Appearance detection system

Abstract

The invention discloses an appearance detection system, and belongs to the field of appearance detection, the appearance detection system comprises at least one first transfer device which is arranged side by side along a first horizontal direction and comprises a first turnover mechanism and a first transfer module, the first turnover mechanism comprises a first carrier for accommodating workpieces, and the first transfer module comprises a second carrier for accommodating workpieces; the multiple first carriers are arranged side by side in the second horizontal direction. The detection device comprises first detection cameras in one-to-one correspondence with the first transfer devices; the feeding device is used for feeding the workpieces; the discharging device is used for receiving workpieces; the first carrying device is used for transferring the workpieces on the feeding device to the first transferring device; the second carrying device is used for transferring the detected workpieces to the discharging device; the first carriers are suitable for sequentially flowing through the corresponding first detection cameras in the second horizontal direction under driving of the first transfer module. By the adoption of the structure, the automation degree is high, and the number of workpieces detected at a time can be increased while the cost is controlled.

Description

Technical Field

[0001] The present invention relates to the technical field of appearance detection, and in particular to an appearance detection system. Background Art

[0002] For some injection molded workpieces, the appearance of the workpieces needs to be inspected after production to ensure that they are qualified before leaving the factory. For example, Chinese invention patent CN202211239691.1 discloses a workpiece surface detection device, including a detection component and a clamping component, the clamping component includes a rotating mechanism and a plurality of pickup units for accommodating workpieces, the pickup units are arranged side by side on the rotating mechanism along the X-axis direction, the detection component includes a plurality of detection heads arranged side by side and located above the pickup units, the detection heads correspond to the pickup units one by one, and the clamping component is suitable for moving along the Y-axis direction to the bottom of the corresponding detection head, so that the detection head can detect the appearance of the workpiece.

[0003] However, with the above structure, since the detection head corresponds to the pickup unit one-to-one, it is not conducive to increasing the pickup unit while ensuring the cost, so that the number of workpieces detected by the detection device at a single time is relatively small; and the detection device is usually a semi-automatic structure, which requires manual loading of the workpiece to be detected to the pickup unit and unloading of the detected workpiece. Since there are multiple pickup units, the labor intensity is high and it is easy to affect the detection efficiency.

[0004] Therefore, it is necessary to improve the prior art to overcome the above defects in the prior art. Summary of the invention

[0005] The object of the present invention is to provide an appearance inspection system with a high degree of automation and the ability to increase the number of workpieces inspected in a single inspection while controlling costs.

[0006] The object of the present invention is to achieve the following technical solution: an appearance detection system, comprising: There is at least one first transfer device, which is arranged side by side along a first horizontal direction, the first transfer device comprises a first flipping mechanism and a first transfer module connected to the first flipping mechanism, the first flipping mechanism comprises a first carrier for accommodating a workpiece, and a plurality of the first carriers are arranged side by side along a second horizontal direction perpendicular to the first horizontal direction; A detection device, comprising a first detection camera corresponding one-to-one to the first transfer device; A loading device, used for loading the workpiece to be inspected; A material unloading device, used to receive the workpiece after inspection; A first transport device, used for transferring the workpiece at the loading device to the first transfer device; A second transport device, used for transferring the inspected workpiece to the unloading device; Wherein, the plurality of first carriers on the first flipping mechanism are suitable for sequentially flowing through the corresponding first detection cameras along the second horizontal direction under the drive of the first transfer module.

[0007] Furthermore, the appearance inspection system also includes a second transferring device corresponding one-to-one to the first transferring device, the second transferring device includes a second flipping mechanism and a second transferring module transmission-connected to the second flipping mechanism, the second flipping mechanism includes a second carrier for accommodating workpieces, and a plurality of the second carriers are arranged side by side along a second horizontal direction, the inspection device includes a second inspection camera corresponding one-to-one to the second transferring device, and the plurality of the second carriers on the second flipping mechanism are suitable for flowing through the corresponding second inspection cameras in sequence along the second horizontal direction under the drive of the second transferring module.

[0008] Further, the first transport device is connected between the loading device and the first transfer device, the second transport device is connected between the second transfer device and the unloading device, the first flipping mechanism is suitable for moving to the loading station or the docking station under the drive of the first transfer module, the second flipping mechanism is suitable for moving to the docking station or the unloading station under the drive of the second transfer module, and when the first flipping mechanism and the second flipping mechanism are both in the docking station, the first flipping mechanism and the second flipping mechanism are suitable for docking with each other to transfer the workpiece on the first carrier to the second carrier.

[0009] Furthermore, the appearance inspection system also includes a plurality of transfer devices corresponding one-to-one to the first transfer device, the transfer device includes a third flipping mechanism, the third flipping mechanism includes a plurality of third carriers corresponding one-to-one to the first carrier, the first conveying device is suitable for conveying the workpiece to the third carrier, the first flipping mechanism is suitable for moving to the loading station under the drive of the first transfer module, and connecting with the third flipping mechanism to transfer the workpiece on the third carrier to the first carrier.

[0010] Furthermore, the first carrier, the second carrier and the third carrier are all adsorption-type carriers, the first carrier is provided with a first fixed positioning structure for positioning the workpiece, the second carrier is provided with a second fixed positioning structure for positioning the workpiece, and the third carrier is provided with a third fixed positioning structure and a movable positioning structure, and the movable positioning structure can be close to the third fixed positioning structure to cooperate with the third fixed positioning structure to position the workpiece.

[0011] Furthermore, the feeding device comprises: The first material storage mechanism comprises a first stacking assembly and a second stacking assembly, wherein the first stacking assembly is used to stack and accommodate material trays full of workpieces to be inspected, and the second stacking assembly is suitable for receiving empty material trays; A first tray positioning mechanism, adapted to receive and position a tray fully loaded with workpieces; A first transfer mechanism, adapted to move to the first stacking assembly to receive the tray of the first stacking assembly and transfer it to the first tray positioning mechanism, or transfer the empty tray at the first tray positioning mechanism to the second stacking assembly; Wherein, the first transport device is suitable for moving the workpiece away from the loading device from the first tray positioning mechanism.

[0012] Furthermore, the loading device and the first transport device are each in a group, and the first stacking assembly, the second stacking assembly and the first tray positioning mechanism are arranged side by side along a first horizontal direction.

[0013] Furthermore, the feeding device comprises: The second material storage mechanism comprises a third stacking assembly and a fourth stacking assembly, wherein the third stacking assembly is used to stack and accommodate empty material trays, and the fourth stacking assembly is suitable for receiving material trays fully loaded with workpieces after inspection; A second tray positioning mechanism, adapted to receive and position an empty tray; The second transfer mechanism is adapted to move to the third stacking assembly to receive the tray of the third stacking assembly and transfer it to the second tray positioning mechanism, or transfer the fully loaded tray at the second tray positioning mechanism to the fourth stacking assembly; Waste collection boxes; The second transport device is suitable for transporting the qualified workpieces after detection to the tray at the second tray positioning mechanism, and transporting the unqualified workpieces after detection to the waste collection box.

[0014] Furthermore, the third stacking assembly, the fourth stacking assembly and the second tray positioning mechanism are arranged side by side along the second horizontal direction, the unloading devices are in two groups and are arranged side by side along the first horizontal direction, and the second conveying devices are in two groups and correspond one-to-one to the unloading devices.

[0015] Furthermore, the first handling device and the second handling device have the same structure, the first handling device comprises a manipulator and a nozzle mechanism, and the nozzle mechanism comprises: A mounting seat, connected to the manipulator in transmission; A nozzle assembly is slidably disposed on the mounting seat along the length direction of the mounting seat, wherein a plurality of nozzle assemblies are arranged side by side along the length direction of the mounting seat and are divided into two first nozzle assemblies located at both ends and a plurality of second nozzle assemblies located between the two first nozzle assemblies; A variable pitch cylinder, disposed on the mounting seat and adapted to drive the first suction nozzle assembly to move closer to or away from the second suction nozzle assembly; A reset assembly, comprising a mounting shaft and a reset spring sleeved outside the mounting shaft, wherein the mounting shaft is fixed to the mounting seat and is inserted into a plurality of the nozzle assemblies, and the reset spring is provided in a plurality of numbers and is supported between two adjacent second nozzle assemblies; Among them, when the variable pitch cylinder drives the first suction nozzle assembly to approach and push the second suction nozzle assembly, the second suction nozzle assemblies approach each other and compress the return spring; when the variable pitch cylinder drives the first suction nozzle assembly to move away from the second suction nozzle assembly, the second suction nozzle assemblies are suitable to move away from each other under the rebound action of the return spring.

