Detection device and detection method

Abstract

The invention relates to detection equipment and a detection method, the detection equipment comprises a conveying device and a detection device, the conveying device is used for providing a to-be-detected workpiece for the detection device and receiving the detected workpiece, the detection device comprises a base, a detection module, a bearing module and a carrying module, and the base is provided with a transfer position and a detection position; the detection module is used for detecting the workpiece at the detection position; the bearing module is provided with a plurality of placing areas for placing workpieces, and the bearing module is rotatably arranged on the base to adjust the positions of the placing areas relative to the base, so that when one placing area is located at the detection position, another placing area is always located at the transfer position; the carrying module is used for transporting the workpieces between the conveying device and the containing area located at the transfer position. When one placing area is located at the detection position, the other placing area is always located at the transfer position, the detection module detects the workpiece, the detection module can be synchronously carried out with the feeding and discharging actions of the carrying module, and the detection efficiency is improved. The detection method is used for the detection equipment, and the detection efficiency is high.

Description

Technical Field

[0001] The present application relates to the field of detection technology, and in particular to a detection device and a detection method. Background Art

[0002] In the production process, testing equipment is usually used to test products and semi-finished workpieces to eliminate defective products. Current testing equipment usually includes a loading and unloading module and a testing module. The loading and unloading module moves the products to be tested to the testing module, and the tested products are moved from the testing module to other stations, so that the testing process is automatic. However, for current testing equipment, when the loading and unloading module is moving the product, the testing module is idle, and the testing time of the testing module is not fully utilized, so the testing efficiency still needs to be improved. Summary of the invention

[0003] Based on this, it is necessary to provide a detection device and a detection method to address the problem of low detection efficiency of current detection equipment.

[0004] On the one hand, the present application provides a detection device, which includes a conveying device and a detection device. The conveying device is used to provide the detection device with workpieces to be detected and receive the detected workpieces. The detection device includes a base, a detection module, a carrying module and a handling module. The base is provided with a transfer position and a detection position; the detection module is used to detect the workpiece located at the detection position; the carrying module is provided with a plurality of placement areas for placing workpieces, and the carrying module can be rotatably arranged on the base to adjust the position of the placement area relative to the base, so that when one placement area is located at the detection position, there is always another placement area located at the transfer position; the handling module is used to transport the workpiece between the conveying device and the placement area located at the transfer position.

[0005] In one embodiment, the carrier module includes a carrier and a plurality of jigs, the carrier is rotatably connected to the base around a first reference line, a plurality of placement areas are arranged circumferentially around the first reference line at intervals, a plurality of jigs are independently rotatably provided on the carrier around their respective corresponding second reference lines, and the second reference lines are arranged in parallel so that the jigs have the same posture when they rotate synchronously.

[0006] In one embodiment, the supporting module also includes a bracket and a plurality of first drivers arranged on the bracket, the bracket is provided with the second reference line, each of the fixtures is located at the same position on the corresponding second reference line relative to the bracket, and the plurality of first drivers are connected to the plurality of fixtures one by one to drive each of the fixtures to rotate independently; there are a plurality of brackets, and a plurality of placement areas are formed one by one on the plurality of brackets.

[0007] In one embodiment, the bracket is provided with a accommodating space, the first driver is located in the accommodating space, the jig is located outside the accommodating space, and the output shaft of the first driver passes through the bracket to be connected with the jig; and / or the bracket includes a beam body and a frame body, two of the frames are arranged on the bearing member at intervals along a third reference line, two ends of the beam body are respectively connected to the two frames and can rotate relative to the frames around the third reference line, the jig is arranged on the beam body, and the third reference line intersects with the second reference line.

[0008] In one embodiment, the transfer position and the detection position are respectively arranged on opposite sides of the carrier module.

[0009] In one embodiment, the conveying device is provided with a first material transfer area and a second material transfer area, the first material transfer area is used for placing the workpiece to be inspected, and the second material transfer area is used for placing the inspected workpiece, the first material transfer area and the second material transfer area both extend along a first direction, the placement area at the transfer position extends along the first direction, the transfer position, the first material transfer area and the second material transfer area are arranged in sequence in a second direction, and the second direction intersects with the first direction; the handling module includes a stand and a plurality of picking members arranged along the first direction, and the plurality of picking members are movably provided on the stand along the second direction to move to a position aligned with the first material transfer area and the second material transfer area.

[0010] In one embodiment, the detection device further includes a motion module, and the motion module is connected to the detection module to drive the detection module to move in at least two different directions.

