Product multi-surface appearance visual detection system and detection method thereof

Abstract

The invention discloses a product multi-surface appearance visual detection system and detection method. The detection system comprises a base, a cross beam transversely arranged on the base, a moving seat movably arranged on the cross beam, a clamping device arranged on the moving seat and used for adsorbing and clamping a product, and a first visual detection device arranged on the base and used for detecting the appearance of the back face of the product. The second visual inspection device is perpendicular to the first visual inspection device and located on one side of the first visual inspection device, the transverse driving mechanism is arranged on the cross beam, connected with the movable seat and used for driving the movable seat to move, and the clamping device adsorbs and clamps a product to move to the bottom face of the product to be opposite to the first visual inspection device. One side face is opposite to the second visual detection device; during detection, the rotating seat is driven by the rotating motor to rotate by 90 degrees for multiple times, appearance detection is performed on the four side surfaces of the product in sequence, operation is simple, the product does not need to be clamped again to replace a test surface, and the whole equipment occupies a small space and is suitable for being used in a scene with an effective equipment space.

Description

Technical Field

[0001] The present invention belongs to the technical field of product appearance detection, and in particular relates to a product multi-faceted appearance visual detection system and a detection method thereof. Background Art

[0002] Visual inspection is to use a camera instead of human eyes to perform inspection. It means that the appearance of the inspected object is converted into an analog signal through the machine's camera and transmitted to a dedicated image processing system. The system then converts the pixel distribution, brightness, color and other information in the image into digital signals. The image system performs various operations on these signals to extract the characteristics of the target, and then controls the equipment action on site based on the results of the judgment. This method is used to inspect the dimensional accuracy or appearance of the workpiece, which has the advantages of being fast, accurate and efficient compared to traditional manual inspection.

[0003] There are many institutions for product appearance inspection nowadays, but most of them can only clamp and inspect one surface at a time, and need to re-clamp the product to change the test surface. This is inefficient and reduces production capacity, and is in urgent need of improvement. Summary of the invention

[0004] The purpose of the present invention is to overcome the shortcomings of the prior art and provide a product multi-faceted appearance visual inspection system and an inspection method thereof.

[0005] The present invention adopts the following technical solution:

[0006] A product multi-faceted appearance visual inspection system comprises a base, a crossbeam disposed transversely on the base, a movable seat movably disposed on the crossbeam, a clamping device disposed on the movable seat for adsorbing and clamping a product, a first visual inspection device disposed on the base for inspecting the appearance of the back of the product, a second visual inspection device disposed perpendicularly to the first visual inspection device and located on one side of the first visual inspection device, and a transverse driving mechanism disposed on the crossbeam and connected to drive the movable seat to move, wherein the clamping device adsorbs and clamps the product and moves it to a point where its bottom surface is opposite to the first visual inspection device and one side surface is opposite to the second visual inspection device;

[0007] The clamping device includes a mounting frame that can be moved up and down and is arranged on a movable seat, one or more clamping mechanisms arranged on the mounting frame, and a lifting mechanism arranged on the movable seat and connected to and driving the mounting frame to move up and down. The clamping mechanism includes a clamping seat connected to the mounting frame, a lifting seat that can be moved up and down and is arranged on the clamping seat, a lifting cylinder that is arranged on the clamping seat and connected to and drives the lifting seat to move, a rotating seat that can be rotatably arranged on the lifting seat, a suction nozzle that can adsorb products and is arranged at the front end of the rotating seat, a rotating motor that is arranged on the lifting seat and connected to and drives the rotating seat to rotate, and a negative pressure mechanism that is arranged on the lifting seat and connected to the suction nozzle.

[0008] Preferably, the first visual inspection device includes a first inspection frame arranged on a base, a first assembly frame arranged on the first inspection frame and movable up and down, one or more first cameras arranged on the first assembly frame at intervals, one or more first coaxial light sources arranged on the first assembly frame and located above the one or more first cameras, and a first movable component arranged on the first inspection frame and connected to and driving the first assembly frame to move up and down, wherein the first camera is opposite to the bottom surface of the product adsorbed by the suction nozzle on the relative clamping mechanism.

[0009] Preferably, the second visual inspection device includes a second inspection frame arranged on one side of the first inspection frame, a second assembly frame arranged on the second inspection frame and movable back and forth relative to the first assembly frame, one or more second cameras arranged on the second assembly frame at intervals, one or more second coaxial light sources arranged on the second assembly frame in front of the one or more second cameras, and a second moving component arranged on the second inspection frame to connect and drive the second assembly frame to move, wherein the second camera is opposite to the side of the product adsorbed by the suction nozzle on the clamping mechanism.

[0010] Preferably, the first moving component includes a first moving motor arranged on the first detection frame, a first sliding seat arranged on the first detection frame at one side of the first moving motor, a first sliding block movably arranged on the first sliding seat and connected to the first assembly frame, and a first moving screw nut pair arranged in the first sliding seat and respectively connecting the first sliding block and the first moving motor.

