provided with a slide rail structure 253 , and the lifting platform 252 can move up and down along the slide rail structure 253 .

[0037] Furthermore, the transfer module 2 also includes a loading jaw product detection sensor 23 and a unloading jaw product detection sensor 24; the loading jaw product detection sensor 23 is arranged on the loading jaw 21, and the unloading jaw product detection sensor 24 is arranged on the unloading jaw 22. The loading jaw product detection sensor 23 and the unloading jaw product detection sensor 24 are used to detect the products in the transfer process to ensure that there is no shortage of materials in the transfer process, and the sensors can be replaced accordingly according to the different detected products. In this embodiment, the loading jaw 21 has a similar structure to the unloading jaw 22, and the loading jaw product detection sensor 23 is similar to the unloading jaw product detection sensor 24. The structure of the unloading jaw 22 and the unloading jaw product detection sensor 24 can be referred to. Figure 5 The structure of the feeding clamp 21 and the feeding clamp product detection sensor 23.

[0038] Furthermore, the loading clamp 21 can also be used to pick up the inspected product on the inspection module 3 and then transport it to the feeding module 1; when the inspected product needs to be transported to the feeding module 1, the feeding module 1 can also be used to place the inspected product for transfer and delivery. In other words, the automated multi-angle product inspection equipment can set the transport direction of the inspected product as needed. The inspected product can be transported to the feeding module 1 to return to the feeding position, or it can be transported to the discharging module 4 for discharging and transfer to subsequent equipment.

[0039] Furthermore, while the loading clamp 21 grabs and lifts the undetected product from the feeding module 1 to the detection module 3, the unloading clamp 22 grabs and lifts the detected product on the detection module 3 to the discharging module 4. The loading clamp 21 and the unloading clamp 22 carry synchronously, which improves the carrying efficiency.

[0040] Figure 6 is a schematic diagram of a detection module of an automated multi-angle product detection device according to a preferred embodiment of the present invention, Figure 7 is a schematic diagram of another viewing angle of the detection module of the automated multi-angle product detection device shown in a preferred embodiment of the present invention, Figure 8This is a schematic diagram of another perspective of the detection module of the automatic multi-angle product detection device shown in the preferred embodiment of the present invention. Please refer to Figures 6 to 8 The detection module 3 includes a product fixture 32, an X-driving module 33 and a camera module 34; the product fixture 32 is used to place the product, the product fixture 32 is arranged on the X-driving module 33, and the X-driving module 33 is used to drive the product fixture 32 to move between the transfer point and the imaging point along the second direction.

[0041] Specifically, the X drive module 33 is composed of a drive motor, a KK module and a linear guide rail. The KK module is provided with a linear rail slider that matches the linear guide rail. The movement of the X drive module 33 drives the product fixture 32 to move through the linear rail slider of the KK module. The drive motor can move the product fixture 32 to any set position on the X drive module 33.

[0042] The camera module 34 is arranged in the circumference of the imaging point to detect the size of the product.

[0043] In this embodiment, the camera module 34 includes two upper cameras 341 located in the first plane and two first light sources 344 opposite to the two upper cameras 341. The two first light sources 344 are used to provide opposite light sources for the two upper cameras 341. The two upper cameras 341 are fixed on the mounting bracket 27, and the two upper cameras 341 and the traverse and lifting device 25 are respectively arranged on two sides opposite to the mounting bracket 27.

[0044] The camera module 34 also includes a left camera 342, a right camera 343, a second light source 345 opposite to the right camera 343, and a third light source 346 opposite to the left camera 342, which are located in the second plane; wherein the left camera 342 and the right camera 343 are opposite to each other on both sides of the X-driving module 33, the second light source 345 and the third light source 346 are opposite to each other on both sides of the X-driving module 33 and are located between the left camera 342 and the right camera 343, a through hole is provided in the middle of the second light source 345 and the third light source 346, the left camera 342 photographs the product on the product fixture 32 through the through hole on the second light source 345, and the right camera 343 photographs the product on the product fixture 32 through the through hole on the third light source 346.