[0016] Compared with the prior art, the present invention has the following beneficial effects: the present invention adopts the above-mentioned structure, the first conveying device can convey the workpiece to be inspected from the loading device to the first transferring device, and the second conveying device can convey the inspected workpiece to the unloading device, thereby realizing automatic loading and unloading of the workpiece, avoiding manual loading and unloading, and improving the inspection efficiency; the first transferring device includes a first flipping mechanism and a first transferring module which is transmission-connected to the first flipping mechanism, and a plurality of first carriers are provided on the first flipping mechanism. The first transferring module is suitable for driving the plurality of first carriers to flow through the first inspection camera in sequence, so that a single first inspection camera can inspect the workpieces on the plurality of first carriers, thereby facilitating increasing the number of first carriers while avoiding an increase in the number of cameras, and effectively increasing the number of workpieces inspected by the inspection system at a single time while controlling the cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a structural schematic diagram of the appearance detection system of the present invention.

[0018] Figure 2 It is a schematic diagram of the installation of the first transfer device, the second transfer device, the detection device and the transfer device in the present invention.

[0019] Figure 3 It is a schematic diagram of the arrangement of the first transfer device, the second transfer device and the transfer device in the present invention.

[0020] Figure 4 It is a schematic structural diagram of the first transfer device in the present invention.

[0021] Figure 5 It is a structural schematic diagram of the first turning mechanism in the present invention.

[0022] Figure 6 It is a schematic diagram of the exploded structure of the first flip seat in the present invention.

[0023] Figure 7 It is a structural schematic diagram of the transfer device in the present invention.

[0024] Figure 8 It is a structural schematic diagram of the third turning mechanism in the present invention.

[0025] Fig. 9 It is a schematic diagram of the partial exploded structure of the third turning mechanism in the present invention.

[0026] Fig.10 It is a structural schematic diagram of the first push block, the first push block seat and the second spring in the present invention.

[0027] Fig.11 It is a structural schematic diagram of the second push block, the second push block seat and the third spring in the present invention.

[0028] Fig.12 It is a schematic diagram of the installation of the feeding device and the first transport device in the present invention.

[0029] Fig.13 It is a schematic diagram of the installation of the first mounting frame and the first material storage mechanism in the present invention.

[0030] Fig.14 yes Fig.13 Schematic diagram of the structure in another direction.

[0031] Fig.15 It is a structural schematic diagram of the first transfer mechanism in the present invention.

[0032] Fig.16 It is a schematic diagram of the installation of the first mounting frame and the first tray positioning mechanism in the present invention.

[0033] Fig.17 yes Fig.16 Schematic diagram of the structure in another direction.

[0034] Fig.18 It is a schematic diagram of the installation of the unloading device and the second transport device in the present invention.

[0035] Fig.19 It is a structural schematic diagram of the suction nozzle mechanism in the present invention.

[0036] Fig. 20 yes Fig.19 Schematic diagram of the structure in another direction.

[0037] Fig.21 yes Fig.19 Schematic diagram of the structure after removing the nozzle assembly.

[0038] Fig. 22 It is a structural schematic diagram of the suction nozzle assembly in the present invention.

[0039] Fig.23 yes Fig. 22 Schematic diagram of the structure in another direction.

[0040] Description of reference numerals: 100, first transfer device; 110, first turning mechanism; 111, first carrier; 1111, first bearing surface; 1112, first fixed positioning structure; 112, bottom plate; 113, translation assembly; 1131, translation plate; 1132, translation cylinder; 1133, mounting plate; 114, first turning seat; 1141, first seat body; 1142, first carrier plate; 1143, first turning motor; 1144, guide rod; 1145, first spring; 1146, limit block; 1147, adjusting bolt; 115, rotating assembly; 1151, rotating motor; 1152, rotating block; 120, first transfer module; 200, second transfer device; 210, second turning mechanism; 211, second carrier ; 220, second transfer module; 300, detection device; 310, first detection camera; 320, second detection camera; 400, loading device; 410, first mounting frame; 411, bracket; 420, first storage mechanism; 421, first stacking assembly; 4211, first frame; 4212, first supporting structure; 422, second stacking assembly; 4221, second frame; 4222, second supporting structure; 423, drawer assembly; 4231, first slide rail; 4232, first slider; 4233, drawer board; 4234, push-pull board; 4235, handle; 430, first tray positioning mechanism; 431, positioning plate; 432, third supporting structure; 4311, first avoidance hole; 4312, Positioning groove; 440, first transfer mechanism; 441, lateral movement module; 442, lifting module; 443, carrier; 450, tray; 500, unloading device; 510, second mounting frame; 520, second material storage mechanism; 521, third stacking assembly; 522, fourth stacking assembly; 530, second tray positioning mechanism; 540, second transfer mechanism; 550, waste collection box; 600, first handling device; 610, manipulator; 620, nozzle mechanism; 621, mounting seat; 6211, first mounting surface; 6212, second mounting surface; 6213, second avoidance hole; 622, nozzle assembly; 622a, first nozzle assembly; 622b, second nozzle assembly; 6221, mounting block; 6222, Suction nozzle member; 6223, lifting cylinder; 6224, guide hole; 6225, convex part; 623, variable pitch cylinder; 624, reset assembly; 6241, mounting shaft; 6242, reset spring; 625, slide rail assembly; 6251, second slide rail; 6252, second slider; 626, joint; 627, push member; 628, limit member; 700, second handling device; 800, transfer device; 810, third turning mechanism; 811, third carrier; 8111, third fixed positioning structure; 8112, third bearing surface; 8113, first matching block; 8114, second matching block; 812, second turning seat; 8121, second seat body; 8122, second carrier plate; 8123, second floating assembly;8124, second flip motor; 813, first side push assembly; 8131, first transmission plate; 8132, first push block; 8133, first side push cylinder; 8134, first push block seat; 8135, second spring; 814, second side push assembly; 8141, second transmission plate; 8142, second push block; 8143, second side push cylinder; 8144, second push block seat; 8145, third spring; 820, connecting frame. ; DETAILED DESCRIPTION

[0041] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. It is to be understood that the specific embodiments described herein are only used to explain the present application, rather than to limit the present application. It should also be noted that, for ease of description, only some structures related to the present application are shown in the accompanying drawings, rather than all structures. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0042] The terms "including" and "having" and any variations thereof in this application are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device comprising a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products or devices.

[0043] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0044] See also Figures 1 to 3As shown, a visual inspection system corresponding to a preferred embodiment of the present invention comprises: a first transfer device 100, the number of which is at least one and arranged side by side along a first horizontal direction, the first transfer device 100 comprises a first flip mechanism 110 and a first transfer module 120 connected to the first flip mechanism 110 in a transmission manner, the first flip mechanism 110 comprises a first carrier 111 for accommodating a workpiece, and a plurality of first carriers 111 are arranged side by side along a second horizontal direction perpendicular to the first horizontal direction; a detection device 300 comprises a first transfer device 100 connected to the first transfer device 100 one by one A corresponding first inspection camera 310; a loading device 400, used for loading the workpiece to be inspected; a unloading device 500, used for receiving the inspected workpiece; a first conveying device 600, used for transferring the workpiece at the loading device 400 to the first transfer device 100; a second conveying device 700, used for transferring the inspected workpiece to the unloading device 500; wherein, the multiple first carriers 111 on the first flipping mechanism 110 are suitable for flowing through the corresponding first inspection camera 310 in sequence along the second horizontal direction under the drive of the first transfer module 120.