[0011] Preferably, it also includes a third visual inspection device arranged on the base and capable of detecting a limited inclination of the side surface of the product appearance, wherein the third visual inspection device includes one or more bottom cameras arranged vertically upward on the base, a rotating seat arranged on one side of the bottom camera, a third inspection frame arranged on the rotating seat and capable of rotating upward, a third assembly frame arranged on the third inspection frame and capable of moving back and forth, a first or more third cameras arranged on the third assembly frame at intervals, one or more third coaxial light sources arranged on the third assembly frame and located in front of one or more third cameras, a third moving component arranged on the third inspection frame and connected to and driving the third assembly frame to move, a positioning mechanism for fixing the third inspection frame on the rotating seat, and one or more auxiliary light sources arranged on the base opposite to the one or more third cameras.

[0012] Preferably, two rotating holes extending along the rotation direction of the third detection frame are respectively formed on both sides of the rotating seat, and the positioning mechanism includes two positioning holes arranged on both sides of the third detection frame respectively opposite to the two rotating holes and positioning bolts respectively passing through the rotating holes and cooperating with the relative positioning holes.

[0013] Preferably, the auxiliary light source comprises an auxiliary frame arranged on the base opposite to the rotating base, a light source frame arranged on the auxiliary frame opposite to the third coaxial light source, and a light source body arranged at the front end of the light source frame at an upward tilt.

[0014] Preferably, the clamping device also includes a buffer assembly arranged between the lifting seat and the lifting cylinder, the buffer assembly includes a buffer seat connected to the front end of the lifting cylinder, a buffer rod movably arranged in the lifting seat and connected to the lower end of the buffer seat, and a buffer spring sleeved on both ends of the outer periphery of the buffer rod and respectively connecting the buffer seat and the lifting seat.

[0015] Preferably, a plurality of positioning holes are provided on the product, and a plurality of positioning columns which can be embedded in the relative positioning holes are provided on the opposite surface of the rotating seat and the product. When the suction nozzle adsorbs the product, the positioning columns will be embedded in the relative positioning holes to limit the position of the product.

[0016] A method for visual inspection of multi-faceted appearance of a product, characterized in that the inspection is performed based on any of the above-mentioned inspection systems, and specifically comprises the following steps:

[0017] Step 1, placing one or more products on a testing platform to scan and collect front appearance images of the one or more products;

[0018] Step 2: The lateral driving mechanism controls the movable seat to drive the clamping device to move above the inspection platform, so that one or more clamping mechanisms are opposite to one or more products up and down. Then, the lifting mechanism controls the mounting frame to drive one or more clamping mechanisms to move downward to a certain position. The lifting cylinder controls the lifting seat to move downward so that the suction nozzle at the front end of the rotating seat adsorbs the front of the product. Then, the lifting cylinder controls the lifting seat to move upward and reset. The lifting mechanism drives the mounting frame to move upward and reset, thereby completing the adsorption and clamping of the product.

[0019] Step 3, the lateral driving mechanism drives the clamping device to move above the first visual inspection device, so that one or more products are opposite to the first visual inspection device up and down, and the lifting mechanism controls the mounting frame to move so that the side of the product is opposite to the second visual inspection device. The first visual inspection is first used to scan and collect the appearance image of the back of the product, and then the second visual inspection device is used to scan and collect the appearance image of the side of the product to be tested. After the image collection of the side to be tested is completed, the rotating motor controls the rotating seat to rotate 90° so that the other untested side of the product is opposite to the second visual inspection device for appearance image scanning and collection. Repeat the above operation until the appearance graphics scanning and collection of the four sides of the product are completed;

[0020] Step 4, when the side of the product needs to be tested for a limited inclination, the lateral driving mechanism drives the clamping device to move to the third visual inspection device, so that one or more products are opposite to one or more bottom cameras up and down, and then the inclination angle between the third inspection frame and the rotating seat is adjusted to meet the limited inclination detection. The lifting mechanism controls the installation frame to move so that the side of the product is opposite to the third camera, and then controls one or more auxiliary light sources to work, so that the bottom camera and the third camera respectively scan and collect appearance images of the bottom and side of the product. When collecting the side appearance image, the rotating seat is controlled by the rotating motor to rotate 90° in sequence to complete the appearance image collection of the four sides of the product;

[0021] Step 5: The graphics processing system processes the image information fed back by the first camera, the second camera, the bottom camera, and the third camera to obtain multi-faceted appearance image information of the product.