[0045] There is a spacing distance between the first plane where the two upper cameras 341 are located and the second plane where the left camera 342 and the right camera 343 are located. The spacing distance is, for example, the center distance between two adjacent products placed on the product fixture 32. When the upper camera 341 inspects one of the products, the left camera 342 and the right camera 343 simultaneously inspect the other product.

[0046] In this embodiment, the size of the product includes length and roundness. The two upper cameras 341 are used to detect the length of the product, and the left camera 342 and the right camera 343 are used to detect the roundness of the product. However, this is not limited to this. In other embodiments, corresponding adjustments can be made according to the shape of the product.

[0047] Each camera in the camera module 34 is a surface array camera, such as a CCD industrial camera, which can take pictures of the product from three angles, left, right and top, and perform 2D plane imaging measurement of the product length and roundness through optical analysis. Each camera is provided with a corresponding light source, and there is no other light interference during the photo-taking process, thereby improving the imaging accuracy. Specifically, when the X-drive module 33 drives the product fixture 32 to move to the first detection position of the first product at the imaging point, the second light source 345 and the third light source 346 are turned on in sequence, and the right camera 343 and the left camera 342 are started to take pictures at the same time, and the roundness of the product is measured. After that, when the X-drive module 33 drives the product fixture 32 to move to the second detection position of the first product, the first light source 344 is turned on and the upper camera 341 is started to take pictures, and the length of the product is measured. After the camera has detected all the products in sequence, the X-drive module 33 drives the product fixture 32 to move to the transfer point, waiting for the transfer module 2 to clamp it.

[0048] Furthermore, the detection module 3 also includes a correction module 31 . Fig. 9 FIG. 1 is a schematic diagram of a correction module and a product fixture in a detection module of an automated multi-angle product detection device according to a preferred embodiment of the present invention. Fig. 9 The correction module 31 includes a product head correction module 311 and a product tail correction module 312; the product head correction module 311 is used to push the product head to a fixed position, and the product tail correction module 312 is used to push the product tail to a fixed position. When the loading clamp 21 places the product on the product fixture 32, the product fixture 32 itself has a certain positioning function, and cooperates with the product head correction module 311 and the product tail correction module 312 to limit the positions of multiple products on the product fixture 32 within the imaging range of the camera.

[0049] The discharging module 4 is used to place the inspected products for transfer and delivery.

[0050] Fig.10 This is a schematic diagram of a discharge module of an automated multi-angle product inspection device according to a preferred embodiment of the present invention. Figure 1 , Figure 2 and Fig.10The discharging module 4 includes a discharging sliding platform 43, a discharging cylinder 41 and a discharging product detection photoelectric 42 arranged on the discharging sliding platform 43. The discharging cylinder 41 can move back and forth along the discharging origin and the discharging moving point of the discharging sliding platform 43. The discharging product detection photoelectric 42 is arranged at one end of the discharging origin of the discharging sliding platform 43. The discharging cylinder 41 is provided with a plurality of second acupoints for placing products. The discharging product detection photoelectric 42 is used to detect whether the number of products placed on the discharging cylinder 41 is consistent with the number of the second acupoints.

[0051] In the initial state of the automated multi-angle product inspection equipment, the discharge cylinder 41 is at the discharge origin, and there is no signal from the product inspection photoelectric 42. After the discharge cylinder 41 of the discharge module 4 places the inspected product in the transfer module 2, the discharge product inspection photoelectric 42 inspects the discharge cylinder 41 to ensure that there is no shortage of material, so as to transfer the inspected product on the discharge cylinder 41 for subsequent equipment use.

[0052] In this embodiment, when the traverse and lifting device 25 is located at the initial point, the loading clamp 21 is above the feeding origin of the feeding slide table 13, and the unloading clamp 22 is above the transfer point of the X-drive module 33 of the detection module 3. When the traverse and lifting device 25 is located at the detection point, the loading clamp 21 is above the transfer point of the X-drive module 33 of the detection module 3, and the unloading clamp 22 is above the unloading origin of the unloading slide table 43. Among them, the length extension direction of the feeding slide table 13 and the unloading slide table 43 is consistent with the second direction. In the automated multi-angle product detection equipment, the feeding module 1, the transfer module 2, the detection module 3 and the unloading module 4 are arranged more concentratedly, and the operating table 10 has a small area, which is convenient for manual placement of products, and also reduces the use area of ​​the entire equipment.