[0045] The present invention adopts the above-mentioned structure, the first conveying device 600 can convey the workpiece to be inspected from the loading device 400 to the first transfer device 100, and the second conveying device 700 can convey the inspected workpiece to the unloading device 500, thereby realizing automatic loading and unloading of the workpiece, avoiding manual loading and unloading, and improving the inspection efficiency; the first transfer device 100 includes a first flipping mechanism 110 and a first transfer module 120 which is transmission-connected to the first flipping mechanism 110, and a plurality of first carriers 111 are provided on the first flipping mechanism 110. The first transfer module 120 is suitable for driving the plurality of first carriers 111 to flow through the first inspection camera 310 in sequence, so that a single first inspection camera 310 can inspect the workpieces on the plurality of first carriers 111, thereby facilitating the increase of the first carriers 111 while avoiding the increase of the cameras, and effectively increasing the number of workpieces inspected by the inspection system at a single time while controlling the cost.

[0046] Furthermore, when the workpiece is placed on the first carrier 111, the back side of the workpiece faces away from the first carrier 111. However, in the present embodiment, the detection system needs to detect the front, back and side of the workpiece. Preferably, the appearance detection system also includes a second transfer device 200, and there are multiple second transfer devices 200, which are arranged side by side along the first horizontal direction, and the first transfer device 100 and the second transfer device 200 correspond one to one. The second transfer device 200 includes a second flipping mechanism 210 and a second transfer module 220 connected to the second flipping mechanism 210 in a transmission manner. The second flipping mechanism 210 includes a second carrier 211 for accommodating the workpiece, and there are multiple second carriers 211 arranged side by side along the second horizontal direction. When the workpiece is placed on the second carrier 211, the front side of the workpiece faces away from the second carrier 211. The inspection device 300 includes second inspection cameras 320 corresponding to the second transfer device 200 one by one. The plurality of second carriers 211 on the second flip mechanism 210 are suitable for sequentially passing through the corresponding second inspection cameras 320 along the second horizontal direction under the drive of the second transfer module 220 .

[0047] Further, the first handling device 600 is connected between the loading device 400 and the first transfer device 100, and the second handling device 700 is connected between the second transfer device 200 and the unloading device 500. The first flip mechanism 110 is suitable for moving to the loading station or the docking station under the drive of the first transfer module 120, and the second flip mechanism 210 is suitable for moving to the docking station or the unloading station under the drive of the second transfer module 220, and when the first flip mechanism 110 and the second flip mechanism 210 are both in the docking station, the first flip mechanism 110 and the second flip mechanism 210 are suitable for docking with each other to transfer the workpiece on the first carrier 111 to the second carrier 211.

[0048] During operation, the first transport device 600 is suitable for loading the workpiece onto the first carrier 111 at the loading station, and the first transfer module 120 drives the first flipping mechanism 110 to move from the loading station to the docking station, and allows the first carrier 111 to flow through the first inspection camera 310 in sequence to achieve appearance inspection of the back and part of the side of the workpiece; the second transfer module 220 is suitable for driving the second flipping mechanism 210 to move to the docking station to receive the inspected workpiece, and then the second transfer module 220 is suitable for driving the second flipping mechanism 210 to move from the docking station to the unloading station, and allows the second carrier 211 to flow through the second inspection camera 320 in sequence to achieve appearance inspection of the front and other part of the side of the workpiece.

[0049] Further, in the present embodiment, the number of the first transfer device 100 and the second transfer device 200 are both four groups. The first transfer device 100 and the second transfer device 200 are located below the first detection camera 310 and / or the second detection camera 320, and the first carrier 111 is suitable for sequentially passing through the corresponding first detection camera 310 under the drive of the first transfer module 120, so that the first detection camera 310 can shoot the workpiece on the first carrier 111, and the second carrier 211 is suitable for sequentially passing through the corresponding second detection camera 320 under the drive of the second transfer module 220, so that the second detection camera 320 can shoot the workpiece on the second carrier 211. When the first flip mechanism 110 and the second flip mechanism 210 are in the docking station, the first flip mechanism 110 and the second flip mechanism 210 are arranged side by side in the first horizontal direction to ensure that the first flip mechanism 110 and the second flip mechanism 210 can be smoothly docked.

[0050] Further, refer to Figures 4 to 6 As shown, the first transfer module 120 and the second transfer module 220 are both conventional linear modules, and the present invention will not be repeated here. The first flip mechanism 110 includes a base plate 112, a translation assembly 113, a first flip seat 114 and a rotating assembly 115. The base plate 112 is fixed to the transmission end of the first transfer module 120, and the translation assembly 113 is arranged on the base plate 112 and is suitable for moving along the first horizontal direction. The first flip seat 114 is arranged on the translation assembly 113 and can rotate around an axis parallel to the second horizontal direction. The translation assembly 113 is suitable for driving the first flip seat 114 to move synchronously along the first horizontal direction. The rotating assembly 115 is arranged on the first flip seat 114 and is suitable for rotating around an axis perpendicular to the second horizontal direction. There are multiple rotating assemblies 115, and the first carrier 111 is respectively arranged on different rotating assemblies 115.

[0051] By adopting the above structure, the first carrier 111 is suitable for arranging the back side of the workpiece upward under the adjustment of the first flip seat 114, so as to ensure that the first detection camera 310 can reliably obtain the back image of the workpiece, and the first flip seat 114 is suitable for driving the first carrier 111 to rotate around an axis parallel to the second horizontal direction, and cooperate with the rotating component 115 to drive the first carrier 111 to rotate around an axis perpendicular to the second horizontal direction, so that the first detection camera 310 can reliably obtain the side image of the workpiece.

[0052] Furthermore, the translation assembly 113 includes a translation plate 1131 and a translation cylinder 1132. A slide rail structure is supported between the translation plate 1131 and the base plate 112 so that the translation plate 1131 can slide along the first horizontal direction. The translation cylinder 1132 is a linear cylinder arranged along the first horizontal direction, which is set on the base plate 112, and the telescopic end is connected to the translation plate 1131, thereby driving the translation plate 1131 to slide relative to the base plate 112.

[0053] In this embodiment, the translation plate 1131 is a long plate, whose length direction is parallel to the second horizontal direction. There are two translation cylinders 1132, which are arranged on both sides of the translation plate 1131 in the length direction. The two translation cylinders 1132 cooperate to drive the translation plate 1131, thereby improving the stability and reliability of the translation plate 1131 during movement.

[0054] In addition, the translation assembly 113 also includes a mounting plate 1133 fixed on the plate surface of the translation plate 1131 away from the bottom plate 112, and the number of mounting plates 1133 is two, and they are arranged on both sides of the translation plate 1131 in the length direction. The first flip seat 114 is connected between the two mounting plates 1133, and the first flip seat 114 is a long strip structure with a length direction parallel to the second horizontal direction, and its two ends in the length direction can be rotatably passed through different mounting plates 1133.

[0055] The first flip seat 114 includes a first seat body 1141, a first carrier plate 1142, a first floating assembly and a first flip motor 1143. The two ends of the first seat body 1141 are rotatably arranged on different mounting plates 1133, respectively. The rotation axis of the first seat body 1141 is parallel to the second horizontal direction. The first flip motor 1143 is arranged on the translation plate 1131, and its output end is transmission-connected with the first seat body 1141 to drive the first seat body 1141 to rotate. The first floating assembly is supported between one of the plate surfaces of the first carrier plate 1142 and the first seat body 1141. The first floating assembly is suitable for driving the first carrier plate 1142 to float in a direction perpendicular to its plate surface. The plate surface of the first carrier plate 1142 specifically refers to the end surface perpendicular to its thickness direction. The rotating assembly 115 is installed on the first carrier plate 1142. The length direction of the first carrier plate 1142 is parallel to the second horizontal direction. The rotating assembly 115 is arranged side by side and spaced along the length direction of the first carrier plate 1142, and the rotation axis is perpendicular to the plate surface of the first carrier plate 1142. The rotating assembly 115 includes a rotating motor 1151 and a rotating block 1152. The rotating motor 1151 is fixed to the first carrier plate 1142, and its output end extends out of the plate surface of the first carrier plate 1142 away from the first floating assembly. The rotating block 1152 is fixed to the output end of the rotating motor 1151, and the first carrier 111 is fixed to the rotating block 1152. The bearing direction of the first carrier 111 is perpendicular to the plate surface of the first carrier plate 1142, and the front of the workpiece is carried by the first carrier 111. The first carrier 111 has a first carrying surface 1111 for carrying the workpiece. The first carrying surface 1111 is parallel to the plate surface of the first carrier plate 1142 . The carrying direction of the first carrier 111 is specifically a direction perpendicular to the first carrying surface 1111 .

