Appearance Detection System

Abstract

The present invention discloses an appearance detection system, belonging to the field of appearance detection, which includes: at least one first transfer device arranged side by side along the first horizontal direction, which includes a first flipping mechanism and a first transfer module. The first flipping mechanism includes a first carrier for accommodating workpieces, and a plurality of the first carriers are arranged side by side along the second horizontal direction; a detection device, including a first detection camera corresponding to the first transfer device one by one; a loading device for loading workpieces; a unloading device for receiving workpieces; a first handling device for transferring the workpieces at the loading device to the first transfer device; a second handling device for transferring the detected workpieces to the unloading device; the first carrier is adapted to flow through the corresponding first detection camera in sequence along the second horizontal direction under the drive of the first transfer module. With the above structure, the present invention has a high degree of automation and can increase the number of workpieces detected at one time while controlling costs.

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:

[0007] 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;

[0008] A detection device, comprising a first detection camera corresponding one-to-one to the first transfer device;

[0009] A loading device, used for loading the workpiece to be inspected;

[0010] A material unloading device, used to receive the workpiece after inspection;

[0011] A first transport device, used for transferring the workpiece at the loading device to the first transfer device;

[0012] A second handling device, used for transferring the inspected workpiece to the unloading device;

[0013] 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.

[0014] 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.

[0015] 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.

[0016] 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.

[0017] Further, the first vehicle, the second vehicle, and the third vehicle are all adsorption vehicles. A first fixed positioning structure for positioning a workpiece is provided on the first vehicle, a second fixed positioning structure for positioning the workpiece is provided on the second vehicle, a third fixed positioning structure and a movable positioning structure are provided at the third vehicle, and the movable positioning structure can approach the third fixed positioning structure to cooperate with the third fixed positioning structure to position the workpiece.

[0018] Further, the loading device includes:

[0019] A first storage mechanism, including a first stacking component and a second stacking component. The first stacking component stacks and accommodates trays full of workpieces to be detected, and the second stacking component is adapted to receive empty trays;

[0020] A first tray positioning mechanism, adapted to receive and position a tray full of workpieces;

[0021] A first transfer mechanism, adapted to move to the first stacking component to receive the tray of the first stacking component and transfer it to the first tray positioning mechanism, or transfer the empty tray at the first tray positioning mechanism to the second stacking component;

[0022] Wherein, the first handling device is adapted to carry the workpiece away from the loading device at the first tray positioning mechanism.

[0023] Further, the number of the loading device and the first handling device is one group each, and the first stacking component, the second stacking component, and the first tray positioning mechanism are arranged side by side along a first horizontal direction.

[0024] Further, the unloading device includes:

[0025] A second storage mechanism, including a third stacking component and a fourth stacking component. The third stacking component stacks and accommodates empty trays, and the fourth stacking component is adapted to receive trays full of workpieces after detection;

[0026] A second tray positioning mechanism, adapted to receive and position an empty tray;

[0027] A second transfer mechanism, adapted to move to the third stacking component to receive the tray of the third stacking component and transfer it to the second tray positioning mechanism, or transfer the full tray at the second tray positioning mechanism to the fourth stacking component;

[0028] A waste collection box;

[0029] Wherein, the second handling device is adapted to handle the qualified workpieces after inspection to the trays at the second tray positioning mechanism, and handle the unqualified workpieces after inspection to the waste collection box.

[0030] Further, 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 number of the blanking devices is two groups and they are arranged side by side along the first horizontal direction, and the number of the second handling devices is two groups and they correspond to the blanking devices one by one.

[0031] Further, the first handling device and the second handling device have the same structure. The first handling device includes a manipulator and a nozzle mechanism. The nozzle mechanism includes:

[0032] A mounting seat, which is in transmission connection with the manipulator;

[0033] A nozzle assembly, which is slidably arranged on the mounting seat along the length direction of the mounting seat. 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 at both ends and several second nozzle assemblies located between the two first nozzle assemblies;

[0034] A variable pitch cylinder, which is arranged on the mounting seat and is adapted to drive the first nozzle assembly to approach or move away from the second nozzle assembly;

[0035] A reset assembly, which includes a mounting shaft and a reset spring sleeved outside the mounting shaft. The mounting shaft is fixed to the mounting seat and penetrates through several nozzle assemblies. The number of the reset springs is several, and they abut between adjacent two second nozzle assemblies;

[0036] Wherein, when the variable pitch cylinder drives the first nozzle assembly to approach and push the second nozzle assembly, the second nozzle assemblies approach each other and compress the reset spring. When the variable pitch cylinder drives the first nozzle assembly to move away from the second nozzle assembly, the second nozzle assemblies are adapted to move away from each other under the resilience of the reset spring.

[0037] 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

[0038] Figure 1 It is a structural schematic diagram of the appearance detection system of the present invention.

[0039] 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.

[0040] 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.

[0041] Figure 4 It is a structural schematic diagram of the first transfer device in the present invention.

[0042] Figure 5 It is a structural schematic diagram of the first turning mechanism in the present invention.

[0043] Figure 6 It is a schematic diagram of the exploded structure of the first flip seat in the present invention.

[0044] Figure 7 It is a structural schematic diagram of the transfer device in the present invention.