[0053] The automatic multi-angle product inspection device of the present invention realizes automatic inspection of product size by setting a feeding module 1, a transfer module 2, a detection module 3 and a discharging module 4, thereby reducing labor costs and improving production efficiency. At the same time, it greatly reduces product material turnover costs, reduces labor cost investment, reduces product wear, can timely discover product size unqualified problems and intervene in production equipment, greatly reduces material waste, and also has a significant effect in increasing shipment yield.

[0054] The present invention also relates to an automated multi-angle product detection method, which uses the above-mentioned automated multi-angle product detection equipment for detection. The automated multi-angle product detection method includes static GRR inspection, dynamic GRR inspection, single-person working mode and normal mode.

[0055] During static GRR inspection, the product is placed on the feeding module 1, the loading claw 21 of the transfer module 2 clamps and lifts the product and then transports it to the product fixture 32 of the detection module 3, the X-drive module 33 moves the product fixture 32 from the transfer point to the detection point, the camera module 34 detects the dimensions of all products on the product fixture 32 in turn, and performs a set number of cyclic inspections. After the cyclic inspection is completed, the X-drive module 33 moves the product fixture 32 from the detection point to the transfer point, the loading claw 21 of the transfer module 2 clamps and lifts the inspected product from the product fixture 32 and then transports it to the feeding module 1.

[0056] Specifically, the product is manually placed in the feeding module 1, and both hands are pressed to start, the feeding cylinder 11 moves to the feeding origin, and notifies the transfer module 2 to act. The lifting platform 252 of the transfer module 2 descends, and after the feeding clamp 21 clamps the product, the lifting platform 252 is lifted, and the transfer transverse servo motor 26 drives the transverse movement and lifting device 25 to move to the detection point, the lifting platform 252 descends, the feeding clamp 21 is released, and the product is placed on the product fixture 32 at the transfer point position of the detection module 3, and the lifting platform 252 is lifted. The correction module 31 in the detection module 3 corrects the position of the placed product, and then the X-driving module 33 drives the product fixture 32 to move to the imaging point. The camera module 34 turns on the second light source 345, the third light source 346, and the first light source 343 in turn to start the corresponding left camera 342, the right camera 343, and the upper camera 341 to take pictures, and measure the roundness and length of the product. After the camera detects all products, the detection module 3 loops to detect the set number of times, until the set number of times is completed, the X-driving module 33 drives the product fixture 32 to move to the transfer point, waiting for the transfer module 2 to clamp it. The transfer module 2 waits for the detection module 3 to complete the work, the lifting platform 252 descends, and after the feeding clamp 21 clamps the inspected product, the lifting platform 252 is lifted, and the transfer transverse servo motor 26 drives the transverse movement and lifting device 25 to move to the initial point, the lifting platform 252 descends, the feeding clamp 21 is released, and the inspected product is placed on the feeding cylinder 11 of the feeding module 1, and the lifting platform 252 is lifted. After the feeding module 1 and the transfer module 2 place the inspected products into the feeding cylinder 11, the feeding cylinder 11 returns to the feeding moving point and can place the second round of inspected products.