[0011] In one embodiment, the motion module includes a mounting plate, and the detection module is arranged on the mounting plate; the motion module also includes a first motion component, the first motion component is constructed to include a plurality of connecting arms that are rotatably connected head to tail, and the mounting plate is arranged at the free end of the connecting arm located at the end; the rotation axis of at least one end of the connecting arm rotatably connected intersects with the rotation axis of the other end of the connecting arm; and / or the motion module also includes a second motion component, the second motion component is connected between the mounting plate and the detection module, and the second motion component drives the detection module to move along the optical axis direction of the detection module; and / or the number of the detection modules is multiple, and the multiple detection modules are arranged at intervals in a direction intersecting with the optical axis of the detection module.

[0012] On the other hand, the present application also provides a detection method, which includes steps 1 to 4. Step 1: provide a carrier module, the carrier module is provided with multiple placement areas for placing workpieces, one placement area is located at the detection position, and another placement area is located at the transfer position; Step 2: detect the workpiece in the placement area located at the detection position; Step 3: during the detection, replace the workpiece in the placement area located at the transfer position; Step 4: when steps 2 and 3 are completed, control the carrier module to rotate so that another placement area moves to the detection position, and another placement area moves to the transfer position.

[0013] In one embodiment, the step three further comprises:

[0014] Positioning the workpiece to be inspected in the placement area of ​​the transfer position.

[0015] In one embodiment, a placement area is provided for placing a plurality of the workpieces, and the step three further comprises: performing posture correction on a workpiece having a posture different from that of other workpieces among the plurality of workpieces to be inspected in the placement area at the transfer position.

[0016] In one embodiment, step 1 to step 4 are repeated several times, where N is an integer greater than or equal to 2.

[0017] In the above-mentioned detection equipment, since when one placement area is located at the detection position, there is always another placement area located at the transfer position, therefore when the detection module detects the workpiece located at the detection position, the handling module can simultaneously load and unload the placement area located at the transfer position, so as to relatively reduce the time occupied by the loading and unloading process for detection, and relatively improve the detection efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 A top view of a detection device provided in one embodiment of the present application.

[0019] Figure 2 for Figure 1 Axial schematic diagram of the detection device shown.

[0020] Figure 3 for Figure 2 A side view of the bracket and fixture in the detection device shown.

[0021] Figure 4 for Figure 2 A schematic diagram of the axial direction of the motion module and the detection module in the detection device shown.

[0022] Figure 5 for Figure 2 A top view of the mounting plate and detection module in the detection device shown.

[0023] Figure 6 for Figure 2 Axial schematic diagram of the handling module in the detection device shown.

[0024] Figure 7 A schematic diagram of a module of a detection device provided in one embodiment of the present application.

[0025] Figure 8 A flow chart of a detection method provided in one embodiment of the present application.

[0026] Reference numerals: 10, detection device; 100, base; 101, transfer position; 102, detection position; 200, detection module; 300, carrying module; 310, placement area; 320, carrying member; 330, fixture; 340, bracket; 341, frame; 342, beam; 343, accommodating space; 350, first driver; 400, transport module; 410, stand; 411, column; 412, beam; 420, picking member; 500, motion module; 510, first moving component; 511, connecting arm; 520, second moving component; 530, mounting plate; 600, second driver; 20, first material transfer area; 30, second material transfer area; O1, first reference line; O2, second reference line; O3, third reference line; S1, first direction; S2, second direction; S3, third direction; R1, first axis; R2, second axis; R3, third axis; R4, fourth axis; R5, fifth axis; R6, sixth axis; L, optical axis. DETAILED DESCRIPTION

[0027] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present application, so the present application is not limited by the specific embodiments disclosed below.

[0028] In the description of the present application, it should be understood that if the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. appear, the orientation or position relationship indicated by these terms is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0029] In addition, if the terms "first" or "second" appear, these terms are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, if the term "plurality" appears, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0030] In this application, unless otherwise clearly specified and limited, if the terms "installed", "connected", "connected", "fixed" and the like appear, these terms should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integrated connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0031] In the present application, unless otherwise clearly specified and limited, if there is a description that a first feature is "above" or "below" a second feature, etc., or similar descriptions appear, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "above" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0032] It should be noted that if an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. If an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. If any, the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in this application are for illustrative purposes only and do not represent the only implementation method.

