Visual inspection system and method

Abstract

The invention discloses a visual inspection system and method, and belongs to the field of visual inspection, and the system comprises a first conveying device which comprises a first conveying line and a first motion platform which drives the first conveying line to move to a first butt joint position or a first detection position in the X-axis direction; the second conveying device comprises a second conveying line and a second moving platform for driving the second conveying line to move to a second butt joint position or a second detection position in the X-axis direction; the detection device comprises a first detection mechanism located at a first detection position and a second detection mechanism located at a second detection position; when the first conveying line and the second conveying line are located at the first butt joint position and the second butt joint position respectively, the first conveying line and the second conveying line are located on the same straight line parallel to the Y axis, and when the first conveying line and the second conveying line are located at the first detection position and the second detection position respectively, the first conveying line and the second conveying line are staggered in the X-axis direction. The feeding and discharging mechanism is good in space adaptability, and feeding and discharging positions can be flexibly adjusted.

Description

Technical Field

[0001] The present invention relates to the technical field of product visual inspection, and in particular to a visual inspection system and method. Background Art

[0002] The visual inspection system is mainly used to inspect and screen the appearance and size of the product. For example, Chinese invention patent CN118558610A discloses a 2D and 3D visual inspection system for chips DB and gold wires WB, including a tray conveying mechanism and a tray detection mechanism. The two ends of the tray conveying mechanism are respectively provided with a loading mechanism and a unloading mechanism, and the tray detection mechanism is located between the loading mechanism and the unloading mechanism. However, the above-mentioned tray conveying mechanism is a non-segmented structure, and the maintenance and troubleshooting costs are high; the 2D detection part and the 3D detection part of the tray detection mechanism need to be arranged at intervals along the length direction of the tray conveying mechanism to avoid mutual limitation during the detection process, which makes the system too large in the length direction of the tray conveying mechanism and has poor spatial adaptability; in addition, the tray conveying mechanism is a fixed structure, and the loading mechanism and the unloading mechanism connected to the end of the tray conveying mechanism are difficult to flexibly adjust the installation position.

[0003] Therefore, it is necessary to improve the prior art to overcome the above defects in the prior art. Summary of the invention

[0004] The object of the present invention is to provide a visual inspection system and method to reduce maintenance and troubleshooting costs, improve spatial adaptability, and flexibly adjust the loading and unloading positions.

[0005] The object of the present invention is to achieve the following technical solution: a visual inspection system, comprising: A first conveying device comprises a first conveying line for transporting a material tray and a first moving platform adapted to drive the first conveying line to move along an X-axis direction to a first docking position or a first detection position; A second conveying device, arranged opposite to the first conveying device along the Y-axis direction, comprising a second conveying line for transporting the material tray and a second motion platform suitable for driving the second conveying line to move along the X-axis direction to a second docking position or a second detection position; A detection device, comprising a first detection mechanism located at the first detection position and a second detection mechanism located at the second detection position; Among them, when the first conveyor line and the second conveyor line are respectively in the first docking position and the second docking position, the first conveyor line and the second conveyor line are in the same straight line parallel to the Y-axis, and the first motion platform and the second motion platform are suitable for driving the second conveyor line and the second conveyor line to approach docking along the Y-axis direction, and when the first conveyor line and the second conveyor line are respectively in the first detection position and the second detection position, the first conveyor line and the second conveyor line are staggered along the X-axis direction.

[0006] Further, the first detection mechanism is located on a side of the first conveying device in the positive direction of the X-axis, and the second detection mechanism is located on a side of the second conveying device in the negative direction of the X-axis.

[0007] Furthermore, the first conveying line comprises: The conveyor line body comprises two conveying parts arranged opposite to each other along the X-axis direction, the two conveying parts are suitable for cooperating with the material tray and conveying the material tray along the Y-axis direction; The adsorption mechanism is located between the two conveying parts and is arranged below the bearing surface of the conveying line body for bearing the material tray; A first lifting module, adapted to drive the conveyor line body to descend along the Z axis to place the material tray on the adsorption mechanism; The adsorption mechanism is suitable for positioning the material tray and adsorbing the product in the material tray.

[0008] Furthermore, the adsorption mechanism comprises: Bracket; An adsorption platform is carried by the bracket, and a positioning piece for positioning the material tray and a plurality of adsorption components for adsorbing the product are convexly provided on the bearing surface of the adsorption platform; Among them, the material tray has a plurality of receiving grooves for accommodating products in an array along the X-axis and Y-axis directions, and the receiving grooves correspond to the adsorption components one by one. The bottom of the receiving groove is formed with an avoidance opening corresponding to the adsorption component, and the adsorption component is suitable for extending into the receiving groove through the avoidance opening to adsorb the bottom of the product.