[0056] By adopting the above structure, when the first carrier 111 and the second carrier 211 are docked, the first floating assembly is suitable for buffering the first carrier 111 and the second carrier 211 to protect the first carrier 111, the second carrier 211 and the workpiece, and enable the workpiece to be more reliably transferred.

[0057] Specifically, the first floating assembly includes a guide rod 1144, a first spring 1145 and a limit block 1146. The axial direction of the guide rod 1144 is perpendicular to the plate surface of the first carrier plate 1142. One end of the guide rod 1144 is fixed to the first seat body 1141. The first carrier plate 1142 is slidably mounted outside the guide rod 1144. The first spring 1145 is mounted outside the guide rod 1144, and both ends are supported between the first carrier plate 1142 and the first seat body 1141. The limit block 1146 is arranged on the first seat body 1141 and is suitable for limiting the first carrier plate 1142 from being separated from the guide rod 1144 from the other end of the guide rod 1144. The first spring 1145 is suitable for pushing the first carrier plate 1142 to the limit block 1146.

[0058] Preferably, there are four guide rods 1144, which are respectively arranged at the four corners of the first carrier plate 1142. The first spring 1145 corresponds to the guide rod 1144 one by one to ensure stability during the floating process. Preferably, an adjusting bolt 1147 is threadedly connected to the limit block 1146, and the axial direction of the adjusting bolt 1147 is perpendicular to the plate surface of the first carrier plate 1142. The adjusting bolt 1147 is suitable for abutting against the end surface of the first carrier plate 1142 to limit the first carrier plate 1142 from separating from the guide rod 1144. By rotating the adjusting bolt 1147, it is suitable for adjusting the compression amount of the first spring 1145, and then adjusting the buffering performance to meet different needs.

[0059] Furthermore, the structure of the second flip mechanism 210 is the same as that of the first flip mechanism 110, and the present invention will not be repeated here. When the first flip mechanism 110 and the second flip mechanism 210 are both in the docking station, the first flip seat 114 of the first flip mechanism 110 and the first flip seat 114 of the second flip mechanism 210 can flip toward each other, so that the first bearing surface 1111 of the first carrier 111 and the second bearing surface (not shown) of the second carrier 211 are in a relatively arranged docking state, and the first bearing surface 1111 and the second bearing surface are perpendicular to the first horizontal direction, and then the translation assembly 113 can drive the first flip seat 114 of the first flip mechanism 110 and the second flip mechanism 210 to approach each other, so that the workpiece on the first carrier 111 is transferred to the second carrier 211.

[0060] Furthermore, the first carrier 111 is an adsorption carrier, and an adsorption hole is provided on the first bearing surface 1111 of the first carrier 111, so that the front of the workpiece can be reliably adsorbed on the first bearing surface 1111. A first fixed positioning structure 1112 is provided on the first bearing surface 1111, and the first fixed positioning structure 1112 is suitable for positioning the workpiece in a direction perpendicular to the axis of the rotating motor 1151. In this embodiment, the workpiece is in a square shape, and the first fixed positioning structure 1112 is a positioning block whose outer contour is adapted to the inner edge of the workpiece. When the workpiece is placed on the first bearing surface 1111, the positioning block is embedded in the inner edge of the workpiece to achieve the positioning of the workpiece, specifically, the workpiece is positioned in both the length direction and the width direction of the first carrier 1142. The structure of the second carrier 211 is similar to that of the first carrier 111, and it is also an adsorption carrier. A second fixed positioning structure (not shown) for positioning the workpiece is provided on the second carrier 211, and the present invention will not be repeated here.

[0061] The present invention sets a first fixed positioning structure 1112 on the first carrier 111 and a second fixed positioning structure on the second carrier 211, so that the position accuracy of the workpieces placed on the first carrier 111 and the second carrier 211 is high, ensuring that the adsorption holes thereon can effectively correspond to the workpieces, thereby improving the reliability of the workpieces on the first carrier 111 and the second carrier 211. The use of a fixed positioning structure can make the first carrier 111 and the second carrier 211 simpler in structure and smaller in size, and adjacent carriers can be more compact, so that the detection area of ​​the first detection camera 310 and / or the second detection camera 320 covers more carriers, thereby improving detection efficiency.

[0062] However, when a fixed positioning structure is used, when the first handling device 600 loads the workpiece onto the first carrier 111, the first handling device 600 has a high precision requirement, which is not conducive to reducing costs, and the first handling device 600 needs to fine-tune the position, which is very inefficient. When a movable positioning structure is used, the structure is complicated and the volume of the positioning structure is increased.

[0063] As a preferred embodiment, refer to Figures 1 to 3 As shown, the detection system further includes a transfer device 800 disposed at the loading station, and there are multiple transfer devices 800, which correspond one to one with the first transfer device 100. Figures 7 to 11 As shown, the transfer device 800 includes a third flipping mechanism 810, and the third flipping mechanism 810 includes a plurality of third carriers 811 corresponding one to one with the first carrier 111. The first conveying device 600 is suitable for conveying the workpiece to the third carrier 811. The first flipping mechanism 110 is suitable for moving to the loading station under the drive of the first transfer module 120, and connecting with the third flipping mechanism 810 to transfer the workpiece on the third carrier 811 to the first carrier 111.

[0064] Specifically, the transfer device 800 includes a connecting frame 820, and the third flip mechanism 810 includes a second flip seat 812 arranged on the connecting frame 820, and the second flip seat 812 can rotate around an axis parallel to the second horizontal direction. The third carrier 811 is arranged on the second flip seat 812, and the workpiece is suitable for being placed on the third carrier 811, and the front side is away from the third carrier 811. A third fixed positioning structure 8111 is arranged on the third carrier 811, and a movable positioning structure is arranged on the second flip seat 812, and the movable positioning structure can be close to the third fixed positioning structure 8111 to cooperate with the third fixed positioning structure 8111 to position the workpiece. When the first flip mechanism 110 is in the loading station, the third flip mechanism 810 and the first flip mechanism 110 are arranged side by side along the first horizontal direction to facilitate docking of the two.

[0065] The present invention adopts the above-mentioned structure, and the third carrier 811 positions the workpiece through the movable positioning structure cooperating with the third fixed positioning structure 8111. When the first transport device 600 loads the workpiece to the third carrier 811, the position accuracy requirement for the workpiece is relatively low, which facilitates the efficient loading of the first transport device 600, and when the workpiece is placed on the third carrier 811, the movable positioning structure can be reliably moved toward the third fixed positioning structure 8111 to achieve precise positioning of the workpiece.

[0066] The second flip seat 812 includes a second seat body 8121, a second carrier plate 8122, a second floating assembly 8123 and a second flip motor 8124. The second seat body 8121 is rotatably connected to the connecting frame 820. The second flip motor 8124 is disposed on the connecting frame 820, and its output end is transmission-connected to the second seat body 8121 to drive the second seat body 8121 to rotate. The second floating assembly 8123 is received between the second seat body 8121 and the second carrier plate 8122. The structure of the second floating assembly 8123 is the same as that of the first floating assembly. It can drive the second carrier plate 8122 to float in a direction perpendicular to its plate surface to buffer the third carrier 811. The present invention will not be described in detail here.