[0045] Figure 8 It is a structural schematic diagram of the third turning mechanism in the present invention.

[0046] Figure 9 It is a schematic diagram of the partial exploded structure of the third turning mechanism in the present invention.

[0047] Figure 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.

[0048] Figure 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.

[0049] Figure 12It is a schematic installation diagram of the loading device and the first handling device in the present invention.

[0050] Figure 13 It is a schematic installation diagram of the first mounting rack and the first storage mechanism in the present invention.

[0051] Figure 14 It is Figure 13 A schematic structural diagram in another direction.

[0052] Figure 15 It is a schematic structural diagram of the first transfer mechanism in the present invention.

[0053] Figure 16 It is a schematic installation diagram of the first mounting rack and the first tray positioning mechanism in the present invention.

[0054] Figure 17 It is Figure 16 A schematic structural diagram in another direction.

[0055] Figure 18 It is a schematic installation diagram of the unloading device and the second handling device in the present invention.

[0056] Figure 19 It is a schematic structural diagram of the nozzle mechanism in the present invention.

[0057] Figure 20 It is Figure 19 A schematic structural diagram in another direction.

[0058] Figure 21 It is Figure 19 A schematic structural diagram after removing the nozzle assembly.

[0059] Figure 22 It is a schematic structural diagram of the nozzle assembly in the present invention.

[0060] Figure 23 It is Figure 22 A schematic structural diagram in another direction.

[0061] Explanation of reference numerals:

[0062] 100. First transfer device; 110. First flipping 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 flipping seat; 1141. First seat body; 1142. First carrier plate; 1143. First flipping motor; 1144. Guide rod; 1145. First spring; 1146. Limit block; 1147. Adjusting bolt; 115. Rotation assembly; 1151. Rotation motor; 1152. Rotation block; 120. First transfer module; 200. Second transfer device; 210. Second flipping 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 support structure; 422. Second stacking assembly; 4221. Second frame; 4222. Second support 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 support structure; 4311. First avoidance hole; 4312. Positioning groove; 440. First transfer mechanism; 441. Cross-movement module; 442. Lifting module; 443. Carrier table; 450. Tray; 500. Unloading device; 510. Second mounting frame; 520. Second 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. Suction nozzle mechanism; 621. Mounting seat; 6211. First mounting surface; 6212. Second mounting surface; 6213. Second avoidance hole; 622. Suction nozzle assembly; 622a. First suction nozzle assembly; 622b. Second suction nozzle assembly; 6221. Mounting block; 6222. Suction nozzle part; 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. Connector; 627. Pushing part; 628. Limiting part; 700. Second handling device; 800. Transfer device; 810. Third flipping mechanism; 811. Third carrier; 8111. Third fixed positioning structure; 8112. Third bearing surface; 8113. First mating block; 8114. Second mating block; 812. Second flipping seat; 8121. Second seat body; 8122. Second carrier plate; 8123. Second floating assembly;8124. Second reversing motor; 813. First side-pushing assembly; 8131. First transmission plate; 8132. First pushing block; 8133. First side-pushing cylinder; 8134. First pushing block seat; 8135. Second spring; 814. Second side-pushing assembly; 8141. Second transmission plate; 8142. Second pushing block; 8143. Second side-pushing cylinder; 8144. Second pushing block seat; 8145. Third spring; 820. Connecting frame; Detailed implementation manners

[0063] To make the above objects, features, and advantages of the present application more obvious and understandable, the following will describe the detailed implementation manners of the present application in conjunction with the accompanying drawings. It can be understood that the specific embodiments described herein are only used to explain the present application, rather than limiting the present application. Additionally, it should be noted that for the sake of description, only the parts related to the present application rather than all the structures are shown in the drawings. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of the present application.

[0064] The terms "including" and "having" and any variations thereof in the present application are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the listed steps or units, but optionally further includes steps or units not listed, or optionally further includes other steps or units inherent to these processes, methods, products, or devices.

[0065] Referring to

[0066] Please refer to Figures 1 to 3As shown in the figure, the appearance detection system corresponding to a preferred embodiment of the present invention includes: at least one first transfer device 100, which is arranged side by side along the first horizontal direction. The first transfer device 100 includes a first flipping mechanism 110 and a first transfer module 120 that is drivingly connected to the first flipping mechanism 110. The first flipping mechanism 110 includes a first carrier 111 for accommodating workpieces. 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, which includes a first detection camera 310 corresponding to the first transfer device 100 one by one; a feeding device 400, which is used for feeding the workpieces to be detected; a discharging device 500, which is used for receiving the detected workpieces; a first handling device 600, which is used for transferring the workpieces at the feeding device 400 to the first transfer device 100; a second handling device 700, which is used for transferring the detected workpieces to the discharging device 500; wherein, the plurality of first carriers 111 on the first flipping mechanism 110 are adapted to sequentially flow through the corresponding first detection cameras 310 along the second horizontal direction under the drive of the first transfer module 120.