[0033] An embodiment of the present application further provides a testing device, which includes a conveying device and a testing device 10. The conveying device is used to provide a workpiece to be tested to the testing device 10 and receive a tested workpiece so that the workpiece can be tested.

[0034] See also Figure 1One embodiment of the present application further provides a detection device 10, which includes a base 100, a detection module 200, a carrying module 300 and a handling module 400. The base 100 is provided with a transfer position 101 and a detection position 102. The detection module 200 is used to detect the workpiece located at the detection position 102. The carrying module 300 is provided with a plurality of placement areas 310 for placing the workpieces, and the carrying module 300 is rotatably arranged on the base 100 to adjust the position of the placement area 310 relative to the base 100, so that when one placement area 310 is located at the detection position 102, there is always another placement area 310 located at the transfer position 101. The handling module 400 is used to transport the workpiece between the conveying device and the placement area 310 located at the transfer position 101.

[0035] In the above-mentioned detection equipment, since when one placement area 310 is located at the detection position 102, there is always another placement area 310 located at the transfer position 101, so when the detection module 200 detects the workpiece located at the detection position 102, the handling module 400 can synchronously load and unload the placement area 310 located at the transfer position 101, so as to relatively reduce the loading and unloading process to the detection time, and relatively improve the detection efficiency.

[0036] See also Figure 1 In one embodiment, the carrier module 300 includes a carrier 320 and a fixture 330, wherein the fixture 330 is disposed on the carrier 320 and is used to pick up the workpiece. The carrier 320 is rotatably connected to the base 100 around the first reference line O1, and a plurality of placement areas 310 are arranged at intervals in the circumferential direction around the first reference line O1. It is understandable that the distribution positions of the placement areas 310 can be reasonably adjusted according to the relative positions of the detection module 200 and the transport module 400, so that when one placement area 310 is located at the detection position 102, there is always another placement area 310 located at the transfer position 101.

[0037] In one embodiment, there may be multiple jigs 330 , and multiple jigs 330 are disposed in one placement area 310 to increase the number of workpieces in the placement area 310 and improve detection efficiency.

[0038] In one embodiment, the jigs 330 can rotate relative to the carrier 320 around their respective corresponding second reference lines O2. With such a configuration, on the one hand, the posture of the workpiece can be corrected. On the other hand, by driving the workpiece to rotate by the jig 330, the area of ​​the workpiece exposed to the field of view of the detection module 200 can be enriched, thereby improving the comprehensiveness of the detection. The second reference lines O2 are arranged in parallel so that the jigs 330 can have the same posture when they rotate synchronously. As a result, when the jigs 330 rotate synchronously, the workpieces picked up by them can also have the same posture, which is convenient for batch detection. In one embodiment, the second reference line O2 is parallel to the first reference line O1. In another embodiment, the second reference line O2 can intersect with the first reference line O1.

[0039] See also Figure 3 In one embodiment, a plurality of jigs 330 are independently rotatable on the carrier 320 around the second reference line O2. Since each jig 330 can rotate independently, when the posture of the workpiece picked up by one of the jigs 330 is different from that of the workpieces picked up by other jigs 330, the jig 330 can be driven to rotate a certain angle to adjust the posture of the picked up workpiece, so that the postures of the workpieces picked up by each jig 330 tend to be consistent, thereby improving the accuracy of detection and measurement. It is easy to understand that if the posture of a workpiece is different from that of other workpieces during detection and measurement, the results obtained by detecting and measuring the workpiece cannot reflect the actual situation of the workpiece, thereby reducing the accuracy of detection.

[0040] See also Figure 3 In one embodiment, the carrier module 300 further includes a bracket 340 and a plurality of first drivers 350, and the plurality of first drivers 350 are disposed on the bracket 340. The bracket 340 is provided with a second reference line O2 as described above, and each fixture 330 is located at the same position on the corresponding second reference line O2 relative to the bracket 340. In short, each fixture 330 is located at the same height relative to the bracket 340, and rotates around the second reference line O2 which is parallel to each other, so that the position consistency of each fixture 330 and the workpiece picked up by it is high, which is convenient for the detection module 200 to detect. The plurality of first drivers 350 are connected to the plurality of fixtures 330 in a one-to-one correspondence to drive each fixture 330 to rotate independently. There are a plurality of brackets 340, and a plurality of placement areas 310 are formed in a one-to-one correspondence on the plurality of brackets 340. By connecting the plurality of first drivers 350 to the fixtures 330 respectively, each fixture 330 can be driven to rotate independently, thereby improving the posture consistency of the workpieces picked up by each fixture 330 in the same placement area 310.