[0009] Furthermore, each of the receiving grooves has a plurality of avoidance openings, which are evenly distributed along the circumference of the product, and the adsorption assembly includes a plurality of adsorption parts corresponding one-to-one to the avoidance openings.

[0010] Furthermore, the first conveying line further comprises: A first side-pushing mechanism is arranged at the feeding side of the conveying line body and is located between the two conveying parts, and the first side-pushing mechanism is suitable for pushing and positioning the material tray along the Y-axis direction; There are at least two second side-pushing mechanisms, which are arranged at different conveying parts. The second side-pushing mechanisms at the two conveying parts are suitable for cooperating to center the material tray along the X-axis direction; A blocking mechanism is arranged on the discharge side of the conveying line body and is located between the two conveying parts; Wherein, the structure of the second conveying line is the same as that of the first conveying line.

[0011] Furthermore, the first side thrust mechanism comprises: First Pedestal; A first side pusher, movably disposed on the first base along the Y-axis direction; A first side push module is disposed on the first base and is suitable for driving the first side push member to move along the Y-axis direction; A second lifting module is transmission-connected to the first side-pushing module to drive the first side-pushing module to lift and lower along the Z-axis direction; The first blocking member is disposed on the first base, and the first blocking member is further away from the discharge side of the conveying line body than the first side pushing member.

[0012] Furthermore, the second side thrust mechanism comprises: A second base, disposed on the conveying portion; A second side pusher, movably disposed on the second base along the X-axis direction; The second side pushing module is arranged on the second base and is suitable for driving the second side pushing member to move along the X-axis direction.

[0013] Furthermore, the blocking mechanism comprises: a second blocking member; The third lifting module is transmission-connected with the second blocking member to drive the second blocking member to move up and down along the Z-axis direction.

[0014] In addition, the present invention also provides a visual detection method, comprising the following steps: S100, the first motion platform drives the first conveyor line to move along the X-axis direction to the first docking position, the first conveyor line receives and positions the material tray to be inspected, and then the first motion platform drives the first conveyor line to move along the X-axis direction to the first inspection position, and the first inspection mechanism performs visual inspection on the product in the material tray; S200, the first motion platform drives the first conveyor line to move to the first docking position along the X-axis direction, the second motion platform drives the second conveyor line to move to the second docking position along the X-axis direction, the first motion platform and the second motion platform drive the first conveyor line and the second conveyor line to approach docking along the Y-axis, and the first conveyor line conveys the material tray to the second conveyor line; S300, the second motion platform drives the second conveyor line to move along the X-axis direction to the second detection position, and the second detection mechanism performs visual inspection on the products in the tray; S400, the second motion platform drives the second conveyor line to move along the X-axis direction to the second docking position to output the inspected material tray.

[0015] Compared with the prior art, the present invention has the following beneficial effects: the present invention adopts the above structure, the first conveying device includes a first conveying line and a first moving platform, the second conveying device includes a second conveying line and a second moving platform, the first conveying line is suitable for moving to the first docking position or the first detection position along the X-axis direction under the drive of the first moving platform, the second conveying line is suitable for moving to the second docking position or the second detection position along the X-axis direction under the drive of the second moving platform, the first conveying device and the second conveying device are independent of each other, and the maintenance and troubleshooting costs are low; when the first conveying line and the second conveying line are respectively in the first docking position and the second docking position, the first conveying line and the second conveying line are in the same straight line parallel to the Y-axis, which is convenient for The first motion platform and the second motion platform drive the two to approach each other and dock along the Y-axis. When the first conveyor line and the second conveyor line are respectively in the first detection position and the second detection position, the first conveyor line and the second conveyor line are staggered along the X-axis direction, so that there is enough space between the first detection mechanism and the second detection mechanism. The first detection mechanism and the second detection mechanism can be arranged alternately, that is, the projections in the X-axis direction can at least partially overlap, so as to reduce the size of the system in the Y-axis direction and improve spatial adaptability; in addition, since the first conveyor line and the second conveyor line can adjust their positions along the Y-axis direction, the loading and unloading positions can be adjusted according to actual needs. The installation positions of the loading and unloading structures are not unique, and the installation is flexible to meet different installation requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a structural schematic diagram of the visual inspection system of the present invention.

[0017] Figure 2 It is a schematic structural diagram of the first conveying device in the present invention.

[0018] Figure 3 It is a structural schematic diagram of the first conveyor line in the present invention.

[0019] Figure 4 It is a schematic diagram of the installation of the conveyor line body and the first lifting module in the present invention.