[0067] With the above structure of the present invention, the first handling device 600 can transfer the workpieces to be detected from the feeding device 400 to the first transfer device 100, and the second handling device 700 can transfer the detected workpieces to the discharging device 500, thereby realizing the automatic loading and unloading of workpieces, avoiding manual picking and placing of materials, and improving the detection efficiency; the first transfer device 100 includes a first flipping mechanism 110 and a first transfer module 120 that is drivingly connected to the first flipping mechanism 110. A plurality of first carriers 111 are provided on the first flipping mechanism 110. The first transfer module 120 is adapted to drive the plurality of first carriers 111 to sequentially flow through the first detection camera 310, so that a single first detection camera 310 can detect the workpieces on the plurality of first carriers 111, which is beneficial to increasing the number of first carriers 111 while avoiding the increase of cameras, controlling costs while effectively increasing the number of workpieces detected by the detection system at one time.

[0068] 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 .

[0069] 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.

[0070] 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.

[0071] Further, in this embodiment, the number of the first transfer device 100 and the second transfer device 200 is four groups each. 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. The first carrier 111 is adapted to sequentially flow under the corresponding first detection camera 310 driven by the first transfer module 120, so that the first detection camera 310 can take pictures of the workpiece on the first carrier 111. The second carrier 211 is adapted to sequentially flow under the corresponding second detection camera 320 driven by the second transfer module 220, so that the second detection camera 320 can take pictures of the workpiece on the second carrier 211. When the first flipping mechanism 110 and the second flipping mechanism 210 are in the docking station, the first flipping mechanism 110 and the second flipping mechanism 210 are arranged side by side in the first horizontal direction to ensure that the first flipping mechanism 110 and the second flipping mechanism 210 can be successfully docked.

[0072] Further, referring to Figures 4 to 6 As shown, both the first transfer module 120 and the second transfer module 220 are conventional linear modules, which will not be elaborated in this invention. The first flipping mechanism 110 includes a bottom plate 112, a translation assembly 113, a first flipping seat 114, and a rotation assembly 115. The bottom plate 112 is fixed to the driving end of the first transfer module 120. The translation assembly 113 is arranged on the bottom plate 112 and is adapted to move along the first horizontal direction. The first flipping 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 adapted to drive the first flipping seat 114 to move synchronously along the first horizontal direction. The rotation assembly 115 is arranged on the first flipping seat 114 and is adapted to rotate around an axis perpendicular to the second horizontal direction. The number of the rotation assemblies 115 is multiple, and the first carriers 111 are respectively arranged on different rotation assemblies 115.

[0073] By adopting the above structure, the first carrier 111 is adapted to arrange the reverse side of the workpiece upward under the adjustment of the first flipping seat 114 to ensure that the first detection camera 310 can reliably obtain the reverse image of the workpiece. And the first flipping seat 114 is adapted to drive the first carrier 111 to rotate around an axis parallel to the second horizontal direction and cooperate with the rotation assembly 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.

[0074] Further, the translation component 113 includes a translation plate 1131 and a translation cylinder 1132. A slide rail structure is provided between the translation plate 1131 and the bottom plate 112, enabling the translation plate 1131 to slide along the first horizontal direction. The translation cylinder 1132 is a linear cylinder arranged along the first horizontal direction. It is provided on the bottom plate 112, and its telescopic end is connected to the translation plate 1131, thereby driving the translation plate 1131 to slide relative to the bottom plate 112.

[0075] In this embodiment, the translation plate 1131 is a long strip plate body, and its length direction is parallel to the second horizontal direction. The number of translation cylinders 1132 is two, and they are respectively 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, improving the stability and reliability during the movement of the translation plate 1131.

[0076] In addition, the translation component 113 further includes mounting plates 1133 fixed on the surface of the translation plate 1131 facing away from the bottom plate 112. The number of mounting plates 1133 is two, and they are respectively arranged on both sides of the translation plate 1131 in the length direction. The first flipping seat 114 is connected between the two mounting plates 1133. The first flipping seat 114 is a long strip-shaped structure with its length direction parallel to the second horizontal direction, and both ends of its length direction are rotatably inserted through different mounting plates 1133.

[0077] 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 .

[0078] 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.

[0079] 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.

[0080] Preferably, the number of guide rods 1144 is four, and they are respectively arranged at the four corners of the first carrier plate 1142. The first springs 1145 correspond to the guide rods 1144 one by one to ensure the smoothness during the floating process. Preferably, an adjusting bolt 1147 is threadedly connected to the limit block 1146. The axial direction of the adjusting bolt 1147 is perpendicular to the plate surface of the first carrier plate 1142, and the adjusting bolt 1147 is adapted to abut against the end face of the first carrier plate 1142 to prevent the first carrier plate 1142 from detaching from the guide rod 1144. By rotating the adjusting bolt 1147, it is adapted to adjust the compression amount of the first spring 1145, and further adjust the buffering performance to meet different requirements.

[0081] Further, the structure of the second flipping mechanism 210 is the same as that of the first flipping mechanism 110, which will not be elaborated herein. When both the first flipping mechanism 110 and the second flipping mechanism 210 are in the docking station, the first flipping seats 114 of the first flipping mechanism 110 and the second flipping mechanism 210 can flip towards each other, so that the first bearing surface 1111 of the first carrier 111 and the second bearing surface (not shown in the figure) of the second carrier 211 are in a relatively arranged docking state. The first bearing surface 1111 and the second bearing surface are perpendicular to the first horizontal direction. Then, the translation assembly 113 can drive the first flipping seats 114 of the first flipping mechanism 110 and the second flipping mechanism 210 to approach each other, so that the workpiece on the first carrier 111 is transferred to the second carrier 211.