[0041] Please continue reading Figure 3 In one embodiment, the bracket 340 is provided with a containing space 343. The first driver 350 is located in the containing space 343, the fixture 330 is located outside the containing space 343, and the output shaft of the first driver 350 passes through the bracket 340 to be connected with the fixture 330. The first driver 350 is arranged in the containing space 343, on the one hand, to fully utilize the installation space on the bracket 340; on the other hand, it can also reduce the occupation of the space on the side of the bracket 340 where the fixture 330 is located, reduce the complexity of the image captured by the detection module 200, and facilitate detection and analysis.

[0042] Please continue reading Figure 3In one embodiment, the bracket 340 includes a beam 342 and a frame 341, and the two frames 341 are arranged on the carrier 320 at intervals along the third reference line O3. The two ends of the beam 342 are respectively connected to the two frames 341 and can rotate relative to the frames 341 around the third reference line O3, and the fixture 330 is arranged on the beam 342. The third reference line O3 intersects with the second reference line O2. The fixture 330 is arranged on the beam 342, and the beam 342 rotates around the third reference line O3 intersecting with the second reference line O2, so the bracket 340 can drive the fixture 330 and the workpiece arranged on the fixture 330 to rotate around the two intersecting directions, enriching the posture of the workpiece within the field of view of the detection module 200 and improving the comprehensiveness of the detection. Furthermore, the second reference line O2 is arranged perpendicular to the third reference line O3.

[0043] See also Figure 1 and Figure 2 In one embodiment, the detection device 10 further includes a second driver 600 , which is disposed on the base 100 and connected to the carrier 320 to drive the carrier 320 to rotate around the first reference line O1 .

[0044] See also Figure 1 and Figure 2 In one embodiment, the detection device 10 further includes a motion module 500, which is connected to the detection module 200 to drive the detection module 200 to move in at least two different directions. Thus, the detection module 200 can be driven to move by the motion module 500, thereby enriching the detection angle of the detection module 200 and improving the detection effect. There are multiple detection modules 200, and multiple detection modules 200 are all arranged in the motion module 500. The number of detection modules 200 can correspond to the number of fixtures 330 in a placement area 310, so as to detect the workpieces picked up by multiple fixtures 330 in a one-to-one correspondence, thereby improving the detection efficiency.

[0045] See also Figure 4 and Figure 5 In one embodiment, the motion module 500 includes a first motion component 510, a second motion component 520 and a mounting plate 530, and a plurality of detection modules 200 are disposed on the mounting plate 530. The first motion component 510 and the second motion component 520 are respectively used to drive the detection module 200 to move. Further, the plurality of detection modules 200 are arranged at intervals in a direction intersecting with the optical axis L of the detection module 200. Furthermore, the plurality of detection modules 200 may be arranged at intervals in a direction perpendicular to the optical axis L of the detection module 200.

[0046] In the first aspect, the first moving part 510 is constructed to include a plurality of connecting arms 511 that are connected end to end in a rotational manner, and the mounting plate 530 is arranged at the free end of the connecting arm 511 located at the end. Therefore, by adjusting the rotation angle between each adjacent connecting arm 511, the mounting plate 530 can be flexibly placed in a desired position (for example, the position where multiple detection modules 200 and multiple workpieces picked up by the fixtures 330 are aligned one by one), which is convenient for the detection module 200 to detect. Furthermore, the rotation axis of the rotation connection of one end of at least one connecting arm 511 intersects with the rotation axis of the rotation connection of the other end, that is, for the connecting arm 511, its two ends rotate and cooperate with other connecting arms 511 with rotation axes in different directions, so the rotation movement mode of the first moving part 510 can be enriched, and the flexibility of the first moving part 510 can be improved, that is, the flexibility of detection can be improved. For example, the first moving part 510 can be constructed as a multi-joint mechanical arm, and the connecting arm 511 can include six sections of connecting arms 511, and the six sections of connecting arms 511 are connected by the first axis R1, the second axis R2, the third axis R3, the fourth axis R4, the fifth axis R5, and the sixth axis R6. Among them, the first axis R1 intersects with the second axis R2, the third axis R3 intersects with the fourth axis R4, and the fifth axis R5 intersects with the sixth axis R6. Of course, the present application does not limit the specific number and rotation matching method of the connecting arm 511, and can be designed according to actual needs, which will not be repeated here. In addition, in other embodiments, the first moving part 510 can also be configured as a linear drive module with multiple driving directions intersecting, and multiple linear drive modules cooperate with each other to drive the mounting plate 530 and the detection module 200 arranged on the mounting plate 530 to move.

