Magnetron appearance detection machine and working method thereof

Abstract

The invention relates to the technical field of magnetron production, and discloses a magnetron appearance detection machine and a working method thereof, and the magnetron appearance detection machine comprises a first conveying line which is provided with a first feeding position and a discharging position; the second conveying line is provided with a second feeding position; the machine table is provided with a first station, a second station, a third station, a fourth station, a fifth station and a sixth station; a first camera shooting assembly is arranged on one side, in the third direction, of the first station; the two sides of the second station in the first direction are each provided with two second camera assemblies. A third camera shooting assembly is arranged on one side of the second direction of the third station; a fourth camera shooting assembly is arranged on one side of the second direction of the fourth station; a fifth camera shooting assembly is arranged on the side, away from the machine table in the third direction, of the fourth station. The first material moving assembly, the second material moving assembly, the third material moving assembly and the fourth material moving assembly are used for carrying products. According to the magnetron appearance detection machine provided by the invention, missing detection is avoided, and the product yield is improved.

Description

Technical Field

[0001] The invention relates to the technical field of magnetron production, and in particular to a magnetron appearance inspection machine and a working method thereof. Background Art

[0002] A magnetron is an electric vacuum device used to generate microwaves and is commonly used in microwave ovens. During the magnetron production process, dozens of defects may occur, including capacitor damage, heat sink deformation, base plate scratches, gasket fall-off, antenna cap fall-off, shielding box deformation, etc.

[0003] At present, the appearance inspection of magnetrons is done by picking up the magnetrons from the production line with both hands and then inspecting them manually. Manual visual inspection has the following disadvantages: the training cycle is long, and manual inspection requires a lot of product training before it can accurately detect various defects; manual inspection is prone to visual fatigue, resulting in missed inspections and causing products to flow to the market; manual inspection is prone to missing minor defects; and the labor cost is relatively high. Summary of the invention

[0004] In view of this, the present invention provides a magnetron appearance inspection machine and a working method thereof, so as to solve the problem that the current magnetron product yield is low due to manual visual inspection.

[0005] In a first aspect, the present invention provides a magnetron appearance inspection machine having a first direction, a second direction and a third direction intersecting in pairs, including:

[0006] A first conveying line having a first loading position and a unloading position, the first conveying line being used to convey the product along a first direction;

[0007] A second conveying line has a second loading position, and the second conveying line is used to convey the product along a second direction;

[0008] The machine is arranged on the second direction side of the first conveyor line; the machine has a first station, a second station, a third station, a fourth station, a fifth station and a sixth station; a first camera assembly is arranged on the side of the first station along the third direction facing the machine; two second camera assemblies are arranged on both sides of the first direction of the second station respectively; a third camera assembly is arranged on the side of the second direction of the third station; a fourth camera assembly is arranged on the side of the second direction of the fourth station, and the fourth camera assembly and the third camera assembly are arranged in a staggered alignment along the second direction; a fifth camera assembly is arranged on the side of the fourth station along the third direction away from the machine;

[0009] A first material transfer assembly is used to transfer the product from the first loading station to the first station, and / or to transfer the product from the first station to the second station, and / or to transfer the product from the second station to the third station;

[0010] A second material moving assembly is arranged opposite to the first conveyor line along the second direction; the second material moving assembly is used to move the product from the third station to the fourth station, and / or to move the product from the fourth station to the fifth station;

[0011] A third material moving assembly is arranged opposite to the first material moving assembly along the first direction; the third material moving assembly is used to move the product from the fifth station to the sixth station, and / or to move the product from the sixth station to the unloading station;

[0012] The fourth material moving assembly is arranged between the sixth station and the unloading station; the fourth material moving assembly is used to move the product from the sixth station to the second loading station.

[0013] Beneficial effects: With the magnetron appearance inspection machine provided by the present invention, when the product reaches the first loading position, the first material moving component can realize parallel grabbing of two products, and while one of the products is moved from the first station to the second station for photographing and quality inspection, the other product can also be moved from the second station to the third station for photographing and quality inspection, thereby shortening the cycle time; the second material moving component can realize parallel grabbing of two products, and while one of the products is moved from the third station to the fourth station for photographing and quality inspection, the other product can also be moved from the fourth station to the fifth station for preparation for unloading, thereby shortening the cycle time; when the detection shows that it is unqualified, the fourth material moving component moves the product from the sixth station to the second loading position; when the detection shows that it is qualified, the third material moving component moves the product from the sixth station to the unloading position; after the product is transported through the first station, the second station, the third station and the fourth station, all-round automatic inspection of six sides can be completed, without the need for manual visual inspection and manual handling of loading and unloading, thus avoiding missed inspections, improving the detection precision, and improving the product yield.

