Visual inspection system and method

Abstract

The present invention discloses a visual inspection system and method, which belongs to the field of visual inspection, and includes: a first conveying device, including a first conveyor line and a first motion platform that drives the first conveyor line to move along the X-axis direction to a first docking position or a first detection position; a second conveying device, including a second conveyor line and a second motion platform that drives the second conveyor line to move along the X-axis direction to a second docking position or a second detection position; a detection device, including a first detection mechanism located at the first detection position and a second detection mechanism located at the second detection position; 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 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. The present invention has good spatial adaptability, and the loading and unloading 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] Visual inspection systems are primarily used to inspect and screen the appearance and dimensions of products. For example, Chinese invention patent CN118558610A discloses a 2D and 3D visual inspection system for chips DB and gold wire WB, comprising a tray conveyor mechanism and a tray detection mechanism. The tray conveyor mechanism is provided with a loading mechanism and an unloading mechanism at each end, with the tray detection mechanism located between the loading mechanism and the unloading mechanism. However, the tray conveyor mechanism is a non-segmented structure, resulting in high maintenance and troubleshooting costs. The 2D detection portion and the 3D detection portion of the tray detection mechanism need to be spaced apart along the length of the tray conveyor mechanism to prevent them from limiting each other during the inspection process, resulting in the system being too large along the length of the tray conveyor mechanism and poor spatial adaptability. Furthermore, the tray conveyor mechanism is a fixed structure, making it difficult to flexibly adjust the installation position of the loading mechanism and the unloading mechanism connected to the ends of the tray conveyor mechanism.

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

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

[0005] The object of the present invention is to achieve the following technical solution: a visual inspection system comprising:

[0006] The first conveying device includes a first conveying line for transporting the material tray and a first motion platform suitable for driving the first conveying line to move along the X-axis direction to a first docking position or a first detection position;

[0007] A second conveying device is arranged opposite to the first conveying device along the Y-axis direction, and includes 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;

[0008] 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;

[0009] 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 on the same straight line parallel to the Y-axis, and the first motion platform and the second motion platform are suitable for driving the first conveyor line and the second conveyor line to approach docking along the Y-axis direction. 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.

[0010] Furthermore, 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.

[0011] Furthermore, the first conveying line includes:

[0012] The conveying line includes 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;

[0013] An adsorption mechanism is located between the two conveying parts and is provided below the bearing surface of the conveying line body for bearing the material tray;

[0014] A first lifting module is adapted to drive the conveyor line body to descend along the Z axis to place the material tray on the adsorption mechanism;

[0015] The adsorption mechanism is suitable for positioning the tray and adsorbing the product in the tray.

[0016] Furthermore, the adsorption mechanism includes:

[0017] Bracket;

[0018] An adsorption platform is supported on the bracket, and a support surface of the adsorption platform is provided with a positioning member for positioning the material tray and a plurality of adsorption components for adsorbing the product;

[0019] Among them, the material tray has a plurality of receiving grooves for accommodating products arranged in an array along the X-axis and Y-axis directions, and the receiving grooves correspond one-to-one to the adsorption components. 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.

[0020] 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.

[0021] Furthermore, the first conveying line further comprises:

[0022] A first side pushing mechanism is provided 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;

[0023] There are at least two second side pushing mechanisms, which are respectively provided at different conveying parts, and the second side pushing mechanisms at the two conveying parts are suitable for cooperating to centrally position the material tray along the X-axis direction;

[0024] A blocking mechanism is provided on the discharge side of the conveying line body and is located between the two conveying parts;

[0025] The structure of the second conveyor line is the same as that of the first conveyor line.

[0026] Furthermore, the first side thrust mechanism includes:

[0027] First Plinth;

[0028] a first side pushing member, movably disposed on the first base along the Y-axis direction;

[0029] a first side pushing module, disposed on the first base and adapted to drive the first side pushing member to move along the Y-axis direction;

[0030] A second lifting module is connected to the first side push module in a transmission manner to drive the first side push module to move up and down along the Z-axis direction;

[0031] 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.

[0032] Furthermore, the second side thrust mechanism includes:

[0033] a second base, disposed on the conveying portion;

[0034] a second side pushing member, movably disposed on the second base along the X-axis direction;

[0035] The second side pushing module is disposed on the second base and is suitable for driving the second side pushing member to move along the X-axis direction.

[0036] Furthermore, the blocking mechanism includes:

[0037] a second blocking member;

[0038] The third lifting module is transmission-connected to the second blocking member to drive the second blocking member to move up and down along the Z-axis direction.