[0020] Figure 5 It is a schematic diagram of the installation of the adsorption mechanism, the first side-pushing mechanism and the blocking mechanism in the present invention.

[0021] Figure 6 It is a schematic diagram of the docking of the adsorption platform and the material tray in the present invention.

[0022] Figure 7 yes Figure 6 A partial enlarged view of point A.

[0023] Figure 8 It is a structural schematic diagram of the material tray in the present invention.

[0024] Fig. 9 It is a structural schematic diagram of the first side thrust mechanism in the present invention.

[0025] Fig.10 It is a structural schematic diagram of the second side thrust mechanism in the present invention.

[0026] Fig.11 It is a schematic diagram of the structure of the detection device in the present invention.

[0027] Description of reference numerals: 1000, first conveying device; 2000, second conveying device; 100, first moving platform; 110, first X-axis moving module; 120, first Y-axis moving module; 200, first conveying line; 210, conveying line body; 211, conveying part; 2111, avoidance groove; 212, connecting frame; 220, adsorption mechanism; 221, bracket; 222, adsorption platform; 223, positioning member; 224, adsorption assembly; 2241, adsorption member; 2242, adsorption hole; 230, first lifting module; 240, base; 241, guide structure; 250, first side pushing mechanism; 251, first base; 252, first side pushing member; 253, The first side-pushing module; 254, the second lifting module; 255, the first blocking member; 256, the buffer assembly; 257, the follower; 260, the second side-pushing mechanism; 261, the second base; 262, the second side-pushing member; 263, the second side-pushing module; 270, the blocking mechanism; 271, the second blocking member; 272, the third lifting module; 300, the second moving platform; 400, the second conveyor line; 500, the first detection mechanism; 510, the mounting frame; 520, the second Y-axis moving module; 530, the second X-axis moving module; 540, the visual detector; 600, the second detection mechanism; 700, the material tray; 710, the receiving slot; 711, the avoidance port. DETAILED DESCRIPTION

[0028] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. It is to be understood that the specific embodiments described herein are only used to explain the present application, rather than to limit the present application. It should also be noted that, for ease of description, only some structures related to the present application are shown in the accompanying drawings, rather than all structures. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0029] The terms "including" and "having" and any variations thereof in this application are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device comprising a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products or devices.

[0030] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0031] See also Figure 1 As shown, a visual inspection system corresponding to a preferred embodiment of the present invention comprises: a first conveying device 1000, comprising a first conveying line 200 for transporting a material tray 700 and a first motion platform 100 suitable for driving the first conveying line 200 to move along the X-axis direction to a first docking position or a first detection position; a second conveying device 2000, arranged opposite to the first conveying device 1000 along the Y-axis direction, comprising a second conveying line 400 for transporting a material tray 700 and a second motion platform 300 suitable for driving the second conveying line 400 to move along the X-axis direction to a second docking position or a second detection position; a detection device, comprising a detection device located at the first detection position The first detection mechanism 500 and the second detection mechanism 600 are located at the second detection position; wherein, when the first conveyor line 200 and the second conveyor line 400 are respectively in the first docking position and the second docking position, the first conveyor line 200 and the second conveyor line 400 are in the same straight line parallel to the Y-axis, and the first motion platform 100 and the second motion platform 300 are suitable for driving the second conveyor line 400 and the second conveyor line 400 to approach docking along the Y-axis direction, and when the first conveyor line 200 and the second conveyor line 400 are respectively in the first detection position and the second detection position, the first conveyor line 200 and the second conveyor line 400 are staggered along the X-axis direction.

[0032] The present invention adopts the above structure, the first conveying device 1000 includes a first conveying line 200 and a first motion platform 100, the second conveying device 2000 includes a second conveying line 400 and a second motion platform 300, the first conveying line 200 is suitable for moving to a first docking position or a first detection position along the X-axis direction under the drive of the first motion platform 100, the second conveying line 400 is suitable for moving to a second docking position or a second detection position along the X-axis direction under the drive of the second motion platform 300, the first conveying device 1000 and the second conveying device 2000 are independent of each other, and the maintenance and troubleshooting costs are low; when the first conveying line 200 and the second conveying line 400 are respectively in the first docking position and the second docking position, the first conveying line 200 and the second conveying line 400 are on the same straight line parallel to the Y-axis, which is convenient for the first The motion platform 100 and the second motion platform 300 drive the two to approach each other and dock along the Y-axis. When the first conveyor line 200 and the second conveyor line 400 are respectively in the first detection position and the second detection position, the first conveyor line 200 and the second conveyor line 400 are staggered along the X-axis direction, so that there is enough space between the first detection mechanism 500 and the second detection mechanism 600. The first detection mechanism 500 and the second detection mechanism 600 can be arranged alternately, that is, the projections in the X-axis direction can at least partially overlap, so as to reduce the size of the system in the Y-axis direction and improve spatial adaptability; in addition, since the first conveyor line 200 and the second conveyor line 400 can adjust their positions along the Y-axis direction, the loading and unloading positions can be adjusted according to actual needs. The installation positions of the loading and unloading structures are not unique, and the installation is flexible to meet different installation requirements.