[0022] From the above description of the present invention, it can be seen that compared with the prior art, the beneficial effects of the present invention are as follows: the present application limits the structural composition of the visual inspection system, and through the vertically arranged first visual inspection device and the second visual inspection device, the appearance inspection of the back and four sides of the product can be realized at one position, without the need to frequently change the inspection position; and specifically limits the structure of the clamping device, and further limits the structure of the clamping mechanism, and drives the rotating seat to rotate 90° multiple times by a rotating motor to perform appearance inspection on the four sides of the product in turn, and the operation is simple, and there is no need to re-clamp the product to replace the test surface. The overall equipment occupies a small space and is suitable for use in scenarios where equipment space is effective; in addition, multiple clamping mechanisms are provided to facilitate clamping multiple products for inspection at the same time, greatly improving the inspection speed. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 Schematic diagram of the detection system Figure 1 ;

[0024] Figure 2 Schematic diagram of the detection system Figure 2 ;

[0025] Figure 3 for Figure 1 A partial structural enlargement of the

[0026] Figure 4 for Figure 2 A partial structural enlargement of the

[0027] Figure 5 The structure of the first visual inspection device is shown in FIG. Figure 1 ;

[0028] Figure 6 The structure of the first visual inspection device is shown in FIG. Figure 2 ;

[0029] Figure 7 The structure of the third visual inspection device is shown in FIG. Figure 1 ;

[0030] Figure 8 The structure of the third visual inspection device is shown in FIG. Figure 2 ;

[0031] Fig. 9 Schematic diagram of the clamping mechanism Figure 1 ;

[0032] Fig.10 Schematic diagram of the clamping mechanism Figure 2 ;

[0033] Fig.11 Schematic diagram of the clamping mechanism Figure 3 ;

[0034] Fig.12 The structure of the fourth visual inspection device is shown in FIG. Figure 1 ;

[0035] Fig.13 The structure of the fourth visual inspection device is shown in FIG. Figure 2 ;

[0036] Fig.14 It is a structural diagram of the test block;

[0037] Fig.15 Schematic diagram of the structure of the forward and backward moving mechanism Figure 1 ;

[0038] Fig.16 Schematic diagram of the structure of the forward and backward moving mechanism Figure 2 ;

[0039] In the figure, 1-base, 2-beam, 3-movable seat, 4-clamping device, 5-first visual inspection device, 6-second visual inspection device, 7-lateral driving mechanism, 8-third visual inspection device, 9-fourth visual inspection device, 10-product, 41-mounting frame, 42-clamping mechanism, 421-clamping seat, 422-lifting seat, 423-lifting cylinder, 424-rotating seat, 4241-positioning column, 425-nozzle, 426-rotating motor, 4261-hollow screw, 427-negative pressure mechanism, 4271-negative pressure seat, 42 72-negative pressure chamber, 4273-rotating joint, 4274-groove photoelectric sensor, 4275-detection block, 428-buffer assembly, 4281-buffer seat, 4282-buffer rod, 4283-buffer spring, 429-guide assembly, 4291-guide rail, 4292-guide slider, 43-lifting mechanism, 51-first detection frame, 52-first assembly frame, 53-first camera, 54-first coaxial light source, 55-first moving assembly, 551-first moving motor, 552-first sliding seat, 553-first sliding block, 61-second detection frame, 62-second assembly frame, 63-second camera, 64-second coaxial light source, 65-second moving assembly, 81-bottom camera, 82-rotating seat, 821-rotating hole, 83-third detection frame, 84-third assembly frame, 85-third camera, 86-third coaxial light source, 87-third moving assembly, 88-positioning mechanism, 881-positioning hole, 882-positioning bolt, 89-auxiliary light source, 891-auxiliary frame, 892-light source frame, 893-light source body, 91-detection carrier, 92-test Platform, 93-test block, 94-product slot, 95-fixing mechanism, 951-fixed suction nozzle, 952-negative pressure joint, 953-negative pressure source, 96-detection bracket, 97-visual acquisition mechanism, 971-mounting plate, 972-fourth camera, 973-fourth coaxial light source, 974-vertical moving mechanism, 98-left and right moving mechanism, 981-support seat, 982-left and right moving assembly, 99-forward and backward moving mechanism, 991-moving block, 992-moving cylinder, 993-limiting seat, 994-limiting hole, 101-positioning hole. DETAILED DESCRIPTION

[0040] The present invention is further described below through specific implementation modes.

[0041] Reference Figures 1 to 16As shown, a product multi-faceted appearance visual inspection system includes a base 1, a beam 2 transversely arranged on the base 1, a movable seat 3 movably arranged on the beam 2, a clamping device 4 arranged on the movable seat 3 for adsorbing and clamping a product 10, a first visual inspection device 5 arranged on the base 1 for inspecting the appearance of the back of the product 10, a second visual inspection device 6 arranged perpendicular to the first visual inspection device 5 and located on one side of the first visual inspection device 5, a transverse driving mechanism 7 arranged on the beam 2 and connected to drive the movable seat 3 to move, a third visual inspection device 8 arranged on the base 1 and capable of detecting a limited inclination of the appearance side of the product 10, and a fourth visual inspection device 9 for inspecting the front of the product.