[0039] In addition, the present invention also provides a visual detection method, comprising the following steps:

[0040] S100: The first motion platform drives the first conveyor line to move along the X-axis to a first docking position, where the first conveyor line receives and positions a tray to be inspected. The first motion platform then drives the first conveyor line to move along the X-axis to a first inspection position, where a first inspection mechanism performs a visual inspection on the product in the tray.

[0041] S200: The first motion platform drives the first conveyor line to move along the X-axis to the first docking position, and the second motion platform drives the second conveyor line to move along the X-axis to the second docking position. The first motion platform and the second motion platform drive the first conveyor line and the second conveyor line to approach and dock along the Y-axis, and the first conveyor line conveys the material tray to the second conveyor line.

[0042] 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 a visual inspection on the products in the tray;

[0043] 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 tray.

[0044] 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 being driven by the first moving platform to move along the X-axis direction to the first docking position or the first detection position, the second conveying line is suitable for being driven by the second moving platform to move along the X-axis direction to the second docking position or the second detection position, 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 in a staggered manner, 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

[0045] Figure 1 It is a structural schematic diagram of the visual inspection system of the present invention.

[0046] Figure 2 It is a structural schematic diagram of the first conveying device in the present invention.

[0047] Figure 3 It is a structural schematic diagram of the first conveyor line in the present invention.

[0048] Figure 4 It is a schematic diagram of the installation of the conveyor line body and the first lifting module in the present invention.

[0049] 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.

[0050] Figure 6 It is a schematic diagram of the docking of the adsorption table and the material tray in the present invention.

[0051] Figure 7 yes Figure 6 A partial enlarged view of point A.

[0052] Figure 8 It is a structural schematic diagram of the material tray in the present invention.

[0053] Figure 9 It is a structural schematic diagram of the first side thrust mechanism in the present invention.

[0054] Figure 10 It is a structural schematic diagram of the second side thrust mechanism in the present invention.

[0055] Figure 11 It is a structural schematic diagram of the detection device in the present invention.

[0056] Description of reference numerals:

[0057] 1000, first conveying device; 2000, second conveying device; 100, first motion platform; 110, first X-axis moving module; 120, first Y-axis moving module; 200, first conveyor line; 210, conveyor 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, First side-pushing module; 254, second lifting module; 255, first blocking member; 256, buffer assembly; 257, follower; 260, second side-pushing mechanism; 261, second base; 262, second side-pushing member; 263, second side-pushing module; 270, blocking mechanism; 271, second blocking member; 272, third lifting module; 300, second motion platform; 400, second conveyor line; 500, first detection mechanism; 510, mounting frame; 520, second Y-axis moving module; 530, second X-axis moving module; 540, visual detector; 600, second detection mechanism; 700, material tray; 710, receiving slot; 711, avoidance port. DETAILED DESCRIPTION

[0058] In order to make the above-mentioned objects, 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 will 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, rather than all, structures related to the present application are shown in the accompanying drawings. 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.

[0059] As used herein, the terms "comprise," "comprising," and "having," and any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or apparatus comprising a series of steps or elements is not limited to the listed steps or elements but may optionally include steps or elements not listed, or may optionally include other steps or elements inherent to the process, method, product, or apparatus.

[0060] References herein to "embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute an independent or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0061] 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 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 on 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 first conveyor line 200 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.

[0062] 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 the first docking position or the 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 the second docking position or the 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 conveying line 200 to be moved to the first docking position or the first detection position along the X-axis direction. 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 in an staggered manner, 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.

[0063] 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. 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 adapted to drive 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 their structures are not further described herein.

[0064] 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. It includes two conveying parts 211 arranged relatively along the X-axis direction. 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 provided below the bearing surface of the conveyor line body 210 for bearing the material tray 700. The first lifting module 230 is transmission-connected to 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. The adsorption mechanism 220 is suitable for positioning the material tray 700 and adsorbing the products in the material tray 700.

[0065] By adopting the above structure, the material tray 700 can be easily input and output from the first conveyor line 200, while the material tray 700 can be reliably positioned to improve the accuracy of visual testing; in addition, since the adsorption mechanism 220 can also adsorb the product in the material tray 700 when positioning the material tray 700, it can prevent the product from moving relative to the material tray 700, thereby further improving the accuracy of visual testing.

[0066] 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 along the Z-axis to avoid the adsorption mechanism 220. 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 conveyor line body 210 to rise and fall is supported between the connecting frame 212 and the base 240. The guide structure 241 can specifically be achieved by using a linear bearing in combination with a guide rod. The present invention will not elaborate on this. 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 conveyor line body 210 to rise and fall as a whole. The first lifting module 230 can specifically be a linear cylinder or an electric cylinder. The present invention will not elaborate on this.