[0033] Further, refer to Figure 2 As shown, the first motion platform 100 includes a first X-axis moving module 110 and a first Y-axis moving module 120 that is transmission-connected to the first X-axis moving module 110, and the first conveyor line 200 is transmission-connected to the first Y-axis moving module 120. The first X-axis moving module 110 and the first Y-axis moving module 120 are respectively suitable for driving the first conveyor line 200 to move along the X-axis and the Y-axis. The first X-axis moving module 110 and the first Y-axis moving module 120 are both conventional linear modules, and the present invention will not repeat their structures here.

[0034] Further, refer to Figure 3 and Figure 4As shown, the first conveyor line 200 includes a conveyor line body 210, an adsorption mechanism 220 and a first lifting module 230. The conveyor line body 210 is a belt conveyor line body whose conveying direction is parallel to the Y axis, and includes two conveying parts 211 arranged relatively along the X axis direction, and the two conveying parts 211 are suitable for cooperating with the material tray 700 and conveying the material tray 700 along the Y axis direction. The adsorption mechanism 220 is located between the two conveying parts 211 and is arranged below the bearing surface of the conveyor line body 210 for bearing the material tray 700. The first lifting module 230 is transmission-connected with the conveyor line body 210, and is suitable for driving the conveyor line body 210 to descend along the Z axis to place the material tray 700 on the adsorption mechanism 220, and the adsorption mechanism 220 is suitable for positioning the material tray 700 and adsorbing the products in the material tray 700.

[0035] By adopting the above structure, it is convenient to input and output the material tray 700 to the first conveyor line 200, and at the same time, the material tray 700 can be reliably positioned to improve the accuracy of visual testing; in addition, when the adsorption mechanism 220 positions the material tray 700, it can also adsorb the product in the material tray 700 to prevent the product from moving relative to the material tray 700, thereby further improving the accuracy of visual testing.

[0036] Furthermore, the conveyor line body 210 includes a connecting frame 212 supported between the bottoms of the two conveying parts 211, and the connecting frame 212 is formed with an avoidance area for avoiding the adsorption mechanism 220 along the Z axis. The first conveyor line 200 includes a base 240 fixed on the first Y-axis moving module 120, and the conveyor line body 210 is located above the base 240. A guide structure 241 for guiding the lifting and lowering of the conveyor line body 210 is supported between the connecting frame 212 and the base 240. The guide structure 241 can specifically be guided by a linear bearing in combination with a guide rod, and the present invention will not be repeated here. The first lifting module 230 is arranged on the base 240 and is located below the connecting frame 212. The output end of the first lifting module 230 is connected to the connecting frame 212 to drive the overall lifting and lowering of the conveyor line body 210. The first lifting module 230 can specifically be a linear cylinder or an electric cylinder, and the present invention will not be repeated here.

[0037] Further, refer to Figures 5 to 8As shown, the adsorption mechanism 220 includes a bracket 221 and an adsorption platform 222, the bracket 221 is arranged on the base 240, and the adsorption platform 222 is carried by the bracket 221. A positioning member 223 for positioning the material tray 700 is convexly provided on the bearing surface of the adsorption platform 222. In one embodiment, the positioning member 223 can be a pin, and the material tray 700 is provided with a pin hole adapted to the pin. When the pin is inserted into the pin hole, it can realize the positioning of the material tray 700. At this time, the number of positioning members 223 is at least two, so that the material tray 700 can be reliably positioned in the X-axis and Y-axis directions. Of course, in other embodiments, the positioning member 223 can also be a positioning block, which blocks the outer side of the material tray 700 so that the material tray 700 can be reliably positioned in the X-axis and Y-axis directions. The positioning block can be distributed continuously or intermittently along the circumference of the material tray 700.

[0038] In addition, a plurality of adsorption components 224 for adsorbing products are convexly provided on the bearing surface of the adsorption platform 222. The material tray 700 is arrayed with a plurality of receiving grooves 710 for accommodating products along the X-axis and Y-axis directions. The receiving grooves 710 correspond to the adsorption components 224 one by one. The bottom of the receiving grooves 710 is formed with avoidance openings 711 corresponding to the adsorption components 224. The adsorption components 224 are suitable for extending into the receiving grooves 710 through the avoidance openings 711 to adsorb the bottom of the product.