[0014] In an optional embodiment, the first material transfer assembly includes a first transfer frame and a first manipulator and a second manipulator moving along the first transfer frame; the first transfer frame crosses the first loading position, the first work station, the second work station and the third work station along the second direction;

[0015] The first manipulator is used to transport the product from the first loading station to the first workstation, and the second manipulator is used to transport the product from the first workstation to the second workstation;

[0016] And / or, the first robot is used to transfer the product from the first workstation to the second workstation, and the second robot is used to transfer the product from the second workstation to the third workstation.

[0017] Beneficial effect: The first material transfer component is configured with a first manipulator and a second manipulator to carry two products in parallel, thereby shortening the cycle and improving the detection efficiency.

[0018] In an optional embodiment, the second material transfer assembly includes a second transfer frame and a third manipulator and a fourth manipulator moving along the second transfer frame; the second transfer frame spans the third station, the fourth station and the fifth station along the first direction;

[0019] The third robot is used to transfer the product from the third station to the fourth station, and the fourth robot is used to transfer the product from the fourth station to the fifth station.

[0020] Beneficial effect: The second material transfer component is equipped with a third manipulator and a fourth manipulator to carry two products in parallel, thereby shortening the cycle and improving the detection efficiency.

[0021] In an optional embodiment, the third material transfer assembly includes a third transfer frame and a fifth manipulator and a sixth manipulator moving along the third transfer frame; the third transfer frame spans the fifth station, the sixth station and the unloading station along the second direction;

[0022] The fifth manipulator is used to transfer the product from the fifth station to the sixth station, and the sixth manipulator is used to transfer the product from the sixth station to the unloading station.

[0023] Beneficial effect: The third material transfer component is equipped with a fifth manipulator and a sixth manipulator to carry two products in parallel, thereby shortening the cycle and improving the detection efficiency.

[0024] In an optional embodiment, the fourth material transfer assembly includes a fourth transfer frame and a seventh manipulator moving along the fourth transfer frame, and the fourth transfer frame crosses the sixth workstation and the second loading position along the first direction;

[0025] The seventh robot is used to transfer the product from the sixth workstation to the second loading position.

[0026] Beneficial effect: When the product fails the inspection, the seventh robot moves the product from the sixth station to the second loading position, thereby automatically removing the unqualified product.

[0027] In an optional embodiment, the magnetron appearance inspection machine also includes a first adjustment mechanism, which includes a first bracket and a first cylinder. The first bracket is fixedly arranged on one side of the third direction of the machine platform, one end of the first direction of the first cylinder is connected to the first bracket, and the other end is connected to the second camera assembly. The first cylinder is used to drive the second camera assembly to move along the first direction.

[0028] Beneficial effect: When the second camera assembly is photographing the heat sink surface of the product, the first cylinder drives the second camera assembly to move along the first direction X, thereby adjusting the working distance between the second camera assembly and the heat sink surface, ensuring that the pictures taken at different positions of the product are clearer.

[0029] In an optional embodiment, the magnetron appearance inspection machine further includes a second adjustment mechanism, the second adjustment mechanism includes a second bracket and a second cylinder, the second bracket is fixedly arranged on one side of the third direction of the machine platform, one end of the second cylinder in the third direction is connected to the second bracket, and the other end is connected to the third camera assembly, and the second cylinder is used to drive the third camera assembly to move along the third direction;

[0030] The magnetron appearance inspection machine also includes a third adjustment mechanism, which includes a third bracket and a third cylinder. The third bracket is fixedly arranged on one side of the third direction of the machine platform. One end of the third cylinder in the third direction is connected to the third bracket, and the other end is connected to the fourth camera assembly. The third cylinder is used to drive the fourth camera assembly to move along the third direction.

[0031] Beneficial effects: When the product is transported to the third station, during the process of the third camera assembly photographing the first side surface and the first gasket of the product, the third camera assembly is driven by the second cylinder to move along the third direction Z, thereby adjusting the height of the third camera assembly, ensuring that the third camera assembly can take pictures of the product at different positions, and ensuring that the pictures taken are clearer; when the product is transported to the fourth station, during the process of the fourth camera assembly photographing the second side surface and the second gasket of the product, the fourth camera assembly is driven by the third cylinder to move along the third direction Z, thereby adjusting the height of the fourth camera assembly, ensuring that the fourth camera assembly can take pictures of the product at different positions, and ensuring that the pictures taken are clearer.

[0032] In an optional embodiment, the second adjustment mechanism further includes a fourth cylinder, which is disposed between the second cylinder and the third camera assembly, one end of the fourth cylinder in the second direction is connected to the second cylinder, and the other end is connected to the third camera assembly, and the fourth cylinder is used to drive the third camera assembly to move along the second direction;

[0033] The third adjustment mechanism also includes a fifth cylinder, which is arranged between the third cylinder and the fourth camera assembly. One end of the fifth cylinder in the second direction is connected to the third cylinder, and the other end is connected to the fourth camera assembly. The fifth cylinder is used to drive the fourth camera assembly to move along the second direction.