[0057] During dynamic GRR detection, the product is placed on the feeding module 1, the loading claw 21 of the transfer module 2 clamps and lifts the product and then transports it to the product fixture 32 of the detection module 3, the X-driving module 33 moves the product fixture 32 from the transfer point to the detection point, and the camera module 34 sequentially detects the sizes of all products on the product fixture 32. After the detection of the detection module 3 is completed, the X-driving module 33 moves the product fixture 32 from the detection point to the transfer point, the loading claw 21 of the transfer module 2 clamps and lifts the inspected product from the product fixture 32 and puts it into the product fixture 32 again for detection, and after the product fixture 32 is repeatedly placed in the product fixture 32 for detection for a set number of times, the loading claw 21 of the transfer module 2 clamps and lifts the inspected product from the product fixture 32 and then transports it to the feeding module 1; Specifically, the product is manually placed on the feeding module 1, and both hands are pressed to start, the feeding cylinder 11 moves to the feeding origin, and notifies the transfer module 2 to act. The lifting platform 252 of the transfer module 2 descends, and after the feeding clamp 21 clamps the product, the lifting platform 252 is lifted, and the transfer transverse servo motor 26 drives the transverse movement and lifting device 25 to move to the detection point, the lifting platform 252 descends, the feeding clamp 21 is released, and the product is placed on the product fixture 32 of the detection module 3, and the lifting platform 252 is lifted. The correction module 31 in the detection module 3 corrects the position of the placed product, and then the X-driving module 33 drives the product fixture 32 to move to the imaging point. The camera module 34 turns on the second light source 345, the third light source 346, and the first light source 343 in turn to start the corresponding left camera 342, the right camera 343, and the upper camera 341 to take pictures, and measure the roundness and length of the product. After the camera has detected all the products, the X-driving module 33 drives the product fixture 32 to move to the rotation point and wait for the transfer module 2 to clamp it. The transfer module 2 waits for the detection module 3 to complete its work once, the lifting platform 252 descends, and after the feeding clamp 21 clamps the inspected product, the lifting platform 252 is lifted, and the lifting platform 252 descends again, the feeding clamp 21 is released, and the inspected product is placed on the product fixture 32 of the detection module 3 again, and the lifting platform 252 is lifted. The detection module 3 and the transfer module 2 cycle the detection for the set number of times according to the above two steps until the set number of times is completed. After the set number of times is completed, the transfer module 2 waits for the inspection module 3 to complete its work, the lifting platform 252 descends, and after the loading clamp 21 clamps the inspected product, the lifting platform 252 is lifted, and the transfer transverse servo motor 26 drives the transverse movement and lifting device 25 to move to the initial point, the lifting platform 252 descends, releases the loading clamp 21, and places the inspected product on the feeding cylinder 11 of the feeding module 1, and the lifting platform 252 is lifted. After the transfer module 2 places the inspected product on the feeding cylinder 11, the feeding cylinder 11 returns to the feeding moving point, and the second round of inspection products can be placed.

[0058] In single-person working mode, the product is placed in the feeding module 1, the loading claw 21 of the transfer module 2 grabs and lifts the product and then moves it to the product fixture 32 of the detection module 3, the X-driving module 33 moves the product fixture 32 from the transfer point to the detection point, and the camera module 34 sequentially detects the sizes of all products on the product fixture 32. After the detection is completed, the X-driving module 33 moves the product fixture 32 from the detection point to the transfer point, and the loading claw 21 of the transfer module 2 grabs and lifts the detected product from the product fixture 32 and then moves it to the feeding module 1; Specifically, the product is manually placed in the feeding module 1, and both hands are pressed to start, the feeding cylinder 11 moves to the feeding origin, and notifies the transfer module 2 to act. The lifting platform 252 of the transfer module 2 descends, and after the feeding clamp 21 clamps the product, the lifting platform 252 is lifted, and the transfer transverse servo motor 26 drives the transverse movement and lifting device 25 to move to the detection point, the lifting platform 252 descends, the feeding clamp 21 is released, and the product is placed on the product fixture 32 at the transfer point position of the detection module 3, and the lifting platform 252 is lifted. The correction module 31 in the detection module 3 corrects the position of the placed product, and then the X-driving module 33 drives the product fixture 32 to move to the imaging point. The camera module 34 turns on the second light source 345, the third light source 346, and the first light source 343 in turn to start the corresponding left camera 342, the right camera 343, and the upper camera 341 to take pictures, and measure the roundness and length of the product. After the camera has detected all the products, the X-driving module 33 drives the product fixture 32 to move to the transfer point, waiting for the transfer module 2 to clamp it. The transfer module 2 waits for the detection module 3 to complete the work, the lifting platform 252 descends, and after the feeding clamp 21 clamps the inspected product, the lifting platform 252 is lifted, and the transfer transverse servo motor 26 drives the transverse movement and lifting device 25 to move to the initial point, the lifting platform 252 descends, the feeding clamp 21 is released, and the inspected product is placed on the feeding cylinder 11 of the feeding module 1, and the lifting platform 252 is lifted. After the feeding module 1 and the transfer module 2 place the inspected products into the feeding cylinder 11, the feeding cylinder 11 returns to the feeding moving point and can place the second round of inspected products.