[0039] Preferably, each receiving groove 710 has a plurality of avoidance openings 711, which are evenly distributed along the circumference of the product, and the adsorption assembly 224 includes a plurality of adsorption members 2241 corresponding to the avoidance openings 711 one by one, so as to improve the stability of the product after adsorption. The adsorption member 2241 is specifically a block structure whose contour is adapted to the avoidance opening 711, and the top surface of the adsorption member 2241 is inwardly recessed to form an adsorption hole 2242. When the adsorption member 2241 extends into the receiving groove 710 through the avoidance opening 711, the top surface of the adsorption member 2241 can support and adsorb the product.

[0040] A vacuum channel (not shown) communicating with the adsorption assembly 224 is formed in the adsorption platform 222, and the vacuum channel is suitable for connecting with the external vacuum generating structure so that the adsorption hole 2242 generates adsorption force. There are multiple vacuum channels, which are independent of each other. The vacuum channels correspond to the adsorption assemblies 224 one by one, and a single vacuum channel can act on multiple adsorption parts 2241 of the adsorption assembly 224. By adopting the above structure, the adsorption and release of each adsorption assembly 224 are independent, which can effectively improve the reliability of adsorption.

[0041] Furthermore, due to the use of the above-mentioned structure of the adsorption mechanism 220, the position accuracy of the material tray 700 on the conveying line 210 is required to be high, while the conveying accuracy of the conveying line 210 is poor, which may easily lead to the difficulty of accurately carrying the material tray 700 on the adsorption platform 222. As a preferred embodiment, refer to Figure 3As shown, the first conveyor line 200 includes a first side-pushing mechanism 250 and a second side-pushing mechanism 260. The first side-pushing mechanism 250 is arranged at the feeding side of the conveyor line body 210 and is located between the two conveying parts 211. The first side-pushing mechanism 250 is suitable for pushing and positioning the material tray 700 along the Y-axis direction. There are at least two second side-pushing mechanisms 260, which are arranged at different conveying parts 211. The second side-pushing mechanisms 260 at the two conveying parts 211 are suitable for cooperating to centrally position the material tray 700 along the X-axis direction. By adopting the above structure, the position accuracy of the material tray 700 on the conveyor line body 210 can be effectively improved, ensuring that the material tray 700 can be accurately placed on the adsorption table 222 after the conveyor line body 210 descends.

[0042] Further, refer to Fig. 9 As shown, the first side push mechanism 250 includes a first base 251, a first side push member 252, a first side push module group 253, a second lifting module group 254 and a first blocking member 255. The first side push member 252 can be movably arranged on the first base 251 along the Y-axis direction, and a slide rail structure arranged along the Y-axis direction can be specifically arranged between the first side push member 252 and the first base 251. The first side push module group 253 is arranged on the first base 251 and is suitable for driving the first side push member 252 to move along the Y-axis direction. The first side push module group 253 can specifically adopt a cylinder or an electric cylinder. The first blocking member 255 is arranged on the first base 251, and the first blocking member 255 is farther away from the discharge side of the conveying line body 210 than the first side push member 252. The second lifting module group 254 is arranged on the base 240, and is transmission-connected with the first side push module group 253 to drive the first side push module group 253 to rise and fall along the Z-axis direction. The second lifting module 254 may specifically be a pneumatic cylinder or an electric cylinder, which is not limited in the present invention.

[0043] By adopting the first side-pushing mechanism 250 of the above-mentioned structure, initially, the first side-pushing mechanism 250 can be lowered to below the bearing surface of the conveyor line body 210 under the action of the second lifting module 254 to avoid hindering the material tray 700 from flowing into the conveyor line body 210. When the material tray 700 flows into the conveyor line body 210 and is transported to a certain position, the first side-pushing mechanism 250 can rise under the action of the second lifting module 254. At this time, the first blocking member 255 can block the feeding side of the conveyor line body 210 to prevent subsequent material trays 700 from flowing into the conveyor line body 210. At the same time, the first side-pushing member 252 is arranged opposite to the side of the material tray 700 on the conveyor line body 210, and can push the material tray 700 along the Y-axis direction under the drive of the first side-pushing module 253 to position it in the Y-axis direction.