[0034] Beneficial effect: The third camera assembly is driven by the fourth cylinder to move along the second direction Y, so that the distance between the third camera assembly and the product along the second direction Y is fine-tuned to ensure that the captured pictures are clearer; the fourth camera assembly is driven by the fifth cylinder to move along the second direction Y, so that the distance between the fourth camera assembly and the product along the second direction Y is fine-tuned to ensure that the captured pictures are clearer.

[0035] In a second aspect, the present invention further provides a working method of the magnetron appearance inspection machine as described above, comprising:

[0036] The first conveying line conveys the product to the first loading position;

[0037] The first material moving component transports the product to the first station, and the first camera component obtains the bottom image information of the product; the first material moving component transports the product to the second station, and the second camera component obtains the heat sink surface image information of the product; the first material moving component transports the product to the third station, and the third camera component obtains the first side image information and the first gasket image information of the product;

[0038] The second material moving assembly moves the product to the fourth station, the fourth camera assembly obtains the second side image information and the second gasket image information of the product, and the fifth camera assembly obtains the top surface image information of the product;

[0039] The second material transfer assembly transfers the product to the fifth station; the third material transfer assembly transfers the product to the sixth station;

[0040] When the product is qualified in the visual inspection, the third material moving component transports the product to the unloading position; when the product is unqualified in the visual inspection, the fourth material moving component transports the product to the second loading position.

[0041] Beneficial effects: The working method of the magnetron appearance inspection machine provided by the present invention can realize parallel grasping of two products and simultaneous inspection of two products at two different stations, thereby shortening the cycle time; after the product is transported through the first station, the second station, the third station and the fourth station, all-round automatic inspection of six sides can be completed, without the need for manual visual inspection and manual loading and unloading, thus avoiding missed inspections, improving the detection precision, and improving the product yield.

[0042] In an optional embodiment, when the first material moving assembly transports the product to the second station, the first cylinder drives the second camera assembly to move and adjust along the first direction;

[0043] When the first material moving assembly transports the product to the third station, the second cylinder drives the third camera assembly to move and adjust along the third direction;

[0044] When the second material moving assembly transports the product to the fourth station, the third cylinder drives the fourth camera assembly to move and adjust along the third direction.

[0045] Beneficial effect: Ensure that pictures of the product in different positions are taken and ensure that the pictures taken are clearer. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0047] Figure 1 A top view of a magnetron appearance inspection machine according to an embodiment of the present invention;

[0048] Figure 2 for Figure 1 A top view of the central magnetron appearance inspection machine after hiding the first material moving assembly and the third material moving assembly;

[0049] Figure 3 A three-dimensional diagram of the arrangement of a camera assembly on a machine platform of a magnetron appearance inspection machine according to an embodiment of the present invention;

[0050] Figure 4 This is a working principle diagram of a first material moving assembly of a magnetron appearance inspection machine according to an embodiment of the present invention;

[0051] Figure 5 This is a working principle diagram of a second material moving assembly of a magnetron appearance inspection machine according to an embodiment of the present invention;

[0052] Figure 6 This is a working principle diagram of a third material moving assembly of a magnetron appearance inspection machine according to an embodiment of the present invention;

[0053] Figure 7 This is a working principle diagram of a fourth material moving assembly of a magnetron appearance inspection machine according to an embodiment of the present invention;

[0054] Figure 8 A working principle diagram of a first adjustment mechanism of a magnetron appearance inspection machine according to an embodiment of the present invention;

[0055] Fig. 9 A working principle diagram of a second adjustment mechanism of a magnetron appearance inspection machine according to an embodiment of the present invention;

[0056] Fig.10 A working principle diagram of a third adjustment mechanism of a magnetron appearance inspection machine according to an embodiment of the present invention;

[0057] Fig.11 This is a numbered diagram of the photo taking points for the products to be inspected.

[0058] Description of reference numerals:

[0059] 10. First conveying line; 101. First loading position; 102. Unloading position;

[0060] 20. Second conveying line; 201. Second loading position;

[0061] 30, machine; 301, first station; 302, second station; 303, third station; 304, fourth station; 305, fifth station; 306, sixth station;

[0062] 41. First camera assembly; 42. Second camera assembly; 43. Third camera assembly; 44. Fourth camera assembly; 45. Fifth camera assembly;

[0063] 51. first material transfer assembly; 511. first transplanting rack; 512. first manipulator; 513. second manipulator;

[0064] 52, second material transfer assembly; 521, second transplanting rack; 522, third manipulator; 523, fourth manipulator;

[0065] 53. The third material transfer assembly; 531. The third transplanting rack; 532. The fifth manipulator; 533. The sixth manipulator;

[0066] 54. fourth material transfer assembly; 541. fourth transplanting rack; 542. seventh manipulator;

[0067] 61. first adjusting mechanism; 611. first bracket; 612. first cylinder;

[0068] 62, second adjustment mechanism; 621, second bracket; 622, second cylinder; 623, fourth cylinder;

[0069] 63. third adjustment mechanism; 631. third bracket; 632. third cylinder; 633. fifth cylinder;

[0070] 70, product; 701, bottom surface; 702, heat sink surface; 703, first side surface; 704, first gasket; 705, second side surface; 706, second gasket; 707, top surface;

[0071] X—first direction; Y—second direction; Z—third direction. DETAILED DESCRIPTION

[0072] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0073] Combine the following Figures 1 to 11, describing an embodiment of the present invention.