[0059] In normal mode, the product is placed on the feeding module 1, the loading clamp 21 of the transferring module 2 clamps and lifts the product and then moves it to the product fixture 32 of the detection module 3, the X-drive module 33 moves the product fixture 32 from the transfer point to the detection point, and the camera module 34 sequentially detects the dimensions of all products on the product fixture 32. After the detection is completed, the X-drive module 33 moves the product fixture 32 from the detection point to the transfer point, and the unloading clamp 22 of the transferring module 2 clamps and lifts the detected product from the product fixture 32 and then moves it to the discharging module 4.

[0060] Specifically, the product is placed manually on the feeding module 1, and both hands are pressed to start, the feeding cylinder 11 moves to the feeding origin, and notifies the transfer module 2 to act. The lifting platform 252 of the transfer module 2 descends, and after the loading clamp 21 clamps the product, the lifting platform 252 is lifted up, and the transfer transverse servo motor 26 drives the transverse movement and lifting device 25 to move to the detection point, the lifting platform 252 descends, releases the loading clamp 21, and places the product on the product fixture 32 at the transfer point of the detection module 3. The lifting platform 252 is lifted up, and the transfer transverse servo motor 26 drives the transverse movement and lifting device 25 to move to the initial point, waiting for the feeding module 1 and the detection module 3 to complete their work. After the feeding module 1 waits for the transfer module 2 to take the product to be inspected, the feeding cylinder 11 returns to the feeding moving point, and the second round of inspection products can be placed. The correction module 31 in the detection module 3 corrects the position of the placed products, and then the X-driving module 33 drives the product fixture 32 to move to the imaging point. The camera module 34 turns on the second light source 345, the third light source 346, and the first light source 343 in turn to start the corresponding left camera 342, the right camera 343 and the upper camera 341 to take pictures, and measure the roundness and length of the products. After the camera has detected all the products, the X-driving module 33 drives the product fixture 32 to move to the transfer point, waiting to be clamped by the transfer module 2. The transfer module 2 waits for the feeding module 1 and the detection module 3 to complete their work, the lifting platform 252 descends, the loading clamp 21 clamps the product to be inspected on the feeding module 1, and the unloading clamp 22 clamps the inspected product on the product fixture 32 of the detection module 3. Then the lifting platform 252 is lifted, and the transfer transverse shift servo motor 26 drives the transverse shift and lifting device 25 to move to the detection point. The lifting platform 252 descends, releases the loading clamp 21, and places the product to be inspected on the detection module 3. Releases the unloading clamp 22 and places the inspected product on the discharge module 4. The lifting platform 252 is lifted, and the transfer transverse shift servo motor 26 drives the transverse shift and lifting device 25 to move to the initial point, waiting for the feeding module 1 and the detection module 3 to complete their work.

[0061] The transfer module 3 places the product on the discharge cylinder 41 of the discharge module 4, and the discharge product detection photoelectric 42 of the discharge module 4 detects whether there is a shortage of material, and the discharge cylinder 41 moves to the discharge moving point to transfer the product for subsequent equipment to use. Wait until the subsequent equipment has finished taking the material, and the discharge cylinder returns to the discharge origin.

[0062] The automated multi-angle product detection method of the present invention can improve the stability of equipment testing and is easy to operate.

[0063] The above-mentioned embodiments only express the preferred implementation of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the invention patent. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be based on the attached claims.