[0044] Preferably, a buffer assembly 256 is provided between the first side pusher 252 and the first base 251, and the buffer assembly 256 can elastically buffer the first side pusher 252 in the Y-axis direction to prevent a large impact between the first side pusher 252 and the tray 700. The buffer assembly 256 can be specifically implemented by a spring-coordinated slide rail assembly, which will not be described in detail in the present invention. Preferably, a follower 257 is provided on the first side pusher 252, and the axial direction of the follower 257 is parallel to the Z-axis. When the first side pusher 252 approaches the tray 700, the follower 257 is suitable for contacting the side of the tray 700 and pushing the tray 700. By providing the follower 257, it can more reliably push the tray 700 and reduce the probability of damage.

[0045] Further, refer to Figure 3 , Figure 4 and Fig.10 As shown, the second side push mechanism 260 includes a second base 261, a second side push member 262 and a second side push module group 263. The second base 261 is arranged on the conveying part 211, and the second side push member 262 can be movably arranged on the second base 261 along the X-axis direction. The second side push module group 263 is arranged on the second base 261, and is suitable for driving the second side push member 262 to move along the X-axis direction. Preferably, the conveying part 211 is recessed inwardly from its top surface to form an avoidance groove 2111, and the avoidance groove 2111 is a through structure in the X-axis direction. The second side push member 262 can be embedded in the avoidance groove 2111 to correspond to the side of the material tray 700 in the X-axis direction, so that the second side push member 262 can reliably push the side of the material tray 700. The structure of the second side pushing member 262 is similar to that of the first side pushing member 252 , and the structure of the second side pushing module 263 is similar to that of the first side pushing module 253 , which will not be described in detail herein.

[0046] In this embodiment, one of the conveying parts 211 is provided with a second side pushing mechanism 260, which corresponds to the middle position of the material tray 700 in the Y-axis direction, and the other conveying part 211 is provided with two second side pushing mechanisms 260, and the single second side pushing mechanism 260 located on one conveying part 211 is located between the two second side pushing mechanisms 260 of the other conveying part 211. By adopting the above structure, the number of the second side pushing mechanisms 260 can be reduced, and the position accuracy of the material tray 700 after side pushing can be greatly improved.

[0047] Further, refer to Figure 3 and Figure 5As shown, the first conveyor line 200 also includes a blocking mechanism 270 disposed on the discharge side of the conveyor line body 210. The blocking mechanism 270 is located between the two conveying parts 211, and can block the material tray 700 as needed to prevent the material tray 700 from flowing out of the conveyor line body 210. The blocking mechanism 270 includes a second blocking member 271 and a third lifting module 272. The third lifting module 272 is transmission-connected with the second blocking member 271 to drive the second blocking member 271 to rise and fall along the Z-axis direction. When the second blocking member 271 rises, it can block the side of the material tray 700 in the Y-axis direction to ensure the reliability of the material tray 700 on the conveyor line body 210. When the material tray 700 needs to be transported to the second conveyor line 400, the second blocking member 271 can be lowered to release the blocking of the material tray 700.

[0048] Furthermore, the structure of the second conveying device 2000 is the same as that of the first conveying device 1000, that is, the structure of the second moving platform 300 is the same as that of the first moving platform 100, and the structure of the second conveying line 400 is the same as that of the first conveying line 200, which will not be repeated herein.

[0049] Further, refer to Figure 1 and Fig.11 As shown, the first detection mechanism 500 is located on the side of the first conveying device 1000 in the positive direction of the X-axis, and the second detection mechanism 600 is located on the side of the second conveying device 2000 in the negative direction of the X-axis, so that there is a large gap between the first detection mechanism 500 and the second detection mechanism 600 in the X-axis direction, avoiding the first detection mechanism 500 and the second detection mechanism 600 from limiting each other when they are staggered along the Y-axis.

[0050] One of the first detection mechanism 500 and the second detection mechanism 600 is used for 2D visual detection, and the other is used for 3D visual detection. The first detection mechanism 500 includes a mounting frame 510, a second Y-axis moving module 520, a second X-axis moving module 530 and a visual detector 540. The second Y-axis moving module 520 is arranged on the mounting frame 510, the second X-axis moving module 530 is connected to the second Y-axis moving module 520 by transmission, and the visual detector 540 is connected to the second Y-axis moving module 520 by transmission, and is located above the first conveying device 1000, and the detection end is arranged downward. The visual detector 540 is suitable for moving along the X-axis and Y-axis directions under the drive of the second Y-axis moving module 520 and the second X-axis moving module 530, so that it can perform visual detection on the products at various positions of the material tray 700. The structure of the second detection mechanism 600 is similar to that of the first detection mechanism 500, and the difference is only that the visual detector 540 is different, and the present invention will not be repeated here.