[0067] The bearing direction of the third carrier 811 is perpendicular to the plate surface of the second carrier 8122, and the back side of the workpiece is carried on the third carrier 811. The third carrier 811 is fixed on the plate surface of the second carrier 8122, the length direction of the second carrier 8122 is parallel to the second horizontal direction, and the third carrier 811 is arranged side by side and spaced along the length direction of the second carrier 8122. The third carrier 811 is also an adsorption carrier, which has a third bearing surface 8112 that bears and adsorbs the back side of the workpiece, the third bearing surface 8112 is parallel to the plate surface of the second carrier 8122, and the bearing direction of the third carrier 811 is specifically a direction perpendicular to the third bearing surface 8112.

[0068] The third fixed positioning structure 8111 includes a first matching block 8113 and a second matching block 8114. The first matching block 8113 is located on one side of the third bearing surface 8112 in the length direction of the second carrier plate 8122, and the second matching block 8114 is located on one side of the third bearing surface 8112 in the width direction of the second carrier plate 8122. The movable positioning structure includes a first side push assembly 813 and a second side push assembly 814 provided on the second carrier plate 8122. The first side push assembly 813 is suitable for pushing the workpiece against the first matching block 8113 so that the workpiece is accurately positioned in the length direction of the second carrier plate 8122, and the second side push assembly 814 is suitable for pushing the workpiece against the second matching block 8114 so that the workpiece is accurately positioned in the width direction of the second carrier plate 8122.

[0069] Specifically, the first side thrust assembly 813 includes a first transmission plate 8131, a first push block 8132 and a first side thrust cylinder 8133. A slide rail structure is supported between the first transmission plate 8131 and the second carrier plate 8122 so that it can slide along the length direction of the second carrier plate 8122. The first push block 8132 is arranged on the first transmission plate 8131, and there are multiple first push blocks 8132 to correspond to the first matching blocks 8113 on different third carriers 811. The first push block 8132 and the first matching block 8113 are arranged relatively in the length direction of the second carrier plate 8122. The first side thrust cylinder 8133 is arranged on the second carrier plate 8122, and its telescopic end is connected to the first transmission plate 8131. When the first side push cylinder 8133 drives the first transmission plate 8131 to slide along the length direction of the second carrier plate 8122 , the plurality of first push blocks 8132 all move toward the corresponding first matching blocks 8113 to simultaneously push the plurality of workpieces against different first matching blocks 8113 .

[0070] The second side thrust assembly 814 includes a second transmission plate 8141, a second push block 8142 and a second side thrust cylinder 8143. A slide rail structure is supported between the second transmission plate 8141 and the second carrier plate 8122 so that it can slide along the width direction of the second carrier plate 8122. The second push block 8142 is arranged on the second transmission plate 8141, and there are multiple second push blocks 8142 to correspond to the second matching blocks 8114 on different third carriers 811. The second push block 8142 and the second matching block 8114 are arranged relative to each other in the width direction of the second carrier plate 8122. The second side thrust cylinder 8143 is arranged on the second carrier plate 8122, and its telescopic end is connected to the second transmission plate 8141. When the second side push cylinder 8143 drives the second transmission plate 8141 to slide along the width direction of the second carrier plate 8122 , the plurality of second push blocks 8142 all move toward the corresponding second matching blocks 8114 , and simultaneously push the plurality of workpieces against different second matching blocks 8114 .

[0071] Preferably, a first push block seat 8134 corresponding to the first push block 8132 is provided on the first transmission plate 8131, and the first push block 8132 can be slidably arranged on the first push block seat 8134 along the length direction of the second carrier plate 8122. A second spring 8135 is arranged between the first push block 8132 and the first push block seat 8134, and the extension direction of the second spring 8135 is parallel to the sliding direction of the first push block 8132. The second spring 8135 is suitable for buffering the workpiece when the first push block 8132 pushes against the workpiece. The second transmission plate 8141 is provided with a second push block seat 8144 corresponding to the second push block 8142 one by one. The second push block 8142 can be slidably arranged on the second push block seat 8144 along the width direction of the second carrier plate 8122. A third spring 8145 is arranged between the second push block 8142 and the second push block seat 8144. The extension and contraction direction of the third spring 8145 is parallel to the sliding direction of the second push block 8142. The third spring 8145 is suitable for buffering the workpiece when the second push block 8142 pushes against the workpiece.

[0072] Further, refer to Figure 12 to Figure 14 As shown, the loading device 400 includes a first mounting frame 410, a first material storage mechanism 420, a first material tray positioning mechanism 430 and a first transfer mechanism 440. The first mounting frame 410 includes two brackets 411 arranged relatively along the second horizontal direction, the first material storage mechanism 420 and the first material tray positioning mechanism 430 are respectively installed on different brackets 411 on both sides of the second horizontal direction, and the first transfer mechanism 440 is accommodated between the two brackets 411 and is located below the first material storage mechanism 420 and the first material tray positioning mechanism 430. The first material storage mechanism 420 includes a first stacking assembly 421 and a second stacking assembly 422, the first stacking assembly 421 is stacked with a material tray 450 full of workpieces to be detected, and the second stacking assembly 422 is suitable for receiving an empty material tray 450. The first material tray positioning mechanism 430 is suitable for receiving and positioning a material tray 450 full of workpieces. The first transfer mechanism 440 is adapted to move to the first stacking assembly 421 to receive the material tray 450 of the first stacking assembly 421 and transfer it to the first material tray positioning mechanism 430, or transfer the vacant material tray 450 at the first material tray positioning mechanism 430 to the second stacking assembly 422, and the first handling device 600 is adapted to move the workpiece away from the loading device 400 from the first material tray positioning mechanism 430. In this embodiment, the number of loading devices 400 is a group, and the first stacking assembly 421, the second stacking assembly 422 and the first material tray positioning mechanism 430 are arranged side by side along the first horizontal direction.

[0073] Specifically, the first stacking assembly 421 is used to stack and accommodate the trays 450 fully loaded with the workpieces to be inspected. The first transfer mechanism 440 can be moved to the first stacking assembly 421. The first stacking assembly 421 can lower the single tray 450 at the bottom layer to the first transfer mechanism 440, and then the first transfer mechanism 440 transfers the tray 450 to the first tray positioning mechanism 430, so that the first handling device 600 can take the material. The second stacking assembly 422 is used to receive the empty tray 450. After the workpieces in the tray 450 at the first tray positioning mechanism 430 are all transferred and transferred away, the first transfer mechanism 440 can move the empty tray 450 to the second stacking assembly 422, so that the second stacking assembly 422 can stack the empty tray 450. Preferably, in this embodiment, the number of the first stacking assembly 421 and the second stacking assembly 422 are both two, so as to improve the storage capacity.

[0074] Furthermore, the first stacking assembly 421 includes a first frame body 4211 and a first supporting structure 4212. Both sides of the first frame body 4211 are respectively installed on different brackets 411. The first frame body 4211 is an open structure in the vertical direction. The material tray 450 is suitable for being stacked and accommodated in the first frame body 4211 from the upper side of the first frame body 4211. The first supporting structure 4212 is composed of a cylinder and a supporting block. The first supporting structure 4212 is suitable for moving into the first frame body 4211 along a second horizontal direction to support the bottom of the material tray 450, or the first supporting structure 4212 is suitable for moving away from the first frame body 4211 along the second horizontal direction to avoid hindering the material tray 450 from flowing out from the bottom of the first frame body 4211. The first supporting structure 4212 can be arranged on the first mounting frame 410 or the first frame 4211 as needed. In the present embodiment, it is preferably arranged on the first mounting frame 410 to improve the stability of the first supporting structure 4212 after installation. There are two first supporting structures 4212, which are respectively arranged on different brackets 411.