[0074] According to an embodiment of the present invention, on the one hand, a magnetron appearance inspection machine is provided, having a first direction X, a second direction Y and a third direction Z intersecting in pairs, including:

[0075] First conveyor line 10, see Figure 1 and Figure 2 As shown, there is a first loading position 101 and a unloading position 102, and the first conveying line 10 is used to convey the product 70 along the first direction X;

[0076] The second conveyor line 20 has a second loading position 201. The second conveyor line 20 is used to convey the product 70 along the second direction Y. The second conveyor line 20 is a conveyor line for unqualified products.

[0077] The machine 30 is disposed on the second direction Y side of the first conveyor line 10; see Figure 2 As shown, the machine 30 has a first station 301, a second station 302, a third station 303, a fourth station 304, a fifth station 305 and a sixth station 306; the first station 301 is provided with a first camera assembly 41 on one side thereof along the third direction Z toward the machine 30, and the first camera assembly 41 is used to photograph the bottom surface 701 of the product 70; two second camera assemblies 42 are respectively provided on both sides of the first direction X of the second station 302, and the second camera assembly 42 is used to photograph the heat sink surface 702 of the product 70; the third station 303 is provided with a A third camera assembly 43, the third camera assembly 43 is used to photograph the first side surface 703 and the first gasket 704 of the product 70; a fourth camera assembly 44 is arranged on one side of the second direction Y of the fourth station 304, the fourth camera assembly 44 and the third camera assembly 43 are arranged in a staggered alignment along the second direction Y, and the fourth camera assembly 44 is used to photograph the second side surface 705 and the second gasket 706 of the product 70; a fifth camera assembly 45 is arranged on one side of the fourth station 304 away from the machine 30 along the third direction Z, and the fifth camera assembly 45 is used to photograph the top surface 707 of the product 70;

[0078] The first material transfer assembly 51 is used to transfer the product 70 from the first loading station 101 to the first station 301, and / or to transfer the product 70 from the first station 301 to the second station 302, and / or to transfer the product 70 from the second station 302 to the third station 303;

[0079] The second material moving assembly 52 is arranged opposite to the first conveyor line 10 along the second direction Y; the second material moving assembly 52 is used to move the product 70 from the third station 303 to the fourth station 304, and / or, to move the product 70 from the fourth station 304 to the fifth station 305;

[0080] The third material moving assembly 53 is arranged opposite to the first material moving assembly 51 along the first direction X; the third material moving assembly 53 is used to move the product 70 from the fifth station 305 to the sixth station 306, and / or to move the product 70 from the sixth station 306 to the unloading station 102;

[0081] The fourth material moving assembly 54 is disposed between the sixth station 306 and the unloading station 102 ; the fourth material moving assembly 54 is used to move the product 70 from the sixth station 306 to the second loading station 201 .

[0082] It should be noted that the first camera assembly 41, the second camera assembly 42, the third camera assembly 43, the fourth camera assembly 44 and the fifth camera assembly 45 are all electrically connected and / or communicatively connected to the host computer; the first camera assembly 41, the second camera assembly 42, the third camera assembly 43, the fourth camera assembly 44 and the fifth camera assembly 45 all use high-pixel industrial cameras and high-definition lenses with customized light sources to collect six surface images of the product 70, and transmit them to the host computer in real time for image analysis. After detecting product defects, the corresponding defective products are accurately removed. When the product 70 reaches the first loading position 101, a QR code recognition can be performed first to obtain the production number information of the product. The first material moving assembly 51, the second material moving assembly 52 and the third material moving assembly 53 can all use dual manipulators in parallel to grab.

[0083] In the magnetron appearance inspection machine provided by the present invention, when the product 70 reaches the first loading position 101, the first material moving component 51 can realize parallel grabbing of two products 70. When one of the products 70 is transferred from the first station 301 to the second station 302 for photographic quality inspection, the other product 70 can also be transferred from the second station 302 to the third station 303 for photographic quality inspection, thereby shortening the cycle time; the second material moving component 52 can realize parallel grabbing of two products 70. When one of the products 70 is transferred from the third station 303 to the fourth station 304 for photographic quality inspection, the other product 70 can also be transferred from the second station 302 to the third station 303 for photographic quality inspection, thereby shortening the cycle time; The fourth station 304 is transferred to the fifth station 305 to prepare for unloading, thereby shortening the cycle; when the detection shows unqualified, the fourth material transfer component 54 transfers the product 70 from the sixth station 306 to the second loading station 201; when the detection shows qualified, the third material transfer component 53 transfers the product 70 from the sixth station 306 to the unloading station 102; after the product 70 is transported through the first station 301, the second station 302, the third station 303 and the fourth station 304, it can complete the full-scale automatic inspection of the six sides, without the need for manual visual inspection and manual loading and unloading, avoiding missed inspections, improving the detection precision, and improving the yield of product 70.