[0042] The clamping device 4 adsorbs and clamps the product 10 and moves it to its bottom surface opposite to the first visual inspection device 5, and one side surface thereof opposite to the second visual inspection device 6; it includes a mounting frame 41 that can be moved up and down on the movable seat 3, one or more clamping mechanisms 42 arranged on the mounting frame 41, and a lifting mechanism 43 arranged on the movable seat 3 and connected to and driving the mounting frame 41 to move up and down, wherein the lifting mechanism 43 is a conventional technology in the field of multi-axis movement of components, and the up and down movement of the mounting frame can be realized by using a motor in conjunction with a screw nut pair, and its specific structure and working principle will not be further elaborated here.

[0043] The clamping mechanism 42 includes a clamping seat 421 connected to the mounting frame 41, a lifting seat 422 that can be moved up and down and is arranged on the clamping seat 421, a lifting cylinder 423 that is arranged on the clamping seat 421 and is connected to and drives the lifting seat 422 to move, a rotating seat 424 that can be rotatably arranged on the lifting seat 423, a suction nozzle 425 that can adsorb the product 10 and is arranged at the front end of the rotating seat 424, a rotating motor 426 that is arranged on the lifting seat 422 and is connected to and drives the rotating seat 424 to rotate, a negative pressure mechanism 427 that is arranged on the lifting seat 422 and connected to the suction nozzle 425, a buffer component 428 that is arranged between the lifting seat 422 and the lifting cylinder 423, and a A guide assembly 429 is connected to the lifting seat 422 and the buffer assembly 428 on the clamping seat 421, wherein a plurality of positioning holes 101 are arranged on the product 10, and a plurality of positioning columns 4241 which can be embedded in the relative positioning holes 101 are arranged on the opposite surface of the rotating seat 424 and the product 10. When the suction nozzle 425 adsorbs the product 10, the positioning columns 4241 will be embedded in the relative positioning holes 101 to limit the position of the product 10 to prevent the subsequent displacement of the suction nozzle 425 when adsorbing the product, so as to affect the detection of the first visual inspection device 5 and the second visual inspection device 6; specifically, the rotating motor 426 adopts a hollow motor, including a hollow screw rod 4261.

[0044] The negative pressure mechanism 427 includes a negative pressure seat 4271 disposed on the lifting seat 422 and connected to the upper end of the hollow screw 4261, a negative pressure chamber 4272 formed in the negative pressure seat 4271 and connected to the hollow screw 4261, a rotary joint 4273 disposed between the negative pressure seat 4271 and the hollow screw 4261, a slot-shaped photoelectric sensor 4274 disposed on the lifting seat 422 at one side of the rotary joint 4273, and a negative pressure chamber 4272 formed in the negative pressure seat 4271 and connected to the hollow screw 4261. The outer periphery of the detection block 4275 can cooperate with the groove-shaped photoelectric sensor 4274, wherein the lower end of the hollow screw rod 4261 extends to the rotating seat 424 and is connected to the two suction nozzles 425; the groove-shaped photoelectric sensor 4274 includes a U-shaped groove 42741 opposite to the rotating joint 4273, and the detection block 4275 can be rotated into the U-shaped groove 42741; when working, the negative pressure seat 4271 is connected to the negative pressure source, so that the suction nozzle 425 can adsorb and clamp the product.

[0045] The buffer assembly 428 includes a buffer seat 4281 connected to the front end of the lifting cylinder 423, a buffer rod 4282 movably arranged in the lifting seat 422 and connected to the lower end of the buffer seat 4281, and a buffer spring 4283 sleeved on both ends of the outer periphery of the buffer rod 4282 and respectively connecting the buffer seat 4281 and the lifting seat 422. By limiting the structure of the buffer assembly 428, when the suction nozzle 425 sucks the product 10, an upward buffer space is provided to prevent the product 10 from being crushed, wherein a limit block is provided at the lower end of the buffer rod 4282 to prevent the buffer rod 4282 from detaching from the lifting seat 422.

[0046] The guide assembly 429 includes a guide rail 4291 extending along the moving direction of the lifting seat 422 and arranged on the clamping seat 421, and two guide sliders 4292 arranged on the guide rail 4291 and connected to the buffer seat 4281 and the lifting seat 422 respectively. The cooperation between the guide sliders 4292 and the guide rail 4291 ensures that the lifting seat 422 and the buffer seat 4281 can move up and down stably.

[0047] The first visual inspection device 5 includes a first inspection frame 51 arranged on the base 1, a first assembly frame 52 arranged on the first inspection frame 51 and movable up and down, one or more first cameras 53 arranged on the first assembly frame 52 at intervals, one or more first coaxial light sources 54 arranged on the first assembly frame 52 and located above the one or more first cameras 53, and a first moving component 55 arranged on the first inspection frame 51 and connected to and driving the first assembly frame 52 to move up and down, wherein the first camera 53 is opposite to the bottom surface of the product 10 adsorbed by the suction nozzle 55 on the relative clamping mechanism 42, and the rotating axis of the rotating seat 424 is coaxially arranged with the first camera 53.