[0075] The second stacking assembly 422 includes a second frame 4221 and a second support structure 4222. The structure of the second frame 4221 is the same as that of the first frame 4211. Both sides of the second frame 4221 are respectively mounted on different brackets 411. The second support structure 4222 is suitable for supporting an unloaded material tray 450. The second support structure 4222 is a flip block, which can be flipped upwardly and mounted on the first frame 4211. When the material tray 450 moves into the second frame 4221 from the lower side of the second frame 4221, the second support structure 4222 can flip upwardly to avoid the position, and when the material tray 450 is no longer in contact with the second support structure 4222, the second support structure 4222 flips downwardly and resets to reliably support the material tray 450. There are also two second support structures 4222, which are arranged relatively on both sides of the second frame 4221.

[0076] In addition, the first storage mechanism 420 further includes a drawer assembly 423, which includes a first slide rail 4231, a first slider 4232 and a drawer board 4233. The length direction of the first slide rail 4231 is parallel to the first horizontal direction. The first slide rail 4231 corresponds to the bracket 411 one by one. There are two drawer boards 4233, which are respectively fixed on different first slide rails 4231. The first frame 4211 and the second frame 4221 are both fixed on the drawer boards 4233. The first slider 4232 is fixed on the two brackets 411, and each bracket 411 is arranged with a plurality of first sliders 4232 at intervals along the first horizontal direction. The two first slide rails 4231 are respectively slidably connected to the first sliders 4232 of different brackets 411. By adopting the above structure, the first frame 4211 and the second frame 4221 can be moved along the first horizontal direction as needed to facilitate loading and unloading of the material tray 450.

[0077] Preferably, a push-pull plate 4234 is fixed between the two drawer boards 4233, and the push-pull plate 4234 is located at the end of the first slide rail 4231. A handle 4235 is provided on the push-pull plate 4234. The operator can push and pull the first frame 4211 and the second frame 4221 by holding the handle 4235, which makes the operation more convenient.

[0078] Further, refer to Fig.15 As shown, the first transfer mechanism 440 includes a transverse moving module 441, a lifting module 442 connected to the transverse moving module 441, and a carrier 443 connected to the lifting module 442. The transverse moving module 441 is suitable for driving the carrier 443 to move along the first horizontal direction, the lifting module 442 is suitable for driving the carrier 443 to rise and fall along the vertical direction, and the carrier 443 is suitable for supporting the material tray 450. Preferably, the carrier 443 is a vacuum adsorption table to improve the reliability during the transfer process.

[0079] Reference Fig.16 and Fig.17 As shown, the first tray positioning mechanism 430 includes a positioning plate 431 and a third support structure 432. The two sides of the positioning plate 431 are respectively arranged on different brackets 411. The number of the third support structures 432 is two, and they are respectively arranged on different brackets 411. The positioning plate 431 is formed with a first avoidance hole 4311 in the vertical direction. The positioning plate 431 is recessed inward from its top surface to form a positioning groove 4312. The positioning groove 4312 is arranged around the outer periphery of the first avoidance hole 4311. The outer contour of the tray 450 is adapted to the inner contour of the positioning groove 4312. When the carrier 443 is directly below the positioning plate 431, it is suitable for moving upward under the drive of the lifting module 442, and then the tray 450 is embedded and set in the positioning groove 4312. The first avoidance hole 4311 is suitable for avoiding the storage area of ​​the tray 450 where the workpiece is stored, so as not to hinder the first handling device 600 from handling the workpiece.

[0080] The third support structure 432 is located below the positioning plate 431. The third support structure 432 is similar to the first support structure 4212. When the material tray 450 needs to be loaded into the positioning groove 4312, it is suitable for moving along the second horizontal direction to the bottom of the notch of the positioning groove 4312 to support the material tray 450, so that the material tray 450 is vertically limited between the bottom of the positioning groove 4312 and the third support structure 432. When the material tray 450 needs to be removed from the positioning groove 4312, it is suitable for moving along the second horizontal direction away from the bottom of the notch of the positioning groove 4312 to avoid hindering the first transfer mechanism 440 from removing the material tray 450. Preferably, there are two first material tray positioning mechanisms 430, which are arranged side by side along the first horizontal direction, so that the first transfer mechanism 440 can continuously perform loading and unloading operations.

[0081] Further, refer to Figure 1 and Fig.18 As shown, the unloading device 500 includes a second mounting frame 510, a second material storage mechanism 520 disposed on the second mounting frame 510, a second material tray positioning mechanism 530, and a second transfer mechanism 540 located below the second material storage mechanism 520 and the second material tray positioning mechanism 530. The second material storage mechanism 520 includes a third stacking assembly 521 and a fourth stacking assembly 522, wherein the third stacking assembly 521 is stacked with empty material trays 450, and the fourth stacking assembly 522 is suitable for receiving the material trays 450 fully loaded with workpieces after detection. The structure of the third stacking assembly 521 is the same as that of the first stacking assembly 421, and the structure of the fourth stacking assembly 522 is the same as that of the second stacking assembly 422. The second transfer mechanism 540 is suitable for moving to the third stacking assembly 521 to receive the material trays 450 of the third stacking assembly 521 and transfer them to the second material tray positioning mechanism 530, or transfer the fully loaded material trays 450 at the second material tray positioning mechanism 530 to the fourth stacking assembly 522. The second handling device 700 is suitable for carrying the qualified workpieces after inspection to the material tray 450 at the second material tray positioning mechanism 530. In addition, the unloading device 500 also includes a waste collection box 550, and the second handling device 700 is suitable for carrying the unqualified workpieces after inspection to the waste collection box 550. The structure of the unloading device 500 is similar to that of the loading device 400, and the present invention will not repeat its structure here.

[0082] Since during the loading process, the first handling device 600 needs to transfer the workpiece to the transfer device 800 first, and then the transfer device 800 transfers the workpiece to the first transfer device 100, and during unloading, the second handling device 700 only needs to directly move the detected workpiece away from the second transfer device 200, so that the loading and unloading speeds are not matched. Preferably, in this embodiment, the number of the loading device 400 and the first handling device 600 are both one group, and the first stacking assembly 421, the second stacking assembly 422 and the first tray positioning mechanism 430 are arranged side by side along the first horizontal direction. The number of the unloading device 500 is two groups, and they are arranged side by side along the first horizontal direction, the third stacking assembly 521, the fourth stacking assembly 522 and the second tray positioning mechanism 530 are arranged side by side along the second horizontal direction, and the number of the second handling device 700 is two groups, and they correspond one to one with the unloading device 500.

[0083] Further, refer to Fig.12 , Figures 19 to 23 As shown, the first handling device 600 includes a manipulator 610 and a nozzle mechanism 620, and the nozzle mechanism 620 includes a mounting seat 621, a nozzle assembly 622, a variable pitch cylinder 623 and a reset assembly 624. The mounting seat 621 is transmission-connected to the manipulator 610. The nozzle assembly 622 can be slidably arranged on the mounting seat 621 along the length direction of the mounting seat 621. A plurality of nozzle assemblies 622 are arranged side by side along the length direction of the mounting seat 621, and are divided into two first nozzle assemblies 622a located at both ends and a plurality of second nozzle assemblies 622b located between the two first nozzle assemblies 622a. The variable pitch cylinder 623 is arranged on the mounting seat 621, and is suitable for driving the first nozzle assembly 622a to approach or move away from the second nozzle assembly 622b. The reset assembly 624 includes a mounting shaft 6241 and a reset spring 6242 sleeved outside the mounting shaft 6241. The mounting shaft 6241 is fixed to the mounting seat 621 and is inserted into a plurality of suction nozzle assemblies 622. The reset spring 6242 is provided in a plurality of numbers and is supported between two adjacent second suction nozzle assemblies 622b. When the variable pitch cylinder 623 drives the first suction nozzle assembly 622a to approach and push the second suction nozzle assembly 622b, the second suction nozzle assemblies 622b approach each other and compress the reset spring 6242. When the variable pitch cylinder 623 drives the first suction nozzle assembly 622a away from the second suction nozzle assembly 622b, the second suction nozzle assembly 622b is adapted to move away from each other under the rebound action of the reset spring 6242. The plurality of suction nozzle assemblies 622 in the folded state correspond to the plurality of workpieces arranged side by side on the material tray 450, and the plurality of suction nozzle assemblies 622 in the unfolded state correspond to the plurality of third carriers 811 arranged side by side.