[0084] Furthermore, the product QR code is affixed to the top surface 707 of the product 70; the magnetron appearance inspection machine also includes a sixth camera assembly (not shown in the figure), which is arranged on the side of the first loading position 101 away from the first conveyor line 10 along the third direction Z, and the sixth camera assembly is used to identify the product QR code.

[0085] In some embodiments, please combine Figure 1 and Figure 4 As shown, the first material transfer assembly 51 includes a first transfer rack 511 and a first manipulator 512 and a second manipulator 513 moving along the first transfer rack 511; the first transfer rack 511 crosses the first loading position 101, the first station 301, the second station 302 and the third station 303 along the second direction Y; the first manipulator 512 and the second manipulator 513 grab the two products 70 in parallel;

[0086] The first manipulator 512 is used to transfer the product 70 from the first loading station 101 to the first workstation 301 , and the second manipulator 513 is used to transfer the product 70 from the first workstation 301 to the second workstation 302 ;

[0087] And / or, the first robot 512 is used to transfer the product 70 from the first station 301 to the second station 302 , and the second robot 513 is used to transfer the product 70 from the second station 302 to the third station 303 .

[0088] In this embodiment, the first material moving assembly 51 is provided with a first manipulator 512 and a second manipulator 513 to carry two products 70 in parallel, thereby shortening the cycle time and improving the detection efficiency.

[0089] In some embodiments, please combine Figure 1 and Figure 5 As shown, the second material transfer assembly 52 includes a second transfer rack 521 and a third manipulator 522 and a fourth manipulator 523 moving along the second transfer rack 521; the second transfer rack 521 crosses the third station 303, the fourth station 304 and the fifth station 305 along the first direction X; the third manipulator 522 and the fourth manipulator 523 grab the two products 70 in parallel;

[0090] The third robot 522 is used to transfer the product 70 from the third station 303 to the fourth station 304 , and the fourth robot 523 is used to transfer the product 70 from the fourth station 304 to the fifth station 305 .

[0091] In this embodiment, the second material transfer assembly 52 transfers two products 70 in parallel by setting up a third robot 522 and a fourth robot 523, thereby shortening the cycle time and improving the detection efficiency.

[0092] In some embodiments, please combine Figure 1 and Figure 6 As shown, the third material transfer assembly 53 includes a third transfer rack 531 and a fifth manipulator 532 and a sixth manipulator 533 moving along the third transfer rack 531; the third transfer rack 531 crosses the fifth station 305, the sixth station 306 and the unloading station 102 along the second direction Y; the fifth manipulator 532 and the sixth manipulator 533 grab the two products 70 in parallel;

[0093] The fifth robot 532 is used to transfer the product 70 from the fifth station 305 to the sixth station 306 , and the sixth robot 533 is used to transfer the product 70 from the sixth station 306 to the unloading station 102 .

[0094] In this embodiment, the third material transfer assembly 53 transfers two products 70 in parallel by setting up the fifth robot 532 and the sixth robot 533, thereby shortening the cycle and improving the detection efficiency.

[0095] In some embodiments, please combine Figure 1 and Figure 7 As shown, the fourth material transfer assembly 54 includes a fourth transfer frame 541 and a seventh manipulator 542 moving along the fourth transfer frame 541 , and the fourth transfer frame 541 crosses the sixth workstation 306 and the second loading position 201 along the first direction X;

[0096] The seventh robot 542 is used to transfer the product 70 from the sixth workstation 306 to the second loading station 201 .

[0097] In this embodiment, when the product 70 is found to be unqualified during inspection, the seventh robot 542 transfers the product 70 from the sixth station 306 to the second loading station 201, thereby automatically removing the unqualified product.

[0098] In some embodiments, please combine Figure 2 and Figure 8 As shown, the magnetron appearance inspection machine also includes a first adjustment mechanism 61, which includes a first bracket 611 and a first cylinder 612. The first bracket 611 is fixedly arranged on the third direction Z side of the machine table 30. One end of the first direction X of the first cylinder 612 is connected to the first bracket 611, and the other end is connected to the second camera assembly 42. The first cylinder 612 is used to drive the second camera assembly 42 to move along the first direction X.

[0099] In this embodiment, when the second camera assembly 42 is photographing the heat sink surface 702 of the product 70, the first cylinder 612 drives the second camera assembly 42 to move along the first direction X, thereby adjusting the working distance between the second camera assembly 42 and the heat sink surface 702 to ensure that pictures of different positions of the product are taken and clearer.