[0048] The first moving component 55 includes a first moving motor 551 arranged on the first detection frame 51, a first sliding seat 552 arranged on the first detection frame 51 and located on one side of the first moving motor 551, a first sliding block 553 movably arranged on the first sliding seat 552 and connected to the first assembly frame 52, and a first moving screw nut pair arranged in the first sliding seat 552 and respectively connecting the first sliding block 553 and the first moving motor 551, wherein the moving screw of the first moving screw nut pair is connected to the first moving motor 551, and the moving nut is connected to the first sliding block 553.

[0049] The second visual inspection device 6 includes a second inspection frame 61 arranged on one side of the first inspection frame 51, a second assembly frame 62 arranged on the second inspection frame 61 and movable back and forth relative to the first assembly frame 52, one or more second cameras 63 arranged on the second assembly frame 62 at intervals, one or more second coaxial light sources 64 arranged on the second assembly frame 62 and located in front of the one or more second cameras 63, and a second moving component 65 arranged on the second inspection frame 61 to connect and drive the second assembly frame 62 to move, wherein the second camera 63 is opposite to the side of the product 10 adsorbed by the suction nozzle 425 on the clamping mechanism 42, and the rotating axis of the rotating seat 424 is arranged perpendicular to the axis of the second camera 63; specifically, the structure of the second moving component 65 is the same as that of the first moving component 55, which will not be further elaborated here.

[0050] The third visual inspection device 8 includes one or more bottom cameras 81 arranged vertically upward on the base 1, a rotating seat 82 arranged on one side of the bottom camera 81, a third detection frame 83 arranged on the rotating seat 82 and capable of rotating upward, a third assembly frame 84 arranged on the third detection frame 83 and capable of moving back and forth, a first or more third cameras 85 arranged on the third assembly frame 84 at intervals, one or more third coaxial light sources 86 arranged on the third assembly frame 84 and located in front of the one or more third cameras 85, and a third moving component 8 arranged on the third detection frame 83 and connected to and driving the third assembly frame 84 to move. 7. A positioning mechanism 88 that fixes the third detection frame 83 on the rotating seat 82 and one or more auxiliary light sources 89 that are arranged on the base 1 opposite to the one or more third cameras 85; specifically, two rotating holes 821 extending along the rotation direction of the third detection frame 83 are respectively formed on both sides of the rotating seat 82, and the rotating holes 821 are arranged in an arc shape on the side of the rotating seat 82, and multiple rotating holes 821 can be arranged on one side of the rotating seat 82 to ensure stable adjustment of the rotation angle of the third detection frame 83; further, the structure of the second moving assembly 87 is the same as that of the first moving assembly, which will not be further elaborated here.

[0051] The positioning mechanism 88 includes two positioning holes 881 arranged on both sides of the third detection frame 83 and respectively opposite to the two rotating holes 821, and positioning bolts 882 passing through the rotating holes 821 and cooperating with the relative positioning holes 881. The rotating seat 82 after the tilt angle adjustment is fixed by cooperating with the positioning bolts 882 and the positioning holes 881. When the tilt angle of the third detection frame 83 is adjusted, the positioning bolts 882 are loosened to adjust it. The operation is simple and easy to implement.

[0052] The auxiliary light source 89 includes an auxiliary frame 891 arranged on the base 1 opposite to the rotating seat 82, a light source frame 892 arranged on the auxiliary frame 891 opposite to the third coaxial light source 86, and a light source body 893 arranged at the front end of the light source frame 892 at an upward angle, wherein the light source body 893 specifically selects a low-angle shadowless light source to play a fill light role for the bottom camera 81; specifically, the coaxial light source and low-angle shadowless light source designed in the present application are both conventional technologies in the field of light sources, and their specific structure and working principle will not be further elaborated here.

[0053] The transverse driving mechanism 7 is a conventional technology in the field of multi-axis movement of components. A motor can be selected to cooperate with a screw-nut pair to realize the transverse back-and-forth movement of the moving seat 3. Its specific structure and working principle will not be further described here.

[0054] The fourth visual inspection device 9 is arranged in front of the first visual inspection device 5, and includes a detection platform 91, a test platform 92 arranged on the test platform 91 for placing one or more products, one or more test blocks 93 arranged on the test platform 92, product slots 94 respectively arranged on the one or more test blocks 93 for installing products 10, one or more fixing mechanisms 95 arranged in the one or more product slots 94 for fixing the products, a detection bracket 96 arranged on one side of the detection platform 91, a visual acquisition mechanism 97 arranged on the detection bracket 96 and located above the detection platform 91 for scanning and acquiring the front appearance graphics of the product 10, a left-right moving mechanism 98 connected to and driving the detection platform 91 to move left and right, and a front-back moving mechanism 99 arranged on the detection platform 91 and connected to and driving the detection platform 91 to move forward and backward. During inspection, the detection platform 91 is driven to move by the left-right moving mechanism 98 so that the one or more products 10 on the test platform 92 are opposite to the visual acquisition mechanism 97 one by one, and the visual acquisition mechanism 97 scans and acquires the front appearance images of the relative products 10.