Claims

1. An automated multi-angle product inspection device, comprising a feeding module (1), a transfer module (2), a detection module (3) and a discharging module (4) arranged on an operating table (10), characterized in that: The feeding module (1) is used to place uninspected products for the transfer module (2) to carry; The transfer module (2) comprises a loading clamp (21), a unloading clamp (22), a transverse movement and lifting device (25) and a transverse movement servo motor (26); the transverse movement servo motor (26) is used to drive the transverse movement and lifting device (25) to move between an initial point and a detection point along a first direction, and when the transverse movement and lifting device (25) is located at the initial point, the loading clamp (21) is above the feeding module (1), and the unloading clamp (22) is above the detection module (3). When the transverse movement and lifting device (25) is located at the detection point, the loading clamp (21) is above the detection module (3), and the unloading clamp (22) is above the discharge module (4); the loading clamp (21) is used to clamp and lift the undetected product from the feeding module (1) and then transport it to the detection module (3), and the unloading clamp (22) is used to clamp and lift the detected product on the detection module (3) and then transport it to the discharge module (4); The detection module (3) comprises a product fixture (32), an X-drive module (33) and a camera module (34); the product fixture (32) is used to place a product, the product fixture (32) is arranged on the X-drive module (33), and the X-drive module (33) is used to drive the product fixture (32) to move between a transfer point and an imaging point along a second direction; the camera module (34) is arranged in the circumference of the imaging point and is used to detect the size of the product; The discharging module (4) is used to place the inspected products for transfer and delivery.

2. The automated multi-angle product inspection equipment according to claim 1, characterized in that: The loading clamp (21) is also used to clamp and lift the inspected product on the inspection module (3) and then transport it to the feeding module (1); the feeding module (1) is also used to place the inspected product for transfer and delivery.

3. The automated multi-angle product inspection equipment according to claim 2, characterized in that: While the loading clamp (21) clamps and lifts uninspected products from the feeding module (1) and transports them to the inspection module (3), the unloading clamp (22) clamps and lifts the inspected products on the inspection module (3) and transports them to the discharging module (4).

4. The automated multi-angle product inspection equipment according to claim 2, characterized in that: The transverse movement and lifting device (25) is provided with a lifting cylinder (251) and a lifting platform (252) arranged at one end of the lifting cylinder (251); the lifting cylinder (251) is used to drive the lifting platform (252) to move in a vertical direction; the length extension direction of the lifting platform (252) is the same as the first direction; the loading clamp (21) and the unloading clamp (22) are respectively arranged at two ends of the length extension direction of the lifting platform (252).

5. The automated multi-angle product inspection equipment according to claim 2, characterized in that: The transfer module (2) further comprises a loading clamp product detection sensor (23) and a unloading clamp product detection sensor (24); the loading clamp product detection sensor (23) is arranged on the loading clamp (21), and the unloading clamp product detection sensor (24) is arranged on the unloading clamp (22).

6. The automated multi-angle product inspection device according to claim 2, characterized in that: The camera module (34) comprises two upper cameras (341) located in a first plane and two first light sources (344) opposite to the two upper cameras (341).

7. The automated multi-angle product inspection device according to claim 6, characterized in that: The camera module (34) further comprises a left camera (342), a right camera (343), a second light source (345) opposite to the right camera (343), and a third light source (346) opposite to the left camera (342) located in a second plane, and the first plane is spaced apart from the second plane by a distance.

8. The automated multi-angle product inspection device according to claim 7, characterized in that: The dimensions of the product include length and roundness. The two upper cameras (341) are used to detect the length of the product, and the left camera (342) and the right camera (343) are used to detect the roundness of the product.

9. The automated multi-angle product inspection device according to claim 2, characterized in that: The detection module (3) further comprises a correction module (31), the correction module (31) comprising a product head correction module (311) and a product tail correction module (312); the product head correction module (311) is used to push the head of the product to a fixed position, and the product tail correction module (312) is used to push the tail of the product to a fixed position.