[0100] In some embodiments, please combine Figure 2 and Fig. 9 As shown, the magnetron appearance inspection machine also includes a second adjustment mechanism 62, which includes a second bracket 621 and a second cylinder 622. The second bracket 621 is fixedly arranged on one side of the third direction Z of the machine table 30. One end of the second cylinder 622 in the third direction Z is connected to the second bracket 621, and the other end is connected to the third camera assembly 43. The second cylinder 622 is used to drive the third camera assembly 43 to move along the third direction Z.

[0101] Please combine Figure 2 and Fig.10 As shown, the magnetron appearance inspection machine also includes a third adjustment mechanism 63, the third adjustment mechanism 63 includes a third bracket 631 and a third cylinder 632, the third bracket 631 is fixedly arranged on the third direction Z side of the machine table 30, one end of the third direction Z of the third cylinder 632 is connected to the third bracket 631, and the other end is connected to the fourth camera assembly 44, and the third cylinder 632 is used to drive the fourth camera assembly 44 to move along the third direction Z.

[0102] In this embodiment, when the product 70 is transported to the third workstation 303, during the process of the third camera assembly 43 photographing the first side 703 and the first gasket 704 of the product 70, the third camera assembly 43 is driven by the second cylinder 622 to move along the third direction Z, thereby adjusting the height of the third camera assembly 43 to ensure that the third camera assembly 43 can take pictures of the product at different positions and ensure that the pictures taken are clearer; when the product 70 is transported to the fourth workstation 304, during the process of the fourth camera assembly 44 photographing the second side 705 and the second gasket 706 of the product 70, the fourth camera assembly 44 is driven by the third cylinder 632 to move along the third direction Z, thereby adjusting the height of the fourth camera assembly 44 to ensure that the fourth camera assembly 44 can take pictures of the product at different positions and ensure that the pictures taken are clearer.

[0103] In some embodiments, please combine Figure 2 and Fig. 9 As shown, the second adjustment mechanism 62 further includes a fourth cylinder 623, which is disposed between the second cylinder 622 and the third camera assembly 43. One end of the fourth cylinder 623 in the second direction Y is connected to the second cylinder 622, and the other end is connected to the third camera assembly 43. The fourth cylinder 623 is used to drive the third camera assembly 43 to move along the second direction Y.

[0104] Please combine Figure 2 and Fig.10As shown, the third adjusting mechanism 63 also includes a fifth cylinder 633, which is arranged between the third cylinder 632 and the fourth camera assembly 44. One end of the fifth cylinder 633 in the second direction Y is connected to the third cylinder 632, and the other end is connected to the fourth camera assembly 44. The fifth cylinder 633 is used to drive the fourth camera assembly 44 to move along the second direction Y.

[0105] In this embodiment, the third camera assembly 43 is driven to move along the second direction Y by the fourth cylinder 623, so that the distance between the third camera assembly 43 and the product 70 along the second direction Y is fine-tuned to ensure that the captured pictures are clearer; the fourth camera assembly 44 is driven to move along the second direction Y by the fifth cylinder 633, so that the distance between the fourth camera assembly 44 and the product 70 along the second direction Y is fine-tuned to ensure that the captured pictures are clearer.

[0106] According to an embodiment of the present invention, on the other hand, there is also provided a working method of the magnetron appearance inspection machine as described above, comprising:

[0107] The first conveying line 10 conveys the product 70 to the first loading position 101;

[0108] The first material moving assembly 51 moves the product 70 to the first station 301, and the first camera assembly 41 obtains image information of the bottom surface 701 of the product 70; the first material moving assembly 51 moves the product 70 to the second station 302, and the second camera assembly 42 obtains image information of the heat sink surface 702 of the product 70; the first material moving assembly 51 moves the product 70 to the third station 303, and the third camera assembly 43 obtains image information of the first side surface 703 of the product 70 and image information of the first gasket 704;

[0109] The second material moving assembly 52 moves the product 70 to the fourth station 304 , the fourth camera assembly 44 obtains image information of the second side surface 705 and the second gasket 706 of the product 70 , and the fifth camera assembly 45 obtains image information of the top surface 707 of the product 70 ;

[0110] The second material moving assembly 52 moves the product 70 to the fifth station 305 ; the third material moving assembly 53 moves the product 70 to the sixth station 306 ;

[0111] When the visual inspection product 70 is qualified, the third material moving component 53 moves the product 70 to the unloading position 102 ; when the visual inspection product 70 is unqualified, the fourth material moving component 54 moves the product 70 to the second loading position 201 .

[0112] The working method of the magnetron appearance inspection machine provided by the present invention can realize parallel grasping of two products 70 and simultaneous inspection of two products 70 at two different stations, thereby shortening the cycle time; after the product 70 is transported through the first station 301, the second station 302, the third station 303 and the fourth station 304, all-round automatic inspection of six sides can be completed, without the need for manual visual inspection and manual loading and unloading, thus avoiding missed inspections, improving the detection precision, and improving the yield rate of the product 70.