[0055] The fixing mechanism 95 includes a fixed suction nozzle 951 which is arranged in the product slot 94 and can suck the back of the product, and a negative pressure joint 952 which is arranged on the test block 93 and connected to the lower end of the fixed suction nozzle 951. The negative pressure joint 952 is externally connected to a negative pressure source 953, and cooperates with the fixed suction nozzle 951 to suck and fix the product 10 in the product slot 94.

[0056] The visual acquisition mechanism 97 includes a mounting plate 971 arranged on the detection bracket 96, a fourth camera 972 arranged on the mounting plate 971 and facing vertically downward to be opposite to the front of the product 10, a fourth coaxial light source 973 arranged on the mounting plate 971 and located at the front end of the fourth camera 972, and a vertical moving mechanism 974 arranged on the detection bracket 96 and connected to and driving the mounting plate 971 to move up and down, wherein the fourth coaxial light source 973 is coaxially arranged with the fourth camera 972. Specifically, the fourth coaxial light source 973 is located between the fourth camera 972 and the detection platform 91. Furthermore, the vertical moving mechanism 974 is a conventional technology in the field of multi-axis movement of components. A motor can be selected to cooperate with a screw nut pair to realize the up and down movement of the mounting plate. Its specific structure and working principle will not be further elaborated here.

[0057] The left-right moving mechanism 98 includes a support base 981 for the left-right movement of the detection platform 91 and a left-right moving component 982 arranged on the support base 981 and connected to and driving the left-right movement of the detection platform 91. The left-right moving component 982 is a conventional technology in the field of multi-axis movement of components, and a motor can be used in conjunction with a screw-nut pair to realize the up and down back and forth movement of the mounting plate. Its specific structure and working principle will not be further elaborated here.

[0058] The forward and backward moving mechanism 99 includes a moving block 991 which is movably arranged in the detection platform 91 and connected to the test platform 92, a moving cylinder 992 which is arranged on the detection platform 91 and connected to and drives the moving block 991 to move forward and backward, a limit seat 993 which is arranged on the detection platform 91 and is located below the test platform 92, and a limit hole 994 which is arranged in the limit seat 993, wherein the moving block 991 is movably arranged in the limit hole 994, and the structure of the forward and backward moving mechanism 99 is limited to achieve fine adjustment of the front and rear position of the product 10, so that the product 10 can be coaxially opposite to the fourth camera 972, ensuring that the fourth camera 972 completely scans and collects the front appearance graphics of the product 10.

[0059] A method for visual inspection of the multi-faceted appearance of a product, the inspection system described above performs inspection, specifically comprising the following steps:

[0060] Step 1, place one or more products 10 in one or more product slots 94 respectively, the negative pressure source 953 works to make the fixed suction nozzle 951 adsorb and fix the relative product 10, then the vertical moving mechanism 974 drives the fourth camera 972 to descend to the specified position, and at the same time, the front and rear moving mechanism 99 cooperates with the left and right moving component 982 to move the test platform 92 and the detection carrier 91 to the specified positions respectively, so that the product to be tested and the fourth camera 972 are coaxially opposite to each other up and down, and then the fourth camera 972 cooperates with the fourth coaxial light source 973 to scan and collect the front appearance image of the relative product 10, and then the left and right moving component 982 works to make the remaining multiple products move rightward one by one to the bottom of the fourth camera 972, and complete the scanning and collection of the front appearance image of the product to be tested;

[0061] Step 2, the left and right moving assembly 982 continues to work to drive the detection platform 91 to move rightward until the detection platform 91 and the fourth camera 972 are staggered up and down, the lateral driving mechanism 7 controls the moving seat 3 to drive the clamping device 4 to move above the detection platform, so that one or more clamping mechanisms 42 are opposite to one or more products 10 up and down, and then the lifting mechanism 43 controls the mounting frame 41 to drive one or more clamping mechanisms 42 to move downward to a certain position, the lifting cylinder 423 controls the lifting seat 422 to move downward so that the suction nozzle 425 at the front end of the rotating seat 424 adsorbs the front of the product 10, and then the lifting cylinder 423 controls the lifting seat 422 to move upward and reset, and the lifting mechanism 43 drives the mounting frame 41 to move upward and reset, completing the adsorption and clamping of the product 10, wherein, when the suction nozzle 425 adsorbs the product 10, the positioning column 4241 at the front end of the rotating seat 424 will first be embedded in the relative positioning hole 101 to limit the product 10, and the suction nozzle 425 then adsorbs the product 10 after the positioning column 4241 is limited;