[0084] Further, the mounting seat 621 has a first mounting surface 6211 and a second mounting surface 6212 opposite to each other in the width direction thereof, and a slide rail assembly 625 is arranged on the first mounting surface 6211 of the mounting seat 621, and the slide rail assembly 625 includes a second slide rail 6251 and a second slider 6252 slidably connected to the second slide rail 6251, and the second slide rail 6251 is fixed to the first mounting surface 6211, and the length direction is parallel to the length direction of the mounting seat 621, and the nozzle assembly 622 is fixed to the second slider 6252, and the number of second sliders 6252 is multiple, and corresponds to the nozzle assembly 622 one by one. Preferably, the number of slide rail assemblies 625 is two groups, and they are arranged at intervals in the vertical direction, and the parts of the nozzle assembly 622 close to the upper side and the lower side are respectively arranged on different slide rail assemblies 625, so that the nozzle assembly 622 can be installed and slid more reliably. The reset assembly 624 is located between the two groups of slide rail assemblies 625 to correspond to the portion of the suction nozzle assembly 622 close to the middle. There are two groups of reset assemblies 624, which are arranged at intervals along the vertical direction to ensure that the suction nozzle assembly 622 can be reliably reset.

[0085] The mounting seat 621 is provided with a second avoidance hole 6213 along its width direction, and the second avoidance hole 6213 extends to both sides of the mounting seat 621 along the length direction of the mounting seat 621. The variable pitch cylinder 623 is a linear cylinder arranged along the length direction of the mounting seat 621, which is fixed to the second mounting surface 6212 of the mounting seat 621, so that the variable pitch cylinder 623 is more convenient to install and has a large space for movement. There are two variable pitch cylinders 623, and the output ends of the two variable pitch cylinders 623 are respectively matched with different first suction nozzle assemblies 622a through the second avoidance hole 6213. Specifically, the two first suction nozzle assemblies 622a are provided with a joint 626, and the joint 626 extends to the second mounting surface 6212 through the second avoidance hole 6213 to connect with the output end of the variable pitch cylinder 623. A number of suction nozzle assemblies 622 are in an extended state in response to the variable distance cylinder 623 switching to an extended state, and are in a retracted state in response to the variable distance cylinder 623 switching to a retracted state. When the variable distance cylinder 623 is in the extended state, the distance between two adjacent suction nozzle assemblies 622 is the same, and when the variable distance cylinder 623 is in the retracted state, the distance between two adjacent suction nozzle assemblies 622 is also the same.

[0086] Further, a push member 627 is provided on the second suction nozzle assembly 622b adjacent to the first suction nozzle assembly 622a, and the push member 627 is protrudingly provided on the side of the second suction nozzle assembly 622b facing the first suction nozzle assembly 622a; and / or a push member 627 is protrudingly provided on the side of the first suction nozzle assembly 622a facing the second suction nozzle assembly 622b. When the first suction nozzle assembly 622a approaches the second suction nozzle assembly 622b, the first suction nozzle assembly 622a is driven by the push member 627 to maintain a preset distance between the first suction nozzle assembly 622a and the second suction nozzle assembly 622b, and the push member 627 is suitable for transmitting a thrust to the second suction nozzle assembly 622b to move closer to each other.

[0087] In this embodiment, the push member 627 is specifically arranged on the second suction nozzle assembly 622b. The push member 627 is a threaded member threadedly connected to the second suction nozzle assembly 622b. The axial direction of the push member 627 is parallel to the length direction of the mounting base 621. The push member 627 can adjust its protrusion amount as needed, thereby adjusting the distance between the first suction nozzle assembly 622a and the second suction nozzle assembly 622b to ensure that after the suction nozzle assembly 622 is folded, the distance between adjacent suction nozzle assemblies 622 remains consistent.

[0088] Preferably, a plurality of limit members 628 are provided on the mounting seat 621, and the limit members 628 correspond to the second suction nozzle assembly 622b. When the first suction nozzle assembly 622a is away from the second suction nozzle assembly 622b, the return spring 6242 is suitable for pushing the second suction nozzle assembly 622b against the limit member 628, ensuring that the distance between two adjacent second suction nozzle assemblies 622b remains consistent, and the distance between the first suction nozzle assembly 622a and the second suction nozzle assembly 622b can be achieved by adjusting the telescopic stroke of the variable distance cylinder 623.

[0089] Furthermore, in this embodiment, the number of the second suction nozzle assembly 622b is specifically three. The push member 627 is provided on the second suction nozzle assembly 622b adjacent to the first suction nozzle assembly 622a, the limit member 628 corresponds to the second suction nozzle assembly 622b provided with the push member 627, and the second suction nozzle assembly 622b in the middle can be fixed relative to the mounting seat 621.

[0090] Further, the suction nozzle assembly 622 includes a mounting block 6221, a suction nozzle piece 6222 and a lifting cylinder 6223. The mounting block 6221 is slidably connected to the mounting seat 621, that is, it is fixed on the second slider 6252. The mounting block 6221 is provided with a guide hole 6224 along the length direction of the mounting seat 621. The inner diameter of the guide hole 6224 is matched with the outer diameter of the mounting shaft 6241, so that the mounting block 6221 is sleeved outside the mounting shaft 6241, and the reset spring 6242 is suitable for pushing the mounting block 6221. The suction nozzle piece 6222 can be slidably installed on the mounting block 6221 in the vertical direction. The lifting cylinder 6223 is installed on the mounting block 6221 and is in transmission connection with the suction nozzle piece 6222. The lifting cylinder 6223 is suitable for driving the suction nozzle piece 6222 to rise and fall in the vertical direction, so that each suction nozzle piece 6222 can independently pick up and place the workpiece. A protrusion 6225 is provided on the mounting block 6221 corresponding to the limit member 628. The protrusion 6225 extends from the second avoidance hole 6213 to the second mounting surface 6212, and is arranged opposite to the limit member 628 in the length direction of the mounting seat 621. When the return spring 6242 pushes the mounting block 6221, the protrusion 6225 is suitable for abutting against the limit member 628.

[0091] Furthermore, the structure of the second transport device 700 is the same as that of the first transport device 600, and the present invention will not be repeated here. When the plurality of nozzle assemblies 622 of the second transport device 700 are in the unfolded state, they correspond one-to-one with the plurality of second carriers 211 on the second flip mechanism 210.

[0092] The working process of the appearance inspection system of the present invention is as follows: the loading device 400 loads the material tray 450 full of workpieces to be inspected, and the multiple suction nozzle assemblies 622 of the first conveying device 600 are switched to the folded state to simultaneously grab the multiple workpieces in the material tray 450, and then the multiple suction nozzle assemblies 622 are switched to the expanded state and transferred to the multiple third carriers 811 of the transfer device 800, at which time the front of the workpiece is away from the third carrier 811; the first carrier 111 is driven by the first transfer module 120 to move to the loading station to connect with the third carrier 811, so that the workpiece is transferred to the first carrier 111, at which time the back of the workpiece is away from the first carrier 111; then the first carrier 111 is moved to the docking station, so that the workpieces on the multiple first carriers 111 can all be inspected by the first inspection camera 310. During this process, the second carrier 211 is transferred from the unloading station to the docking station under the drive of the second transfer module 220. When the first carrier 111 is in the docking station, the first carrier 111 and the second carrier 211 are connected to each other so that the workpiece is transferred to the second carrier 211. At this time, the front of the workpiece is away from the second carrier 211; then the second carrier 211 is transferred to the unloading station, so that the workpieces on multiple second carriers 211 can be inspected by the second inspection camera 320; after the inspection is completed, the multiple suction nozzle assemblies 622 of the second handling device 700 are switched to the expanded state to simultaneously grab the workpieces on different second carriers 211, and then the multiple suction nozzle assemblies 622 are switched to the folded state, and the second handling device 700 transfers the workpieces that fail the inspection to the waste collection box 550, and transfers the workpieces that pass the inspection to the empty material tray 450 loaded by the unloading device 500.