[0113] In some embodiments, when the first material moving assembly 51 transports the product 70 to the second station 302, the first cylinder 612 drives the second camera assembly 42 to move and adjust along the first direction X, thereby adjusting the working distance between the second camera assembly 42 and the heat sink surface 702, ensuring that the pictures taken at different positions of the product are clearer;

[0114] When the first material moving assembly 51 carries the product 70 to the third station 303, the second cylinder 622 drives the third camera assembly 43 to move and adjust along the third direction Z, thereby adjusting the height of the third camera assembly 43 to ensure that the third camera assembly 43 can take pictures of different positions of the product and ensure that the pictures taken are clearer;

[0115] When the second material moving assembly 52 transports the product 70 to the fourth workstation 304, the third cylinder 632 drives the fourth camera assembly 44 to move and adjust along the third direction Z, thereby adjusting the height of the fourth camera assembly 44 to ensure that the fourth camera assembly 44 can take pictures of different positions of the product and ensure that the pictures taken are clearer.

[0116] Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations are all within the scope defined by the appended claims.

Claims

1. A magnetron appearance inspection machine, having a first direction (X), a second direction (Y) and a third direction (Z) intersecting each other, characterized in that: include: A first conveying line (10) having a first loading position (101) and a unloading position (102), wherein the first conveying line (10) is used to convey the product (70) along a first direction (X); A second conveying line (20) having a second loading position (201), wherein the second conveying line (20) is used to convey the product (70) along a second direction (Y); The machine (30) is arranged on one side of the first conveyor line (10) in the second direction (Y); the machine (30) comprises a first station (301), a second station (302), a third station (303), a fourth station (304), a fifth station (305) and a sixth station (306); a first camera assembly (41) is arranged on one side of the first station (301) along the third direction (Z) toward the machine (30); two sides of the first direction (X) of the second station (302) are respectively Two second camera assemblies (42) are provided; a third camera assembly (43) is provided on one side of the third workstation (303) in the second direction (Y); a fourth camera assembly (44) is provided on one side of the fourth workstation (304) in the second direction (Y), and the fourth camera assembly (44) and the third camera assembly (43) are arranged in a staggered and aligned manner along the second direction (Y); a fifth camera assembly (45) is provided on one side of the fourth workstation (304) in the third direction (Z) away from the machine platform (30); a first material transfer assembly (51), used for transferring the product (70) from the first loading station (101) to the first work station (301), and / or transferring the product (70) from the first work station (301) to the second work station (302), and / or transferring the product (70) from the second work station (302) to the third work station (303); a second material transfer assembly (52) arranged opposite to the first conveyor line (10) along a second direction (Y); the second material transfer assembly (52) is used to transfer the product (70) from the third station (303) to the fourth station (304), and / or to transfer the product (70) from the fourth station (304) to the fifth station (305); a third material moving assembly (53) arranged opposite to the first material moving assembly (51) along the first direction (X); the third material moving assembly (53) is used to move the product (70) from the fifth station (305) to the sixth station (306), and / or to move the product (70) from the sixth station (306) to the unloading station (102); The fourth material moving assembly (54) is arranged between the sixth workstation (306) and the unloading position (102); the fourth material moving assembly (54) is used to move the product (70) from the sixth workstation (306) to the second loading position (201).

2. The magnetron appearance inspection machine according to claim 1, characterized in that: The first material transfer assembly (51) comprises a first transfer frame (511) and a first manipulator (512) and a second manipulator (513) moving along the first transfer frame (511); the first transfer frame (511) crosses the first loading position (101), the first work station (301), the second work station (302) and the third work station (303) along the second direction (Y); The first robot (512) is used to transfer the product (70) from the first loading position (101) to the first work station (301), and the second robot (513) is used to transfer the product (70) from the first work station (301) to the second work station (302); And / or, the first robot (512) is used to transfer the product (70) from the first workstation (301) to the second workstation (302), and the second robot (513) is used to transfer the product (70) from the second workstation (302) to the third workstation (303).

3. The magnetron appearance inspection machine according to claim 1, characterized in that: The second material transfer assembly (52) comprises a second transfer frame (521) and a third robot (522) and a fourth robot (523) moving along the second transfer frame (521); the second transfer frame (521) crosses the third workstation (303), the fourth workstation (304) and the fifth workstation (305) along the first direction (X); The third robot (522) is used to transfer the product (70) from the third station (303) to the fourth station (304), and the fourth robot (523) is used to transfer the product (70) from the fourth station (304) to the fifth station (305).

4. The magnetron appearance inspection machine according to claim 1, characterized in that: The third material transfer assembly (53) comprises a third transfer frame (531) and a fifth robot (532) and a sixth robot (533) moving along the third transfer frame (531); the third transfer frame (531) crosses the fifth workstation (305), the sixth workstation (306) and the material unloading position (102) along the second direction (Y); The fifth robot (532) is used to transfer the product (70) from the fifth station (305) to the sixth station (306), and the sixth robot (533) is used to transfer the product (70) from the sixth station (306) to the unloading station (102).