[0062] Step 3, the lateral driving mechanism 7 drives the clamping device 4 to move above the first visual inspection device 5, so that one or more products are opposite to the first visual inspection device 5 up and down, and the lifting mechanism 43 controls the mounting frame 41 to move so that the side of the product 10 is opposite to the second visual inspection device 6, and the first camera 53 cooperates with the first coaxial light source 54 to scan and collect the appearance image of the back of the product, and then the second camera 63 cooperates with the second coaxial light source 64 to scan and collect the appearance image of the side of the product to be tested. After the image collection of the side to be tested is completed, the rotating motor 426 controls the rotating seat 424 to rotate 90° so that the other undetected side of the product 10 is opposite to the second camera 63 for appearance image scanning and collection, and the above operation is repeated until the appearance graphics scanning and collection of the four sides of the product 10 are completed;

[0063] Step 4, when the side of the product 10 needs to be tested for a limited inclination, the lateral driving mechanism 7 drives the clamping device 4 to move to the third visual inspection device 8, so that one or more products are opposite to one or more bottom cameras 81 up and down, and then the inclination angle between the third inspection frame 83 and the rotating seat 82 is adjusted to meet the limited inclination detection, and the lifting mechanism 43 controls the mounting frame 41 to move so that the side of the product 10 is opposite to the third camera 85, and then controls one or more auxiliary light sources 89 to work, so that the bottom camera 81 and the third camera 85 respectively scan and collect the appearance image of the bottom and side of the product. When collecting the side appearance image, the rotating seat 424 is controlled by the rotating motor 426 to rotate 90° in sequence to complete the appearance image collection of the four sides of the product 10;

[0064] Step 5: The graphics processing system processes the image information fed back by the first camera 53, the second camera 63, the bottom camera 81, and the third camera 85 to obtain multi-faceted appearance image information of the product.

[0065] The present application limits the structural composition of the visual inspection system, and through the vertically arranged first visual inspection device 5 and second visual inspection device 6, it can realize the appearance inspection of the back and four sides of the product 10 at one position, without the need to frequently change the inspection position; and specifically limits the structure of the clamping device 4, and further limits the structure of the clamping mechanism 42, and drives the rotating seat 424 to rotate 90° multiple times by the rotating motor 426, so as to perform appearance inspection on the four sides of the product 10 in turn, and the operation is simple, and there is no need to re-clamp the product 10 to replace the test surface. The overall equipment occupies a small space and is suitable for use in scenarios where equipment space is effective; in addition, a plurality of clamping mechanisms 42 are provided to facilitate the simultaneous clamping of multiple products 10 for inspection, thereby greatly improving the inspection speed.

[0066] The above description is only a preferred embodiment of the present invention, and therefore cannot be used to limit the scope of implementation of the present invention. That is, equivalent changes and modifications made according to the scope of the patent application of the present invention and the contents of the specification should still fall within the scope covered by the patent of the present invention.

Claims

1. A product multi-faceted appearance visual inspection system, characterized by: It comprises a base, a crossbeam arranged transversely on the base, a mobile seat movably arranged on the crossbeam, a clamping device arranged on the mobile seat for adsorbing and clamping the product, a first visual inspection device arranged on the base for detecting the appearance of the back of the product, a second visual inspection device arranged perpendicularly to the first visual inspection device and located on one side of the first visual inspection device, and a transverse driving mechanism arranged on the crossbeam and connected to drive the mobile seat to move, wherein the clamping device adsorbs and clamps the product and moves it until its bottom surface is opposite to the first visual inspection device and one side surface is opposite to the second visual inspection device; The clamping device includes a mounting frame that can be moved up and down and is arranged on a movable seat, one or more clamping mechanisms arranged on the mounting frame, and a lifting mechanism arranged on the movable seat and connected to and driving the mounting frame to move up and down. The clamping mechanism includes a clamping seat connected to the mounting frame, a lifting seat that can be moved up and down and is arranged on the clamping seat, a lifting cylinder that is arranged on the clamping seat and connected to and drives the lifting seat to move, a rotating seat that can be rotatably arranged on the lifting seat, a suction nozzle that can adsorb products and is arranged at the front end of the rotating seat, a rotating motor that is arranged on the lifting seat and connected to and drives the rotating seat to rotate, and a negative pressure mechanism that is arranged on the lifting seat and connected to the suction nozzle.

2. A product multi-faceted appearance visual inspection system according to claim 1, characterized in that: The first visual inspection device includes a first inspection frame arranged on a base, a first assembly frame arranged on the first inspection frame and movable up and down, one or more first cameras arranged on the first assembly frame at intervals, one or more first coaxial light sources arranged on the first assembly frame and located above the one or more first cameras, and a first moving component arranged on the first inspection frame and connected to and driving the first assembly frame to move up and down, wherein the first camera is opposite to the bottom surface of the product adsorbed by the suction nozzle on the relative clamping mechanism.