[0047] In the second aspect, the second moving component 520 is connected between the mounting plate 530 and the detection module 200, and the second moving component 520 drives the detection module 200 to move along the optical axis L of the detection module 200. The distance between the detection module 200 and the workpiece located at the detection position 102 can be adjusted by the second moving component 520, so as to obtain a clear image. Of course, the second moving component 520 is not limited to only driving the detection module 200 to move along the optical axis L of the detection module 200. For example, the second moving component 520 can also drive the detection module 200 to move in a direction perpendicular to the optical axis L, so as to flexibly adjust the position of the detection module 200 and improve the flexibility of detection. Further, the second moving component 520 can drive multiple detection modules 200 to move synchronously, or the number of the second moving components 520 can correspond to the number of the detection modules 200, so as to adjust the position of each detection module 200 relative to the workpiece in a one-to-one correspondence, so as to improve the accuracy of the alignment between the detection module 200 and the workpiece.

[0048] In other embodiments, the motion module 500 may further include a third motion component, a fourth motion component, a fifth motion component, etc., and the position of the detection module 200 may be flexibly adjusted by cooperating with each other through the multiple motion components.

[0049] See also Figure 1 and Figure 6 In one embodiment, the conveying device is provided with a first material transfer area 20 and a second material transfer area 30. The first material transfer area 20 is used for placing workpieces to be inspected, and the second material transfer area 30 is used for placing inspected workpieces. Both the first material transfer area 20 and the second material transfer area 30 extend along the first direction S1, and the placement area 310 at the transfer position 101 is arranged extending along the first direction S1. The transfer position 101, the first material transfer area 20 and the second material transfer area 30 are arranged in sequence in the second direction S2, and the second direction S2 intersects with the first direction S1. The handling module 400 includes a stand 410 and a plurality of picking members 420. The plurality of picking members 420 are arranged along the first direction S1, and the plurality of picking members 420 are movably provided on the stand 410 along the second direction S2 to move to a position aligned with the first material transfer area 20 and the second material transfer area 30. Since the first material transfer area 20, the second material transfer area 30, the placement area 310 and the plurality of pick-up members 420 are all arranged along the first direction S1, the plurality of pick-up members 420 of the handling module 400 can pick up at least part of the workpieces in the placement area 310 and transfer them to the first material transfer area 20 or the second material transfer area 30 synchronously, thereby improving the handling efficiency of the handling module 400. In addition, the transfer position 101, the first material transfer area 20 and the second material transfer area 30 are arranged in sequence along the second direction S2, and the plurality of pick-up members 420 are movably provided on the stand 410 along the second direction S2, so the plurality of pick-up members 420 can conveniently transfer the workpieces between the three by moving along the second direction S2.

[0050] The above-mentioned picking member 420 moves to a position aligned with the first material transfer area 20 and the second material transfer area 30, which means that the picking member 420 can move to a position where its orthographic projection (orthographic projection along the third direction S3 mentioned below) is located in the first material transfer area 20 or the second material transfer area 30.

[0051] Furthermore, the plurality of jigs 330 in the placement area 310 of the transfer position 101 may be arranged at intervals along the first direction S1 .

[0052] See also Figure 7In one embodiment, the conveying device includes a first conveying module and a second conveying module, the first conveying module is used to convey the workpiece to be inspected, and the second conveying module is used to convey the inspected workpiece. The first conveying module and the second conveying module are located on the side of the carrier module 300 close to the handling module 400, so as to facilitate the handling module 400 to transfer the workpiece. The first transfer area 20 can be constructed as a partial conveying area of ​​the first conveying module, that is, the handling module 400 can directly transport the workpiece to be inspected transported by the first conveying module to the transfer position 101. The second transfer area 30 can be constructed as a partial conveying area of ​​the second conveying module, that is, the handling module 400 can directly transport the workpiece from the transfer position 101 to the second conveying module. Alternatively, in another embodiment, the conveying device also includes a transfer structure, and the first transfer area 20 and the second transfer area 30 are arranged in the transfer structure. At this time, the handling module 400 transfers the workpiece at the transfer position 101 to the second transfer area 30, and then transfers it to the second conveying module. The step-by-step handling process can shorten the time of occupying the carrier module 300, which is convenient for improving efficiency. The handling module 400 transfers the workpiece conveyed by the first conveying module to the first transfer area 20, and then transfers it to the transfer position 101. The step-by-step handling process can shorten the time of occupying the carrier module 300, which is convenient for improving efficiency. The different configuration forms of the first transfer area 20 and the second transfer area 30 can be designed based on factors such as the position layout of the conveying device, the handling module 400, or the distribution of the installation space, and are not limited here.