[0082] Further, the first carrier 111 is an adsorption type carrier. Adsorption holes are formed on the first bearing surface 1111 of the first carrier 111, so that the front surface of the workpiece can be reliably adsorbed on the first bearing surface 1111. A first fixed positioning structure 1112 is arranged on the first bearing surface 1111. The first fixed positioning structure 1112 is adapted to position the workpiece in the direction perpendicular to the axis of the rotating motor 1151. In this embodiment, the workpiece has a square structure with a hole in the middle. The first fixed positioning structure 1112 is a positioning block whose outer contour matches 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 positioning the workpiece in both the length direction and the width direction of the first carrier plate 1142. The structure of the second carrier 211 is similar to that of the first carrier 111. It is also an adsorption type carrier. A second fixed positioning structure (not shown in the figure) for positioning the workpiece is arranged on the second carrier 211, which will not be elaborated herein.

[0083] In the present invention, by providing a first fixed positioning structure 1112 on the first carrier 111 and a second fixed positioning structure on the second carrier 211, the positional accuracy of the workpiece placed on the first carrier 111 and the second carrier 211 is high, ensuring that the adsorption holes thereon can effectively correspond to the workpiece, improving the reliability of the workpiece on the first carrier 111 and the second carrier 211. Moreover, by adopting a fixed positioning structure, the structures of the first carrier 111 and the second carrier 211 can be made simpler and smaller, and the adjacent carriers can be more compact, enabling the detection areas of the first detection camera 310 and / or the second detection camera 320 to cover more carriers and improving the detection efficiency.

[0084] However, when adopting a fixed positioning structure, when the first handling device 600 feeds the workpiece onto the first carrier 111, the accuracy requirements for the first handling device 600 are relatively high, which is not conducive to cost reduction. Moreover, the first handling device 600 needs to finely adjust its position, and the efficiency is extremely low. While adopting a movable positioning structure will result in a complex structure and an increased volume of the positioning structure.

[0085] As a preferred embodiment, referring to Figures 1 to 3 As shown, the detection system further includes a transfer device 800 provided at the loading station. The number of transfer devices 800 is multiple and corresponds to the first transfer device 100 one by one. Referring to Figures 7 to 11 As shown, the transfer device 800 includes a third flipping mechanism 810. The third flipping mechanism 810 includes a plurality of third carriers 811 corresponding to the first carrier 111 one by one. The first handling device 600 is adapted to carry the workpiece to the third carrier 811. The first flipping mechanism 110 is adapted to be moved to the loading station driven by the first transfer module 120 and dock with the third flipping mechanism 810 so as to transfer the workpiece on the third carrier 811 to the first carrier 111.

[0086] Specifically, the transfer device 800 includes a connecting frame 820. The third flipping mechanism 810 includes a second flipping seat 812 provided on the connecting frame 820. The second flipping seat 812 can rotate around an axis parallel to the second horizontal direction. The third carrier 811 is provided on the second flipping seat 812. The workpiece is adapted to be placed on the third carrier 811 with its front facing away from the third carrier 811. A third fixed positioning structure 8111 is provided on the third carrier 811, and a movable positioning structure is provided on the second flipping seat 812. The movable positioning structure can approach the third fixed positioning structure 8111 to cooperate with the third fixed positioning structure 8111 to position the workpiece. When the first flipping mechanism 110 is at the loading station, the third flipping mechanism 810 and the first flipping mechanism 110 are arranged side by side along the first horizontal direction to facilitate their docking.

[0087] With the above structure adopted in the present invention, the third carrier 811 positions the workpiece through the movable positioning structure in cooperation with the third fixed positioning structure 8111. When the first handling device 600 feeds the workpiece onto the third carrier 811, the requirement for the position accuracy of the workpiece is relatively low, facilitating the efficient feeding of the first handling device 600. And when the workpiece is placed on the third carrier 811, the movable positioning structure can reliably approach the third fixed positioning structure 8111 to achieve precise positioning of the workpiece.

[0088] The second flipping base 812 includes a second base body 8121, a second carrier plate 8122, a second floating assembly 8123 and a second flipping motor 8124. The second base body 8121 is rotatably connected to the connecting frame 820. The second flipping motor 8124 is arranged on the connecting frame 820, and its output end is in transmission connection with the second base body 8121 to drive the second base body 8121 to rotate. The second floating assembly 8123 is received between the second base 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, and it can drive the second carrier plate 8122 to float in the direction perpendicular to its plate surface to buffer the third carrier 811, which will not be elaborated herein in the present invention.

[0089] The loading direction of the third carrier 811 is perpendicular to the plate surface of the second carrier plate 8122, and the reverse side of the workpiece is loaded on the third carrier 811. The third carrier 811 is fixed on the plate surface of the second carrier plate 8122. The length direction of the second carrier plate 8122 is parallel to the second horizontal direction, and the third carriers 811 are arranged side by side at intervals along the length direction of the second carrier plate 8122. The third carrier 811 is also an adsorption type carrier, which has a third loading surface 8112 for loading and adsorbing the reverse side of the workpiece. The third loading surface 8112 is parallel to the plate surface of the second carrier plate 8122, and the loading direction of the third carrier 811 is specifically the direction perpendicular to the third loading surface 8112.