[0067] 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 supported by the bracket 221. A positioning member 223 for positioning the material tray 700 is convexly provided on the supporting 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 achieve 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 outside 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 blocks can be distributed continuously or intermittently along the circumference of the material tray 700.

[0068] Furthermore, the support surface of the adsorption platform 222 is provided with a plurality of adsorption assemblies 224 for adsorbing products. The tray 700 is arrayed along the X- and Y-axis directions with a plurality of product receiving slots 710, each corresponding to one of the adsorption assemblies 224. The bottoms of the receiving slots 710 are formed with escape openings 711 corresponding to the adsorption assemblies 224. The adsorption assemblies 224 are adapted to extend into the receiving slots 710 through the escape openings 711 to adsorb the bottom of the product.

[0069] Preferably, each receiving slot 710 has multiple escape openings 711 evenly distributed along the circumference of the product. The adsorption assembly 224 includes multiple adsorption members 2241 corresponding one-to-one with the escape openings 711 to improve the stability of the product after adsorption. The adsorption members 2241 are specifically block structures with contours that match the escape openings 711. The top surfaces of the adsorption members 2241 are inwardly recessed to form adsorption holes 2242. When the adsorption members 2241 extend into the receiving slot 710 through the escape openings 711, the top surfaces of the adsorption members 2241 can support and adsorb the product.

[0070] The adsorption platform 222 is formed with a vacuum channel (not shown) that communicates with the adsorption assembly 224. This vacuum channel is adapted to connect with an external vacuum generating structure to generate an adsorption force in the adsorption holes 2242. Multiple, independent vacuum channels are provided, each corresponding to a one-to-one adsorption assembly 224. A single vacuum channel can act on multiple adsorption elements 2241 of an adsorption assembly 224. This structure allows each adsorption assembly 224 to independently engage and disengage, effectively improving adsorption reliability.

[0071] 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 easily leads 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 on 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 respectively arranged at different conveying parts 211. The second side-pushing mechanisms 260 at the two conveying parts 211 are suitable for cooperating to center 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.

[0072] Further, refer to Figure 9 As shown, the first side-pushing mechanism 250 includes a first base 251, a first side-pushing member 252, a first side-pushing module assembly 253, a second lifting module assembly 254, and a first blocking member 255. The first side-pushing member 252 is movably disposed on the first base 251 along the Y-axis. Specifically, a slide rail structure arranged along the Y-axis can be disposed between the first side-pushing member 252 and the first base 251. The first side-pushing module assembly 253 is disposed on the first base 251 and is adapted to drive the first side-pushing member 252 to move along the Y-axis. The first side-pushing module assembly 253 can be implemented as a pneumatic cylinder or an electric cylinder. The first blocking member 255 is disposed on the first base 251 and is further away from the discharge side of the conveyor line 210 than the first side-pushing member 252. The second lifting module assembly 254 is disposed on the base 240 and is transmission-connected to the first side-pushing module assembly 253 to drive the first side-pushing module assembly 253 to rise and fall along the Z-axis. The second lifting module 254 can specifically be a pneumatic cylinder or an electric cylinder, which is not limited in the present invention.

[0073] 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 conveyed to a certain position, the first side-pushing mechanism 250 can be raised 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. It 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.

[0074] Preferably, a buffer assembly 256 is provided between the first side pusher 252 and the first base 251. 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 and a 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. 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 chance of damage.

[0075] Further, refer to Figure 3 、 Figure 4 and Figure 10 As shown, the second side-pushing mechanism 260 includes a second base 261, a second side-pushing member 262 and a second side-pushing module group 263. The second base 261 is arranged on the conveying portion 211, and the second side-pushing member 262 can be movably arranged on the second base 261 along the X-axis direction. The second side-pushing module group 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. Preferably, the conveying portion 211 is recessed inward 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-pushing 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-pushing 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.

[0076] In this embodiment, one of the conveying sections 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 section 211 is provided with two second side-pushing mechanisms 260, with the single second side-pushing mechanism 260 on one conveying section 211 positioned between the two second side-pushing mechanisms 260 on the other conveying section 211. By adopting this structure, the number of second side-pushing mechanisms 260 can be reduced while greatly improving the positioning accuracy of the material tray 700 after side-pushing.

[0077] 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 to the second blocking member 271 to drive the second blocking member 271 to rise and fall along the Z-axis. 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 blockage of the material tray 700.

[0078] 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 here.

[0079] Further, refer to Figure 1 and Figure 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.