[0053] Please continue reading Figure 6 In one embodiment, the stand 410 includes a column 411 and a beam 412, wherein the two columns 411 are spaced apart from each other on the base 100, and the beam 412 is mounted on the two columns 411. The beam 412 extends along a first direction S1, and the beam 412 is movably mounted on the column 411 along a second direction S2. A plurality of pick-up members 420 are arranged on the beam 412 along the first direction S1. Furthermore, the plurality of pick-up members 420 can also move relative to the beam 412 along a third direction S3 to facilitate picking up workpieces. The first direction S1, the second direction S2, and the third direction S3 are perpendicular to each other.

[0054] See also Figure 1 and Figure 2 In one embodiment, the transfer position 101 and the detection position 102 are respectively arranged on opposite sides of the carrier module 300, so that the motion module 500 and the handling module 400 have sufficient layout space and activity space.

[0055] See also Figure 8 , an embodiment of the present application provides a detection method. The detection method comprises the following steps:

[0056] Step S1: providing a carrying module, wherein the carrying module is provided with a plurality of placement areas for placing workpieces, one placement area is located at a detection position, and another placement area is located at a transfer position.

[0057] Step S2: inspecting the workpiece in the placement area of ​​the inspection position.

[0058] Step S3: During the inspection, the workpiece in the placement area of ​​the transfer position is replaced.

[0059] Step S4: When the steps S2 and S3 are completed, the carrying module is controlled to rotate so that another placement area moves to the detection position, and another placement area moves to the transfer position.

[0060] In the above detection method, when the workpiece at the detection position is detected, the workpiece in the placement area at the transfer position can be replaced synchronously, that is, the placement area is loaded and unloaded during the detection time, which reduces the situation where the loading and unloading processes occupy the detection time, thereby improving the detection efficiency. In addition, the placement area at the detection position and the placement area at the transfer position can be switched synchronously by controlling the rotation of the carrier module, which fully reduces the time other than the time actually used for detection during the overall detection process, thereby improving the detection efficiency.

[0061] In the above step S2, the workpiece may be inspected by a detection module, and the detection position corresponds to the field of view of the detection module.

[0062] It is easy to understand that after the detection is completed in the traditional technology, it is usually necessary to first remove the workpiece that has been inspected at the detection position, and then fill the workpiece to be inspected into the detection position. In the process of removing the inspected workpiece and filling the workpiece to be inspected, the detection module is in an idle state. However, by applying the detection method provided in each embodiment of the present application, the workpiece can be replaced synchronously during the detection process. Therefore, after the detection is completed, the carrier module is directly driven to rotate (the replacement time of the workpiece is usually less than the detection time), and then another placement area can be switched to the detection position for detection, which fully reduces the idle time of the detection module and improves the detection efficiency.

[0063] In one embodiment, in the detection method, the above steps S1 to S4 may be repeated several times to continuously detect the workpiece. The number of repetitions may be determined according to the number of workpieces and is not limited here.

[0064] In one embodiment, the detection method can be applied to the detection equipment provided in each embodiment.

[0065] In one embodiment, step S2 includes:

[0066] Step S21, driving the workpiece to rotate and changing the posture of the workpiece. By changing the posture of the workpiece, the posture of the workpiece exposed to the detection position can be increased, and the comprehensiveness of the detection can be improved. A fixture can be provided in the placement area, and the fixture is used to pick up the workpiece. The fixture can drive the workpiece to rotate to change the posture of the workpiece.

[0067] In one embodiment, step S3 may include in sequence:

[0068] Step S31, transferring the inspected workpieces in the placement area to the first feeding module.

[0069] Step S32, loading the workpieces to be inspected conveyed by the second feeding module into the placement area.

[0070] Among them, first transferring the inspected workpieces in the placement area can provide space for the workpieces to be inspected. In addition, the inspected workpieces are transferred to the first feeding module and separated from the workpieces to be inspected in the second feeding module for easy processing.