5. The magnetron appearance inspection machine according to claim 1, characterized in that: The fourth material transfer assembly (54) comprises a fourth transfer frame (541) and a seventh manipulator (542) moving along the fourth transfer frame (541), wherein the fourth transfer frame (541) crosses the sixth workstation (306) and the second loading position (201) along the first direction (X); The seventh robot (542) is used to transfer the product (70) from the sixth workstation (306) to the second loading station (201).

6. The magnetron appearance inspection machine according to claim 1, characterized in that: The magnetron appearance inspection machine also includes a first adjustment mechanism (61), the first adjustment mechanism (61) includes a first bracket (611) and a first cylinder (612), the first bracket (611) is fixedly arranged on one side of the third direction (Z) of the machine platform (30), one end of the first cylinder (612) in the first direction (X) is connected to the first bracket (611), and the other end is connected to the second camera assembly (42), and the first cylinder (612) is used to drive the second camera assembly (42) to move along the first direction (X).

7. The magnetron appearance inspection machine according to any one of claims 1 to 6, characterized in that: The magnetron appearance inspection machine also includes a second adjustment mechanism (62), the second adjustment mechanism (62) includes a second bracket (621) and a second cylinder (622), the second bracket (621) is fixedly arranged on one side of the machine platform (30) in the third direction (Z), one end of the second cylinder (622) in the third direction (Z) is connected to the second bracket (621), and the other end is connected to the third camera assembly (43), and the second cylinder (622) is used to drive the third camera assembly (43) to move along the third direction (Z); The magnetron appearance inspection machine also includes a third adjustment mechanism (63), the third adjustment mechanism (63) includes a third bracket (631) and a third cylinder (632), the third bracket (631) is fixedly arranged on one side of the machine platform (30) in the third direction (Z), one end of the third cylinder (632) in the third direction (Z) is connected to the third bracket (631), and the other end is connected to the fourth camera assembly (44), and the third cylinder (632) is used to drive the fourth camera assembly (44) to move along the third direction (Z).

8. The magnetron appearance inspection machine according to claim 7, characterized in that: The second adjustment mechanism (62) further comprises a fourth cylinder (623), the fourth cylinder (623) being arranged between the second cylinder (622) and the third camera assembly (43), one end of the fourth cylinder (623) in the second direction (Y) being connected to the second cylinder (622), and the other end being connected to the third camera assembly (43), the fourth cylinder (623) being used to drive the third camera assembly (43) to move along the second direction (Y); The third adjustment mechanism (63) also includes a fifth cylinder (633), which is arranged between the third cylinder (632) and the fourth camera assembly (44), one end of the fifth cylinder (633) in the second direction (Y) is connected to the third cylinder (632), and the other end is connected to the fourth camera assembly (44), and the fifth cylinder (633) is used to drive the fourth camera assembly (44) to move along the second direction (Y).

9. A working method of a magnetron appearance inspection machine as claimed in any one of claims 1 to 8, characterized in that: include: The first conveying line (10) conveys the product (70) to the first loading position (101); The first material moving component (51) moves the product (70) to the first station (301), and the first camera component (41) obtains image information of the bottom surface (701) of the product (70); the first material moving component (51) moves the product (70) to the second station (302), and the second camera component (42) obtains image information of the heat sink surface (702) of the product (70); the first material moving component (51) moves the product (70) to the third station (303), and the third camera component (43) obtains image information of the first side surface (703) of the product (70) and image information of the first gasket (704); The second material moving assembly (52) moves the product (70) to the fourth workstation (304), the fourth camera assembly (44) obtains image information of the second side surface (705) of the product (70) and image information of the second gasket (706), and the fifth camera assembly (45) obtains image information of the top surface (707) of the product (70); The second material moving assembly (52) moves the product (70) to the fifth station (305); the third material moving assembly (53) moves the product (70) to the sixth station (306); When the visual inspection product (70) is qualified, the third material moving component (53) moves the product (70) to the unloading position (102); when the visual inspection product (70) is unqualified, the fourth material moving component (54) moves the product (70) to the second loading position (201).

10. The working method of the magnetron appearance inspection machine according to claim 9, characterized in that: When the first material moving assembly (51) moves the product (70) to the second workstation (302), the first cylinder (612) drives the second camera assembly (42) to move and adjust along the first direction (X); When the first material moving assembly (51) moves the product (70) to the third workstation (303), the second cylinder (622) drives the third camera assembly (43) to move and adjust along the third direction (Z); When the second material transfer assembly (52) transports the product (70) to the fourth workstation (304), the third cylinder (632) drives the fourth camera assembly (44) to move and adjust along the third direction (Z).

Images