3. A product multi-faceted appearance visual inspection system according to claim 2, characterized in that: The second visual inspection device includes a second inspection frame arranged on one side of the first inspection frame, a second assembly frame arranged on the second inspection frame and movable back and forth relative to the first assembly frame, one or more second cameras arranged on the second assembly frame at intervals, one or more second coaxial light sources arranged on the second assembly frame in front of the one or more second cameras, and a second moving component arranged on the second inspection frame to connect and drive the second assembly frame to move, wherein the second camera is opposite to the side of the product adsorbed by the suction nozzle on the clamping mechanism.

4. A product multi-faceted appearance visual inspection system according to claim 2, characterized in that: The first moving component includes a first moving motor arranged on the first detection frame, a first sliding seat arranged on the first detection frame at one side of the first moving motor, a first sliding block movably arranged on the first sliding seat and connected to the first assembly frame, and a first moving screw nut pair arranged in the first sliding seat and respectively connecting the first sliding block and the first moving motor.

5. The product multi-faceted appearance visual inspection system according to claim 1, characterized in that: It also includes a third visual inspection device arranged on the base and capable of detecting a limited inclination of the side surface of the product appearance. The third visual inspection device includes one or more bottom cameras arranged vertically upward on the base, a rotating seat arranged on one side of the bottom camera, a third inspection frame arranged on the rotating seat and capable of rotating upward, a third assembly frame arranged on the third inspection frame and capable of moving back and forth, a first or more third cameras arranged on the third assembly frame at intervals, one or more third coaxial light sources arranged on the third assembly frame and located in front of one or more third cameras, a third moving component arranged on the third inspection frame and connected to and driving the third assembly frame to move, a positioning mechanism for fixing the third inspection frame on the rotating seat, and one or more auxiliary light sources arranged on the base opposite to the one or more third cameras.

6. A product multi-faceted appearance visual inspection system according to claim 5, characterized in that: Two rotating holes extending along the rotating direction of the third detection frame are respectively formed on both sides of the rotating seat, and the positioning mechanism includes two positioning holes arranged on both sides of the third detection frame respectively opposite to the two rotating holes and positioning bolts respectively passing through the rotating holes and cooperating with the relative positioning holes.

7. A product multi-faceted appearance visual inspection system according to claim 5, characterized in that: The auxiliary light source comprises an auxiliary frame arranged on the base opposite to the rotating base, a light source frame arranged on the auxiliary frame opposite to the third coaxial light source, and a light source body arranged at the front end of the light source frame at an upward tilt.

8. The product multi-faceted appearance visual inspection system according to claim 1, characterized in that: The clamping device also includes a buffer assembly arranged between the lifting seat and the lifting cylinder, and the buffer assembly includes a buffer seat connected to the front end of the lifting cylinder, a buffer rod movably arranged in the lifting seat and connected to the lower end of the buffer seat, and a buffer spring sleeved on both ends of the outer periphery of the buffer rod and respectively connecting the buffer seat and the lifting seat.

9. The product multi-faceted appearance visual inspection system according to claim 1, characterized in that: The product is provided with a plurality of positioning holes, and the opposite surface of the rotating seat and the product is provided with a plurality of positioning columns which can be embedded in the relative positioning holes. When the suction nozzle adsorbs the product, the positioning columns will be embedded in the relative positioning holes to limit the position of the product.

10. A method for visual inspection of multi-faceted appearance of a product, characterized in that: The detection is performed based on the detection system according to any one of claims 1 to 9, specifically comprising the following steps: Step 1, placing one or more products on a testing platform to scan and collect front appearance images of the one or more products; Step 2: The lateral driving mechanism controls the movable seat to drive the clamping device to move above the inspection platform, so that one or more clamping mechanisms are opposite to one or more products up and down. Then, the lifting mechanism controls the mounting frame to drive one or more clamping mechanisms to move downward to a certain position. The lifting cylinder controls the lifting seat to move downward so that the suction nozzle at the front end of the rotating seat adsorbs the front of the product. Then, the lifting cylinder controls the lifting seat to move upward and reset. The lifting mechanism drives the mounting frame to move upward and reset, thereby completing the adsorption and clamping of the product. Step 3, the lateral driving mechanism drives the clamping device to move above the first visual inspection device, so that one or more products are opposite to the first visual inspection device up and down, and the lifting mechanism controls the mounting frame to move so that the side of the product is opposite to the second visual inspection device. The first visual inspection is first used to scan and collect the appearance image of the back of the product, and then the second visual inspection device is used to scan and collect the appearance image of the side of the product to be tested. After the image collection of the side to be tested is completed, the rotating motor controls the rotating seat to rotate 90° so that the other untested side of the product is opposite to the second visual inspection device for appearance image scanning and collection. Repeat the above operation until the appearance graphics scanning and collection of the four sides of the product are completed; Step 4: The graphics processing system processes the image information fed back by the first camera and the second camera to obtain multi-faceted appearance image information of the product.

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