[0071] It is easy to understand that the transfer time of the workpiece is usually shorter than the detection time, that is, after the workpiece to be inspected delivered by the second feeding module is loaded into the placement area in step S3, the placement area at the transfer position will be idle. Therefore, in one embodiment, step S3 may also include positioning and posture correction of the workpiece to make full use of the detection time.

[0072] In one embodiment, step S3 further includes:

[0073] Step S33, positioning the workpiece to be inspected in the placement area of ​​the transfer position. Using the detection time to position the workpiece to be inspected can improve the position accuracy of the workpiece, reduce the detection error, and improve the accuracy of the detection. Regarding the way to position the workpiece to be inspected, the various embodiments of this application are not limited. However, in order to facilitate understanding of the way to position the workpiece, a simple example is given here: for example, the carrier module can also be provided with a plurality of positioning structures, and the plurality of positioning structures are correspondingly arranged in each placement area. The positioning structure includes two groups of push plates, and the push plates in the same group are arranged opposite to each other and can move in directions close to and away from each other to clamp and position the workpiece. The two groups of push plates move in two orthogonal directions respectively, thereby enabling the workpiece to be completely positioned in the plane.

[0074] In one embodiment, a placement area is provided for placing multiple workpieces, so that the multiple workpieces can be transferred synchronously when the carrying module rotates, further improving the detection efficiency. Step S3 also includes:

[0075] Step S34, among the multiple workpieces to be inspected in the placement area of ​​the transfer position, the workpiece whose posture is different from that of other workpieces is subjected to posture correction. By performing posture correction on the workpiece, the posture of the workpiece can be corrected to improve the consistency of the posture of the workpiece. It is easy to understand that if the posture of some workpieces in the placement area is different from that of other workpieces, then when the placement area moves to the detection position, at least part of the workpiece will not be in the expected posture to be detected. Thus, on the one hand, the area to be inspected on the workpiece may not be fully exposed to the detection field of view. On the other hand, if the workpiece is not in the expected posture to be detected, the measurement result obtained by measuring the workpiece at this time cannot accurately reflect the actual physical quantity of the workpiece, that is, there is a measurement error, and it is difficult to achieve the expected measurement effect. In short, the consistency of the workpiece posture can be improved through posture correction, and the reliability of the detection result can be improved.

[0076] It should be noted that regarding the positioning step and posture correction, the two can be applied separately or in combination, depending on factors such as the complexity of the shape of the workpiece, the area to be inspected, and the inspection requirements.

[0077] Further, regarding posture correction, the posture correction can be performed by rotating the workpiece. As mentioned above, a fixture is provided in the placement area, and the fixture can drive the workpiece to rotate to change the posture of the workpiece. In this embodiment, the fixture can also be used to drive the rotation to supplement the posture of the workpiece. The axis of rotation of the fixture can be perpendicular to the positioning plane of the above-mentioned positioning structure. Of course, in the embodiments of the present application, it is not limited to only rotating the workpiece for posture correction, and the posture correction method can be set accordingly according to factors such as the shape of the workpiece, the detection part and the detection requirements. It should be noted that the present application does not limit the specific method of posture correction. However, in order to facilitate the understanding of the posture correction process of the workpiece, a simple example is given here, for example, the posture image of the workpiece can be obtained by a camera or other shooting element; the position information and correction information of the workpiece to be corrected are determined according to the posture image; the position of the workpiece to be corrected is located according to the position information; the workpiece is driven to move according to the correction information so that the workpiece is in the expected posture. Among them, the position information of the workpiece to be corrected can be used to indicate the position of the workpiece, and the correction information is used to indicate the position difference of the workpiece to be corrected in each linear direction and angular direction compared with the normal workpiece.

[0078] Please refer again Figure 7 In one embodiment, the number of placement areas can be determined based on the total number of workpieces and the number of workpieces that can be detected by the detection module at a time. For example, the multiple placement areas include a first placement area and a second placement area. Step S4 includes: controlling the carrier module to rotate so that the positions of the first placement area and the second placement area are swapped. As a result, the workpieces that have been detected can be quickly transported to the first conveying module, and the workpieces to be detected can be quickly transported to the detection position, further improving the detection efficiency.

[0079] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0080] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be construed as limiting the scope of the patent application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent application shall be subject to the attached claims.