[0051] In addition, the present invention also provides a visual detection method, comprising the following steps: S100, the first motion platform 100 drives the first conveyor line 200 to move along the X-axis direction to the first docking position, the first conveyor line 200 receives and positions the material tray 700 to be inspected, and then the first motion platform drives the first conveyor line 200 to move along the X-axis direction to the first inspection position, and the first inspection mechanism 500 performs visual inspection on the products in the material tray 700.

[0052] In this step, the first side push mechanism 250 of the first conveyor line 200 is first in a descending state, the loading structure transports the material tray 700 to the feeding side of the conveyor line body 210 of the first conveyor line 200, the conveyor line body 210 receives the material tray 700 and transports it to a preset position, and then the first side push mechanism 250 rises to block the loading structure and the conveyor line body 210, and at the same time, the first side push mechanism 250 can push the material tray 700 along the Y-axis direction, and the second side push mechanism 260 can push the material tray 700 along the X-axis direction to achieve accurate positioning of the material tray 700 in the X-axis and Y-axis directions. Subsequently, the first conveyor line 200 descends to allow the material tray 700 to fall onto the adsorption platform 222, the material tray 700 is precisely matched with the positioning member 223 on the adsorption platform 222, to achieve the positioning of the material tray 700, and the adsorption member 2241 is precisely matched with the product in the material tray 700 to achieve the adsorption of the product.

[0053] S200, the first motion platform 100 drives the first conveyor line 200 to move to the first docking position along the X-axis direction, the second motion platform 300 drives the second conveyor line 400 to move to the second docking position along the X-axis direction, the first motion platform 100 and the second motion platform 300 drive the first conveyor line 200 and the second conveyor line 400 to approach docking along the Y-axis, and the first conveyor line 200 conveys the material tray 700 to the second conveyor line 400.

[0054] In this step, the first conveyor line 200 first makes the conveyor line body 210 carry the material tray 700 again, so that the material tray 700 flows into the second conveyor line 400 under the conveyance of the conveyor line body 210, and after the material tray 700 is conveyed to the preset position of the second conveyor line 400, the second conveyor line 400 positions the material tray 700 and the products in the material tray 700 to ensure its reliability in the subsequent inspection process.

[0055] S300 , the second motion platform 300 drives the second conveyor line 400 to move along the X-axis direction to the second detection position, and the second detection mechanism 600 performs visual inspection on the products in the tray 700 .

[0056] S400 , the second motion platform 300 drives the second conveyor line 400 to move along the X-axis direction to the second docking position to output the material tray 700 that has been inspected.

[0057] In this step, the second conveyor line 400 enables the conveyor line body 210 to carry the material tray 700 again, so that the material tray 700 flows to the unloading structure under the conveyance of the conveyor line body 210 .

[0058] The above description is only an implementation method of the present application, and does not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the description and drawings of this application, or directly or indirectly used in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A visual inspection system, characterized in that: include: A first conveying device (1000) comprises a first conveying line (200) for conveying a material tray (700) and a first moving platform (100) suitable for driving the first conveying line (200) to move along an X-axis direction to a first docking position or a first detection position; A second conveying device (2000) is arranged opposite to the first conveying device (1000) along the Y-axis direction, and comprises a second conveying line (400) for transporting a material tray (700) and a second motion platform (300) suitable for driving the second conveying line (400) to move along the X-axis direction to a second docking position or a second detection position; A detection device, comprising a first detection mechanism (500) located at the first detection position and a second detection mechanism (600) located at the second detection position; Wherein, when the first conveyor line (200) and the second conveyor line (400) are respectively in the first docking position and the second docking position, the first conveyor line (200) and the second conveyor line (400) are in the same straight line parallel to the Y-axis, and the first motion platform (100) and the second motion platform (300) are suitable for driving the second conveyor line (400) and the second conveyor line (400) to approach docking along the Y-axis direction; when the first conveyor line (200) and the second conveyor line (400) are respectively in the first detection position and the second detection position, the first conveyor line (200) and the second conveyor line (400) are staggered along the X-axis direction.

2. The visual inspection system according to claim 1, characterized in that: The first detection mechanism (500) is located on a side of the first conveying device (1000) in the positive direction of the X-axis, and the second detection mechanism (600) is located on a side of the second conveying device (2000) in the negative direction of the X-axis.