[0090] The third fixed positioning structure 8111 includes a first mating block 8113 and a second mating block 8114. The first mating block 8113 is located on one side of the third loading surface 8112 in the length direction of the second carrier plate 8122, and the second mating block 8114 is located on one side of the third loading surface 8112 in the width direction of the second carrier plate 8122. The movable positioning structure includes a first side pushing assembly 813 and a second side pushing assembly 814 arranged on the second carrier plate 8122. The first side pushing assembly 813 is adapted to push the workpiece against the first mating block 8113 to precisely position the workpiece in the length direction of the second carrier plate 8122, and the second side pushing assembly 814 is adapted to push the workpiece against the second mating block 8114 to precisely position the workpiece in the width direction of the second carrier plate 8122.

[0091] Specifically, the first side-pushing component 813 includes a first transmission plate 8131, a first pushing block 8132, and a first side-pushing cylinder 8133. A slide rail structure is provided between the first transmission plate 8131 and the second carrier plate 8122 to enable it to slide along the length direction of the second carrier plate 8122. The first pushing block 8132 is arranged on the first transmission plate 8131, and there are multiple first pushing blocks 8132 to correspond to the first mating blocks 8113 on different third carriers 811 one by one. The first pushing block 8132 and the first mating block 8113 are arranged opposite to each other in the length direction of the second carrier plate 8122. The first side-pushing 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-pushing cylinder 8133 drives the first transmission plate 8131 to slide along the length direction of the second carrier plate 8122, multiple first pushing blocks 8132 all move towards the corresponding first mating blocks 8113 to simultaneously push multiple workpieces against different first mating blocks 8113.

[0092] The second side-pushing component 814 includes a second transmission plate 8141, a second pushing block 8142, and a second side-pushing cylinder 8143. A slide rail structure is provided between the second transmission plate 8141 and the second carrier plate 8122 to enable it to slide along the width direction of the second carrier plate 8122. The second pushing block 8142 is arranged on the second transmission plate 8141, and there are multiple second pushing blocks 8142 to correspond to the second mating blocks 8114 on different third carriers 811 one by one. The second pushing block 8142 and the second mating block 8114 are arranged opposite to each other in the width direction of the second carrier plate 8122. The second side-pushing 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-pushing cylinder 8143 drives the second transmission plate 8141 to slide along the width direction of the second carrier plate 8122, multiple second pushing blocks 8142 all move towards the corresponding second mating blocks 8114 to simultaneously push multiple workpieces against different second mating blocks 8114.

[0093] Preferably, a first push block seat 8134 corresponding to the first push block 8132 one by one is arranged on the first transmission plate 8131. The first push block 8132 is 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. The telescopic direction of the second spring 8135 is parallel to the sliding direction of the first push block 8132. The second spring 8135 is adapted to buffer the workpiece when the first push block 8132 pushes against the workpiece. A second push block seat 8144 corresponding to the second push block 8142 one by one is arranged on the second transmission plate 8141. The second push block 8142 is 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 telescopic direction of the third spring 8145 is parallel to the sliding direction of the second push block 8142. The third spring 8145 is adapted to buffer the workpiece when the second push block 8142 pushes against the workpiece.

[0094] Further, referring to Figures 12 to 14 As shown, the feeding device 400 includes a first mounting frame 410, a first storage mechanism 420, a first tray positioning mechanism 430, and a first transfer mechanism 440. The first mounting frame 410 includes two brackets 411 arranged opposite to each other along the second horizontal direction. The first storage mechanism 420 and the first tray positioning mechanism 430 are respectively mounted on different brackets 411 on both sides in the second horizontal direction. The first transfer mechanism 440 is received between the two brackets 411 and is located below the first storage mechanism 420 and the first tray positioning mechanism 430. The first storage mechanism 420 includes a first stacking assembly 421 and a second stacking assembly 422. The first stacking assembly 421 stacks and accommodates trays 450 filled with workpieces to be detected. The second stacking assembly 422 is adapted to receive the empty trays 450. The first tray positioning mechanism 430 is adapted to receive and position the trays 450 full of workpieces. The first transfer mechanism 440 is adapted to move to the first stacking assembly 421 to receive the tray 450 of the first stacking assembly 421 and transfer it to the first tray positioning mechanism 430, or transfer the empty tray 450 at the first tray positioning mechanism 430 to the second stacking assembly 422. The first handling device 600 is adapted to carry the workpieces away from the feeding device 400 at the first tray positioning mechanism 430. In this embodiment, the number of the feeding devices 400 is 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.

[0095] Specifically, the first stacking component 421 is used to stack and accommodate the trays 450 full of workpieces to be detected. The first transfer mechanism 440 can move to the position of the first stacking component 421. The first stacking component 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 to facilitate the picking of materials by the first handling device 600. The second stacking component 422 is used to receive the empty trays 450. When all the workpieces in the tray 450 at the first tray positioning mechanism 430 are transported away, the first transfer mechanism 440 can move the empty tray 450 to the position of the second stacking component 422 so that the second stacking component 422 stacks the empty trays 450. Preferably, in this embodiment, the number of the first stacking component 421 and the second stacking component 422 is two each to improve the storage capacity.