[0093] The above description is only an implementation method of the present application, and does not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the description and drawings of this application, or directly or indirectly used in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. An appearance inspection system, characterized in that: include: There is at least one first transfer device (100) and the first transfer device (100) is arranged side by side along a first horizontal direction. The first transfer device (100) comprises a first flipping mechanism (110) and a first transfer module (120) transmission-connected to the first flipping mechanism (110). The first flipping mechanism (110) comprises a first carrier (111) for accommodating a workpiece. A plurality of the first carriers (111) are arranged side by side along a second horizontal direction perpendicular to the first horizontal direction. A detection device (300), comprising a first detection camera (310) corresponding one-to-one to the first transfer device (100); A loading device (400) for loading a workpiece to be inspected; A material unloading device (500), used for receiving the workpiece after inspection; A first transport device (600), used for transferring the workpiece at the loading device (400) to the first transfer device (100); A second transport device (700) is used to transfer the inspected workpiece to the unloading device (500); Wherein, the plurality of first carriers (111) on the first flipping mechanism (110) are adapted to flow through the corresponding first detection cameras (310) in sequence along the second horizontal direction under the drive of the first transfer module (120).

2. The appearance inspection system according to claim 1, characterized in that: The appearance inspection system further comprises a second transfer device (200) corresponding one-to-one to the first transfer device (100), the second transfer device (200) comprising a second flipping mechanism (210) and a second transfer module (220) transmission-connected to the second flipping mechanism (210), the second flipping mechanism (210) comprising a second carrier (211) for accommodating a workpiece, a plurality of the second carriers (211) being arranged side by side along a second horizontal direction, the inspection device (300) comprising a second inspection camera (320) corresponding one-to-one to the second transfer device (200), the plurality of the second carriers (211) on the second flipping mechanism (210) being adapted to flow through the corresponding second inspection camera (320) in sequence along the second horizontal direction under the drive of the second transfer module (220).

3. The appearance inspection system according to claim 2, characterized in that: The first handling device (600) is received between the loading device (400) and the first transfer device (100), the second handling device (700) is received between the second transfer device (200) and the unloading device (500), the first flipping mechanism (110) is adapted to be moved to a loading station or a docking station under the drive of the first transfer module (120), the second flipping mechanism (210) is adapted to be moved to the docking station or the unloading station under the drive of the second transfer module (220), and when the first flipping mechanism (110) and the second flipping mechanism (210) are both in the docking station, the first flipping mechanism (110) and the second flipping mechanism (210) are adapted to be docked with each other so as to transfer the workpiece on the first carrier (111) to the second carrier (211).

4. The appearance inspection system according to claim 2, characterized in that: The appearance inspection system further comprises a plurality of transfer devices (800) corresponding one-to-one to the first transfer device (100); the transfer device (800) comprises a third flipping mechanism (810); the third flipping mechanism (810) comprises a plurality of third carriers (811) corresponding one-to-one to the first carrier (111); the first transport device (600) is suitable for transporting the workpiece to the third carrier (811); the first flipping mechanism (110) is suitable for moving to the loading station driven by the first transfer module (120) and being connected to the third flipping mechanism (810) so that the workpiece on the third carrier (811) is transferred to the first carrier (111).

5. The appearance inspection system according to claim 4, characterized in that: The first carrier (111), the second carrier (211) and the third carrier (811) are all adsorption-type carriers; the first carrier (111) is provided with a first fixed positioning structure (1112) for positioning a workpiece; the second carrier (211) is provided with a second fixed positioning structure for positioning a workpiece; the third carrier (811) is provided with a third fixed positioning structure (8111) and a movable positioning structure; the movable positioning structure can be close to the third fixed positioning structure (8111) to cooperate with the third fixed positioning structure (8111) to position the workpiece.

6. The appearance inspection system according to claim 1, characterized in that: The feeding device (400) comprises: A first material storage mechanism (420) comprises a first stacking assembly (421) and a second stacking assembly (422), wherein the first stacking assembly (421) is used to stack and accommodate material trays (450) full of workpieces to be inspected, and the second stacking assembly (422) is suitable for receiving empty material trays (450); A first material tray positioning mechanism (430) adapted to receive and position a material tray (450) fully loaded with workpieces; A first transfer mechanism (440) is adapted to move to the first stacking assembly (421) to receive the material tray (450) of the first stacking assembly (421) and transfer it to the first material tray positioning mechanism (430), or transfer the empty material tray (450) at the first material tray positioning mechanism (430) to the second stacking assembly (422); The first transport device (600) is suitable for moving the workpiece away from the loading device (400) from the first tray positioning mechanism (430).

7. The appearance inspection system according to claim 6, characterized in that: The loading device (400) and the first handling device (600) are each provided in a group, and the first stacking assembly (421), the second stacking assembly (422) and the first tray positioning mechanism (430) are arranged side by side along a first horizontal direction.

8. The appearance inspection system according to claim 1, characterized in that: The unloading device (500) comprises: The second material storage mechanism (520) comprises a third stacking assembly (521) and a fourth stacking assembly (522), wherein the third stacking assembly (521) is used to stack and accommodate empty material trays (450), and the fourth stacking assembly (522) is suitable for receiving material trays (450) fully loaded with workpieces after inspection; A second material tray positioning mechanism (530), adapted to receive and position an empty material tray (450); The second transfer mechanism (540) is adapted to move to the third stacking assembly (521) to receive the material tray (450) of the third stacking assembly (521) and transfer it to the second material tray positioning mechanism (530), or transfer the fully loaded material tray (450) at the second material tray positioning mechanism (530) to the fourth stacking assembly (522); Waste collection box (550); The second transport device (700) is suitable for transporting workpieces that have passed the test to the material tray (450) at the second material tray positioning mechanism (530), and for transporting workpieces that have failed the test to the waste collection box (550).

9. The appearance inspection system according to claim 8, characterized in that: The third stacking assembly (521), the fourth stacking assembly (522) and the second tray positioning mechanism (530) are arranged side by side along the second horizontal direction, the unloading devices (500) are in two groups and are arranged side by side along the first horizontal direction, and the second transport devices (700) are in two groups and correspond one to one to the unloading devices (500).

10. The appearance inspection system according to claim 1, characterized in that: The first transport device (600) and the second transport device (700) have the same structure. The first transport device (600) comprises a manipulator (610) and a suction nozzle mechanism (620). The suction nozzle mechanism (620) comprises: A mounting seat (621) is transmission-connected to the manipulator (610); A suction nozzle assembly (622) is slidably disposed on the mounting seat (621) along the length direction of the mounting seat (621); a plurality of suction nozzle assemblies (622) are arranged side by side along the length direction of the mounting seat (621), and are divided into two first suction nozzle assemblies (622a) located at both ends and a plurality of second suction nozzle assemblies (622b) located between the two first suction nozzle assemblies (622a); A variable-pitch cylinder (623), arranged on the mounting seat (621) and adapted to drive the first suction nozzle assembly (622a) to move closer to or farther from the second suction nozzle assembly (622b); A reset assembly (624), comprising a mounting shaft (6241) and a reset spring (6242) sleeved outside the mounting shaft (6241); the mounting shaft (6241) is fixed to the mounting seat (621) and is inserted into a plurality of the suction nozzle assemblies (622); the reset spring (6242) is provided in a plurality of numbers and is supported between two adjacent second suction nozzle assemblies (622b); When the variable-distance cylinder (623) drives the first suction nozzle assembly (622a) to approach and push the second suction nozzle assembly (622b), the second suction nozzle assemblies (622b) approach each other and compress the return spring (6242); when the variable-distance cylinder (623) drives the first suction nozzle assembly (622a) to move away from the second suction nozzle assembly (622b), the second suction nozzle assemblies (622b) are suitable for moving away from each other under the rebound action of the return spring (6242).

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