3. The visual inspection system according to claim 1, characterized in that: The first conveying line (200) comprises: The conveying line body (210) comprises two conveying parts (211) arranged opposite to each other along the X-axis direction, wherein the two conveying parts (211) are suitable for cooperating with the material tray (700) and conveying the material tray (700) along the Y-axis direction; An adsorption mechanism (220) is located between the two conveying parts (211) and is provided below a bearing surface of the conveying line body (210) for bearing the material tray (700); A first lifting module (230) is adapted to drive the conveyor line body (210) to descend along the Z axis so as to place the material tray (700) on the adsorption mechanism (220); The adsorption mechanism (220) is suitable for positioning the material tray (700) and adsorbing the product in the material tray (700).

4. The visual inspection system according to claim 3, characterized in that: The adsorption mechanism (220) comprises: Bracket (221); An adsorption platform (222) is supported on the support (221), and a positioning piece (223) for positioning the material tray (700) and a plurality of adsorption components (224) for adsorbing products are convexly provided on the support surface of the adsorption platform (222); The material tray (700) has a plurality of receiving grooves (710) arranged in an array along the X-axis and Y-axis directions for accommodating products, the receiving grooves (710) corresponding to the adsorption components (224) one by one, and the bottom of the receiving grooves (710) is formed with avoidance openings (711) corresponding to the adsorption components (224), and the adsorption components (224) are suitable for extending into the receiving grooves (710) through the avoidance openings (711) to adsorb the bottom of the products.

5. The visual inspection system according to claim 4, characterized in that: The avoidance openings (711) of each of the receiving grooves (710) are multiple in number and are evenly distributed along the circumference of the product, and the adsorption assembly (224) comprises a plurality of adsorption members (2241) corresponding one-to-one to the avoidance openings (711).

6. The visual inspection system according to claim 3, characterized in that: The first conveying line (200) further comprises: A first side-pushing mechanism (250) is arranged at the feeding side of the conveying line body (210) and is located between the two conveying parts (211), wherein the first side-pushing mechanism (250) is suitable for pushing and positioning the material tray (700) along the Y-axis direction; There are at least two second side-pushing mechanisms (260) disposed at different conveying parts (211); the second side-pushing mechanisms (260) at the two conveying parts (211) are suitable for cooperating to centrally position the material tray (700) along the X-axis direction; A blocking mechanism (270) is arranged on the discharge side of the conveying line body (210) and is located between the two conveying parts (211); Wherein, the structure of the second conveyor line (400) is the same as the structure of the first conveyor line (200).

7. The visual inspection system according to claim 6, characterized in that: The first side thrust mechanism (250) comprises: First base (251); A first side push member (252) movably disposed on the first base (251) along the Y-axis direction; A first side pushing module (253) is arranged on the first base (251) and is suitable for driving the first side pushing member (252) to move along the Y-axis direction; A second lifting module (254) is transmission-connected to the first side-pushing module (253) to drive the first side-pushing module (253) to lift and lower along the Z-axis direction; The first blocking member (255) is disposed on the first base (251); the first blocking member (255) is further away from the discharge side of the conveying line body (210) than the first side pushing member (252).

8. The visual inspection system according to claim 6, characterized in that: The second side thrust mechanism (260) comprises: A second base (261), disposed on the conveying portion (211); A second side push member (262) is movably disposed on the second base (261) along the X-axis direction; The second side pushing module (263) is arranged on the second base (261) and is suitable for driving the second side pushing member (262) to move along the X-axis direction.

9. The visual inspection system according to claim 6, characterized in that: The blocking mechanism (270) comprises: A second blocking member (271); The third lifting module (272) is transmission-connected to the second blocking member (271) to drive the second blocking member (271) to move up and down along the Z-axis direction.

10. A visual inspection method, characterized in that: The following steps are involved: S100, the first motion platform (100) drives the first conveyor line (200) to move along the X-axis direction to a first docking position, the first conveyor line (200) receives and positions the material tray (700) to be inspected, and then the first motion platform (100) drives the first conveyor line (200) to move along the X-axis direction to a first inspection position, and the first inspection mechanism (500) performs a visual inspection on the products in the material tray (700); S200, the first motion platform (100) drives the first conveyor line (200) to move along the X-axis direction to a first docking position, the second motion platform (300) drives the second conveyor line (400) to move along the X-axis direction to a second docking position, the first motion platform (100) and the second motion platform (300) drive the first conveyor line (200) and the second conveyor line (400) to approach and dock along the Y-axis, and the first conveyor line (200) conveys the material tray (700) to the second conveyor line (400); S300, the second motion platform (300) drives the second conveyor line (400) to move along the X-axis direction to a second detection position, and the second detection mechanism (600) performs a visual inspection on the products in the tray (700); S400: The second motion platform (300) drives the second conveyor line (400) to move along the X-axis direction to a second docking position to output the material tray (700) that has been inspected.

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