[0096] Further, the first stacking component 421 includes a first frame body 4211 and a first support 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 tray 450 is adapted to be stacked and accommodated in the first frame body 4211 from the upper side of the first frame body 4211. The first support structure 4212 is formed by the cooperation of a cylinder and a support block. The first support structure 4212 is adapted to move into the first frame body 4211 along the second horizontal direction to support under the tray 450, or the first support structure 4212 is adapted to move away from the first frame body 4211 along the second horizontal direction so as not to hinder the outflow of the tray 450 from the lower side of the first frame body 4211. The first support structure 4212 can be arranged on the first mounting rack 410 or the first frame body 4211 as required. In this embodiment, it is preferably arranged on the first mounting rack 410 to improve the stability after the installation of the first support structure 4212. The number of the first support structures 4212 is two, and they are respectively arranged on different brackets 411.

[0097] The second stacking component 422 includes a second frame body 4221 and a second support structure 4222. The structure of the second frame body 4221 is the same as that of the first frame body 4211. Both sides of the second frame body 4221 are respectively installed on different brackets 411. The second support structure 4222 is adapted to support the empty tray 450. The second support structure 4222 is a turning block, which is turnably installed on the first frame body 4211. When the tray 450 moves into the second frame body 4221 from the lower side of the second frame body 4221, the second support structure 4222 can turn upward to avoid interference, and when the tray 450 is no longer in contact with the second support structure 4222, the second support structure 4222 turns downward to reset to reliably support the tray 450. The number of the second support structures 4222 is also two, and they are arranged oppositely on both sides of the second frame body 4221.

[0098] In addition, the first storage mechanism 420 further includes a drawer assembly 423. The drawer assembly 423 includes a first slide rail 4231, a first slider 4232, and a drawer plate 4233. The length direction of the first slide rail 4231 is parallel to the first horizontal direction. The first slide rails 4231 correspond to the brackets 411 one by one. The number of drawer plates 4233 is two, and they are respectively fixed on different first slide rails 4231. Both the first frame 4211 and the second frame 4221 are fixed on the drawer plate 4233. First sliders 4232 are fixed on both brackets 411, and each bracket 411 is provided 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 on different brackets 411. By adopting the above structure, the first frame 4211 and the second frame 4221 can move along the first horizontal direction as needed, so as to facilitate the loading and unloading of the tray 450.

[0099] Preferably, a push-pull plate 4234 is fixed between the two drawer plates 4233. 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. Operators can push and pull the first frame 4211 and the second frame 4221 by holding the handle 4235, which is more convenient to operate.

[0100] Furthermore, referring to Figure 15 As shown, the first transfer mechanism 440 includes a transverse movement module 441, a lifting module 442 connected to the transverse movement module 441, and a carrier 443 connected to the lifting module 442. The transverse movement module 441 is adapted to drive the carrier 443 to move along the first horizontal direction. The lifting module 442 is adapted to drive the carrier 443 to lift and lower along the vertical direction. The carrier 443 is adapted to support the tray 450. Preferably, the carrier 443 is a vacuum adsorption table to improve the reliability during the transfer process.

[0101] Referring to Figure 16 and Figure 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. A first avoidance hole 4311 is formed through the positioning plate 431 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 surrounds 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 adapted to move upward under the drive of the lifting module 442, and then embed and position the tray 450 in the positioning groove 4312. The first avoidance hole 4311 is adapted to avoid the storage area of the tray 450 where workpieces are stored, so as not to hinder the first handling device 600 from handling workpieces.

[0102] 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 it is necessary to load the tray 450 into the positioning groove 4312, it is adapted to move along the second horizontal direction to the lower part of the notch of the positioning groove 4312 to support the tray 450, so that the tray 450 is vertically limited between the bottom of the positioning groove 4312 and the third support structure 432. When it is necessary to remove the tray 450 from the positioning groove 4312, it is adapted to move away from the lower part of the notch of the positioning groove 4312 along the second horizontal direction to avoid hindering the first transfer mechanism 440 from removing the tray 450. Preferably, the number of the first tray positioning mechanisms 430 is two, and they are arranged side by side along the first horizontal direction, so that the first transfer mechanism 440 can continuously perform the loading and unloading operations.

[0103] Further, referring to Figure 1 and Figure 18 As shown, the blanking device 500 includes a second mounting frame 510, a second storage mechanism 520 arranged on the second mounting frame 510, a second tray positioning mechanism 530, and a second transfer mechanism 540 located below the second storage mechanism 520 and the second tray positioning mechanism 530. The second storage mechanism 520 includes a third stacking component 521 and a fourth stacking component 522. The third stacking component 521 stacks and accommodates the empty trays 450, and the fourth stacking component 522 is adapted to receive the trays 450 full of workpieces after full-load detection. The structure of the third stacking component 521 is the same as that of the first stacking component 421, and the structure of the fourth stacking component 522 is the same as that of the second stacking component 422. The second transfer mechanism 540 is adapted to move to the third stacking component 521 to receive the tray 450 of the third stacking component 521 and transfer it to the second tray positioning mechanism 530, or transfer the full tray 450 at the second tray positioning mechanism 530 to the fourth stacking component 522. The second handling device 700 is adapted to handle the qualified workpieces after detection into the tray 450 at the second tray positioning mechanism 530. In addition, the blanking device 500 further includes a waste collection box 550, and the second handling device 700 is adapted to handle the unqualified workpieces after detection into the waste collection box 550. The structure of the blanking device 500 is similar to that of the loading device 400, and the structure of the blanking device 500 will not be described in detail herein.