10. The automated multi-angle product inspection device according to claim 2, characterized in that: The feeding module (1) comprises a feeding slide table (13), a feeding cylinder (11) and a feeding product detection photoelectric device (12) arranged on the feeding slide table (13); the feeding cylinder (11) can move back and forth between a feeding origin and a feeding moving point along the feeding slide table (13); the feeding product detection photoelectric device (12) is arranged at one end of the feeding origin of the feeding slide table (13); the feeding cylinder (11) is provided with a plurality of first acupoints for placing products; the feeding product detection photoelectric device (12) is used to detect whether the number of products placed on the feeding cylinder (11) is consistent with the number of the first acupoints; The discharging module (4) comprises a discharging sliding platform (43), a discharging cylinder (41) and a discharging product detection photoelectric device (42) arranged on the discharging sliding platform (43); the discharging cylinder (41) can move back and forth between a discharging origin and a discharging moving point along the discharging sliding platform (43); the discharging product detection photoelectric device (42) is arranged at one end of the discharging origin of the discharging sliding platform (43); the discharging cylinder (41) is provided with a plurality of second acupuncture points for placing products; the discharging product detection photoelectric device (42) is used to detect whether the number of products placed on the discharging cylinder (41) is consistent with the number of the second acupuncture points; When the transverse movement and lifting device (25) is located at the initial point, the loading clamp (21) is above the feeding origin of the feeding slide table (13), and the unloading clamp (22) is above the transfer point of the X-drive module (33) of the detection module (3); when the transverse movement and lifting device (25) is located at the detection point, the loading clamp (21) is above the transfer point of the X-drive module (33) of the detection module (3), and the unloading clamp (22) is above the discharge origin of the discharge slide table (43).

11. An automated multi-angle product detection method, characterized in that: The automated multi-angle product inspection device according to any one of claims 2 to 10 is used for inspection, wherein the automated multi-angle product inspection method includes static GRR inspection, dynamic GRR inspection, single-person working mode and normal mode; During the static GRR inspection, the product is placed on the feeding module (1), the loading claw (21) of the transfer module (2) grabs and lifts the product and then moves it to the product fixture (32) of the detection module (3), the X-drive module (33) moves the product fixture (32) from the transfer point to the detection point, the camera module (34) sequentially detects the dimensions of all products on the product fixture (32), and performs a set number of cyclic detections. After the cyclic detection is completed, the X-drive module (33) moves the product fixture (32) from the detection point to the transfer point, the loading claw (21) of the transfer module (2) grabs and lifts the detected product from the product fixture (32) and then moves it to the feeding module (1); During the dynamic GRR inspection, the product is placed on the feeding module (1), the loading claw (21) of the transfer module (2) picks up the product and then moves it to the product fixture (32) of the inspection module (3), the X-drive module (33) moves the product fixture (32) from the transfer point to the inspection point, the camera module (34) sequentially inspects the dimensions of all products on the product fixture (32), and after the inspection module (3) completes the inspection, the X-drive module (33) the product fixture (32) is moved from the inspection point to the transfer point, the loading claw (21) of the transfer module (2) grabs and lifts the inspected product from the product fixture (32) and puts it back into the product fixture (32) for inspection, and after the product fixture (32) is repeatedly put back into the product fixture (32) for inspection a set number of times, the loading claw (21) of the transfer module (2) grabs and lifts the inspected product from the product fixture (32) and transports it to the feeding module (1); In the single-person working mode, a product is placed on the feeding module (1), the loading claw (21) of the transfer module (2) grabs and lifts the product and then moves it to the product fixture (32) of the detection module (3), the X-drive module (33) moves the product fixture (32) from the transfer point to the detection point, the camera module (34) sequentially detects the dimensions of all products on the product fixture (32), and after the detection is completed, the X-drive module (33) moves the product fixture (32) from the detection point to the transfer point, the loading claw (21) of the transfer module (2) grabs and lifts the detected product from the product fixture (32) and then moves it to the feeding module (1); In the normal mode, a product is placed on the feeding module (1), the loading clamp (21) of the transfer module (2) clamps and lifts the product and then moves it to the product fixture (32) of the detection module (3), the X-drive module (33) moves the product fixture (32) from the transfer point to the detection point, the camera module (34) sequentially detects the dimensions of all products on the product fixture (32), and after the detection is completed, the X-drive module (33) moves the product fixture (32) from the detection point to the transfer point, the unloading clamp (22) of the transfer module (2) clamps and lifts the detected product from the product fixture (32) and then moves it to the unloading module (4).

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