Claims

1. A detection device, characterized in that: The detection device comprises a conveying device and a detection device, wherein the conveying device is used to provide the workpiece to be detected to the detection device and receive the workpiece that has been detected, and the detection device comprises: A base, wherein the base is provided with a transfer position and a detection position; A detection module, the detection module is used to detect the workpiece located at the detection position; A carrying module, wherein the carrying module is provided with a plurality of placement areas for placing workpieces, and the carrying module is rotatably arranged on the base to adjust the positions of the placement areas relative to the base, so that when one of the placement areas is located at the detection position, there is always another placement area located at the transfer position; A handling module is used to transport the workpiece between the conveying device and the placement area at the transfer position.

2. The detection device according to claim 1, characterized in that: The carrier module includes a carrier and a plurality of jigs, wherein the carrier is rotatably connected to the base around a first reference line, a plurality of placement areas are arranged circumferentially around the first reference line at intervals, and a plurality of jigs are independently rotatably arranged on the carrier around their respective corresponding second reference lines, and the second reference lines are arranged in parallel so that the jigs have the same posture when they rotate synchronously.

3. The detection device according to claim 2, characterized in that: The supporting module also includes a bracket and a plurality of first drivers arranged on the bracket, the bracket is provided with the second reference line, each of the fixtures is located at the same position on the corresponding second reference line relative to the bracket, and the plurality of first drivers are connected to the plurality of fixtures one by one to drive each of the fixtures to rotate independently; the number of the brackets is multiple, and the plurality of placement areas are formed one by one on the plurality of brackets.

4. The detection device according to claim 3, characterized in that: The bracket is provided with an accommodating space, the first driver is located in the accommodating space, the fixture is located outside the accommodating space, and the output shaft of the first driver passes through the bracket to be connected with the fixture; and / or The bracket includes a beam body and a frame body, two frames are arranged on the bearing member at intervals along a third reference line, two ends of the beam body are respectively connected to the two frames and can rotate relative to the frames around the third reference line, the fixture is arranged on the beam body, and the third reference line intersects with the second reference line.

5. The detection device according to claim 1, characterized in that: The transfer position and the detection position are respectively arranged on two opposite sides of the carrying module.

6. The detection device according to claim 1, characterized in that: The conveying device is provided with a first material transfer area and a second material transfer area, the first material transfer area is used for placing the workpiece to be inspected, and the second material transfer area is used for placing the inspected workpiece, the first material transfer area and the second material transfer area both extend along a first direction, the placement area at the transfer position extends along the first direction, the transfer position, the first material transfer area and the second material transfer area are arranged in sequence in a second direction, and the second direction intersects with the first direction; The transport module includes a stand and a plurality of picking members arranged along the first direction. The plurality of picking members are movably provided on the stand along the second direction to move to positions aligned with the first material transfer area and the second material transfer area.

7. The detection device according to claim 1, characterized in that: The detection device further comprises a motion module, and the motion module is connected to the detection module to drive the detection module to move in at least two different directions.

8. The detection device according to claim 7, characterized in that: The motion module comprises a mounting plate, and the detection module is arranged on the mounting plate; The motion module further comprises a first motion component, the first motion component being constructed to include a plurality of connecting arms connected end to end in rotation, the mounting plate being arranged at the free end of the connecting arm at the end; the rotation axis of the rotation connection of one end of at least one of the connecting arms intersecting with the rotation axis of the rotation connection of the other end; and / or The motion module further includes a second motion component, which is connected between the mounting plate and the detection module, and drives the detection module to move along the optical axis direction of the detection module; and / or There are multiple detection modules, and the multiple detection modules are arranged at intervals in a direction intersecting with the optical axis of the detection module.

9. A detection method, characterized in that: The detection method comprises: Step 1: providing a carrying module, wherein the carrying module is provided with a plurality of placement areas for placing workpieces, one of the placement areas is located at a detection position, and another of the placement areas is located at a transfer position; Step 2: inspecting the workpiece in the placement area of ​​the inspection position; Step 3: During the detection, replacing the workpiece in the placement area of ​​the transfer position; Step 4: When step 2 and step 3 are completed, control the carrier module to rotate so that another placement area moves to the detection position, and another placement area moves to the transfer position.

10. The detection method according to claim 9, characterized in that: The step three also includes: Positioning the workpiece to be inspected in the placement area of ​​the transfer position.

11. The detection method according to claim 9, characterized in that: The placement area is used for placing a plurality of the workpieces, and the step three further comprises: Among the multiple workpieces to be inspected in the placement area of ​​the transfer position, the workpiece whose posture is different from that of the other workpieces is corrected.

12. The detection method according to any one of claims 9 to 11, characterized in that: Repeat step 1 to step 4 several times, where N is an integer greater than or equal to 2.

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