[0104] 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.

[0105] Further, refer to Figure 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.

[0106] Further, the mounting base 621 has a first mounting surface 6211 and a second mounting surface 6212 facing away from each other in its width direction. A slide rail assembly 625 is provided on the first mounting surface 6211 of the mounting base 621. The slide rail assembly 625 includes a second slide rail 6251 and a second slider 6252 slidably connected to the second slide rail 6251. The second slide rail 6251 is fixed to the first mounting surface 6211 and its length direction is parallel to the length direction of the mounting base 621. The nozzle assembly 622 is fixed to the second slider 6252. The number of the second sliders 6252 is multiple and corresponds to the nozzle assembly 622 one by one. Preferably, the number of the slide rail assemblies 625 is two groups and they are arranged at intervals in the vertical direction. The parts of the nozzle assembly 622 near the upper side and the lower side are respectively arranged on different slide rail assemblies 625, so that the installation and sliding of the nozzle assembly 622 are more reliable. The reset assembly 624 is located between the two groups of slide rail assemblies 625 and corresponds to the part of the nozzle assembly 622 near the middle. The number of the reset assemblies 624 is two groups and they are arranged at intervals along the vertical direction to ensure the reliable reset of the nozzle assembly 622.

[0107] The mounting base 621 is provided with a second avoidance hole 6213 penetrating along its width direction, and the second avoidance hole 6213 extends towards both sides of the mounting base 621 along the length direction of the mounting base 621. The variable pitch cylinder 623 is a linear cylinder arranged along the length direction of the mounting base 621, and it is fixed to the second mounting surface 6212 of the mounting base 621, making the installation of the variable pitch cylinder 623 more convenient and having a large movement space. The number of the variable pitch cylinders 623 is two, and the output ends of the two variable pitch cylinders 623 are respectively in transmission cooperation with different first nozzle assemblies 622a through the second avoidance hole 6213. Specifically, connectors 626 are provided on both of the two first nozzle assemblies 622a, and the connectors 626 extend to the second mounting surface 6212 through the second avoidance hole 6213 to be connected to the output ends of the variable pitch cylinders 623. A plurality of nozzle assemblies 622 are in an expanded state in response to the variable pitch cylinder 623 switching to the extended state, and are in a retracted state in response to the variable pitch cylinder 623 switching to the contracted state. When the variable pitch cylinder 623 is in the extended state, the distance between adjacent two nozzle assemblies 622 is the same. When the variable pitch cylinder 623 is in the contracted state, the distance between adjacent two nozzle assemblies 622 is also the same.

[0108] Further, a pushing member 627 is provided on the second nozzle assembly 622b adjacent to the first nozzle assembly 622a. The pushing member 627 protrudes from the side of the second nozzle assembly 622b facing the first nozzle assembly 622a; and / or a pushing member 627 protrudes from the side of the first nozzle assembly 622a facing the second nozzle assembly 622b. When the first nozzle assembly 622a approaches the second nozzle assembly 622b, the first nozzle assembly 622a is driven by the pushing member 627 to maintain a preset distance between the first nozzle assembly 622a and the second nozzle assembly 622b, and the pushing member 627 is adapted to transmit a pushing force of approaching each other to the second nozzle assembly 622b.

[0109] In this embodiment, the pushing member 627 is specifically provided on the second nozzle assembly 622b. The pushing member 627 is a threaded member threadedly connected to the second nozzle assembly 622b. The axial direction of the pushing member 627 is parallel to the length direction of the mounting base 621. The protruding amount of the pushing member 627 can be adjusted as needed, so as to adjust the distance between the first nozzle assembly 622a and the second nozzle assembly 622b, so as to ensure that the distances between adjacent nozzle assemblies 622 are all kept consistent after the nozzle assemblies 622 are closed.

[0110] Preferably, a plurality of limiting members 628 are provided on the mounting base 621. The limiting members 628 correspond to the second nozzle assemblies 622b. When the first nozzle assembly 622a is away from the second nozzle assembly 622b, the return spring 6242 is adapted to push the second nozzle assembly 622b against the limiting members 628 to ensure that the distances between adjacent second nozzle assemblies 622b are all kept consistent, and the distance between the first nozzle assembly 622a and the second nozzle assembly 622b can be realized by adjusting the telescopic stroke of the variable-distance cylinder 623.

[0111] Further, in this embodiment, the number of the second nozzle assemblies 622b is specifically three. The pushing member 627 is provided on the second nozzle assembly 622b adjacent to the first nozzle assembly 622a. The limiting members 628 correspond one-to-one to the second nozzle assemblies 622b provided with the pushing member 627. The second nozzle assembly 622b in the middlemost can be fixed relative to the mounting base 621.

[0112] Further, the nozzle assembly 622 includes a mounting block 6221, a nozzle member 6222, and a lifting cylinder 6223. The mounting block 6221 is slidably connected to the mounting seat 621, that is, it is fixed to the second slider 6252. The mounting block 6221 is provided with a guiding hole 6224 penetrating in the length direction of the mounting seat 621. The inner diameter of the guiding hole 6224 is adapted to the outer diameter of the mounting shaft 6241, so that the mounting block 6221 is sleeved outside the mounting shaft 6241, and the return spring 6242 is adapted to push against the mounting block 6221. The nozzle member 6222 is slidably mounted on the mounting block 6221 in the vertical direction. The lifting cylinder 6223 is mounted on the mounting block 6221 and is in transmission connection with the nozzle member 6222. The lifting cylinder 6223 is adapted to drive the nozzle member 6222 to lift in the vertical direction, so as to facilitate the independent picking and placing of workpieces by each nozzle member 6222. A convex portion 6225 is provided on the mounting block 6221 corresponding to the limiting member 628. The convex portion 6225 extends from the second avoidance hole 6213 to the second mounting surface 6212 and is oppositely arranged with the limiting member 628 in the length direction of the mounting seat 621. When the return spring 6242 pushes the mounting block 6221, the convex portion 6225 is adapted to abut against the limiting member 628.

[0113] Further, the structure of the second handling device 700 is the same as that of the first handling device 600, and will not be described in detail herein. When the plurality of nozzle assemblies 622 of the second handling device 700 are in the unfolded state, they correspond one by one to the plurality of second carriers 211 on the second flipping mechanism 210.

[0114] The working process of the appearance detection system of the present invention is as follows: The feeding device 400 feeds the tray 450 full of workpieces to be detected. A plurality of suction nozzle assemblies 622 of the first handling device 600 switch to the retracted state to simultaneously grasp a plurality of workpieces in the tray 450, and then the plurality of suction nozzle assemblies 622 switch to the deployed state and transfer them to a plurality of third carriers 811 of the transfer device 800. At this time, the front side of the workpiece faces away from the third carrier 811. The first carrier 111 is transferred to the loading station under the drive of the first transfer module 120 to be docked with the third carrier 811, so that the workpiece is transferred to the first carrier 111. At this time, the back side of the workpiece faces away from the first carrier 111. Then the first carrier 111 is transferred to the docking station, so that the workpieces on a plurality of first carriers 111 can all be detected by the first detection 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 at the docking station, the first carrier 111 and the second carrier 211 are docked to transfer the workpiece to the second carrier 211. At this time, the front side of the workpiece faces away from the second carrier 211. Then the second carrier 211 is transferred to the unloading station, so that the workpieces on a plurality of second carriers 211 can all be detected by the second detection camera 320. After the detection is completed, a plurality of suction nozzle assemblies 622 of the second handling device 700 switch to the deployed state to simultaneously grasp the workpieces on different second carriers 211, and then the plurality of suction nozzle assemblies 622 switch to the retracted state. The second handling device 700 transfers the unqualified workpieces to the waste collection box 550 and transfers the qualified workpieces to the empty tray 450 loaded by the unloading device 500.

[0115] The above are only the embodiments of the present application, and do not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made by using the content of the specification and drawings of the present application, or directly or indirectly applied in other related technical fields, shall be included in the patent protection scope of the present application by the same token.

Claims

1. An appearance detection 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 transfer device (800) corresponding one-to-one to the first transfer device (100); the transfer device (800) comprising a third flipping mechanism (810); the third flipping mechanism (810) comprising a plurality of third carriers (811) corresponding one-to-one to the first carriers (111); 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) is used to transport the workpiece at the loading device (400) to the third carrier (811); the first flipping mechanism (110) is adapted to be moved to the loading station under the drive of the first transfer module (120) and to be connected to the third flipping mechanism (810) so that the workpiece on the third carrier (811) is transferred to the first carrier (111); 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); The first carrier (111) and the third carrier (811) are both adsorption-type carriers; the first carrier (111) is provided with a first fixed positioning structure (1112) 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.

2. The appearance detection system according to claim 1, wherein, 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 detection system according to claim 2, wherein 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 detection system according to claim 2, characterized in that, The second carrier (211) is a suction-type carrier, and a second fixed positioning structure for positioning the workpiece is provided on the second carrier (211).

5. The appearance detection 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).

6. The appearance detection system according to claim 5, wherein, 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.

7. The appearance detection system according to claim 1, wherein 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).

8. The appearance detection system according to claim 7, wherein 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).

9. The appearance detection system according to claim 1, wherein, 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); 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 passes through several of the suction nozzle assemblies (622). There are several reset springs (6242), which are abutted between two adjacent second suction nozzle assemblies (622b). Among them, when the pitch-changing 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 pitch-changing cylinder (623) drives the first suction nozzle assembly (622a) away from the second suction nozzle assembly (622b), the second suction nozzle assemblies (622b) are adapted to move away from each other under the resilience of the reset spring (6242).

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