[0080] One of the first detection mechanism 500 and the second detection mechanism 600 is used for 2D visual inspection, and the other is used for 3D visual inspection. The first detection mechanism 500 includes a mounting frame 510, a second Y-axis movable module 520, a second X-axis movable module 530 and a visual detector 540. The second Y-axis movable module 520 is arranged on the mounting frame 510, the second X-axis movable module 530 is transmission-connected to the second Y-axis movable module 520, and the visual detector 540 is transmission-connected to the second Y-axis movable module 520 and is located above the first conveying device 1000, with the detection end 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 movable module 520 and the second X-axis movable module 530, so that it can perform visual inspection 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 only difference is the difference in the visual detector 540, which will not be repeated here.

[0081] In addition, the present invention also provides a visual detection method, comprising the following steps:

[0082] 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.

[0083] 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, then the first side push mechanism 250 rises to block the loading structure and the conveyor line body 210, 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, so as to achieve precise positioning of the material tray 700 in the X-axis and Y-axis directions. Subsequently, the first conveyor line 200 descends so that the material tray 700 falls to the adsorption table 222, the material tray 700 is precisely matched with the positioning member 223 on the adsorption table 222, so as 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, so as to achieve the adsorption of the product.

[0084] S200, the first motion platform 100 drives the first conveyor line 200 to move along the X-axis direction to the first docking position, the second motion platform 300 drives the second conveyor line 400 to move along the X-axis direction to the 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 docking along the Y-axis, and the first conveyor line 200 transports the material tray 700 to the second conveyor line 400.

[0085] In this step, the first conveyor line 200 first makes the conveyor line body 210 re-load the material tray 700, 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.

[0086] 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 .

[0087] 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 inspected material tray 700 .

[0088] In this step, the second conveyor line 400 causes 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.

[0089] 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 applied 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: The first conveying device (1000) comprises a first conveying line (200) for transporting a material tray (700) and a first motion platform (100) adapted to drive the first conveying line (200) to move along an X-axis direction to a first docking position or a first detection position, wherein 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 adapted to cooperate with the material tray (700) and convey the material tray (700) along the Y-axis direction; an adsorption mechanism (220) located between the two conveying parts (211) and provided below a bearing surface of the conveying line body (210) for bearing the material tray (700), the adsorption mechanism (220) being suitable for positioning the material tray (700) and adsorbing the product in the material tray (700); A first lifting module (230) is adapted to drive the conveyor line (210) to descend along the Z axis to place the material tray (700) on the adsorption mechanism (220); a first side-pushing mechanism (250) disposed on the feeding side of the conveying line (210) and located between the two conveying parts (211), the first side-pushing mechanism (250) being adapted to push and position the material tray (700) along the Y-axis direction; There are at least two second side-pushing mechanisms (260), which are respectively provided at different conveying parts (211), and 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 provided on the discharge side of the conveying line (210) and is located between the two conveying parts (211); 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 the material tray (700) and a second motion platform (300) adapted to drive the second conveying line (400) to move along the X-axis direction to a second docking position or a second detection position, wherein the structure of the second conveying line (400) is the same as that of the first conveying line (200); 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, the first motion platform (100) and the second motion platform (300) are suitable for driving the first conveyor line (200) 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.

2. The visual inspection system according to claim 1, wherein: 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, wherein: The adsorption mechanism (220) includes: Bracket (221); An adsorption platform (222) is supported on the support (221), and a positioning member (223) for positioning the material tray (700) and a plurality of adsorption components (224) for adsorbing products are convexly provided on the supporting 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) correspond one-to-one to the adsorption components (224). A relief opening (711) corresponding to the adsorption component (224) is formed through the bottom of the receiving groove (710). The adsorption component (224) is suitable for extending into the receiving groove (710) through the relief opening (711) to adsorb the bottom of the product.

4. The visual inspection system according to claim 3, wherein: Each receiving groove (710) has a plurality of avoidance openings (711), which are evenly distributed along the circumference of the product. The adsorption assembly (224) includes a plurality of adsorption members (2241) corresponding one-to-one to the avoidance openings (711).

5. The visual inspection system according to claim 1, wherein: The first side thrust mechanism (250) comprises: First base (251); A first side pusher (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 connected in transmission connection with the first side-pushing module (253) to drive the first side-pushing module (253) to move up and down along the Z-axis direction; The first blocking member (255) is disposed on the first base (251), and 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).

6. The visual inspection system according to claim 1, wherein: The second side thrust mechanism (260) comprises: A second base (261), disposed on the conveying portion (211); A second side pusher (262) is movably arranged 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.

7. The visual inspection system according to claim 1, wherein: The blocking mechanism (270) comprises: a second blocking member (271); The third lifting module (272) is in transmission connection with the second blocking member (271) to drive the second blocking member (271) to move up and down along the Z-axis direction.

8. A visual inspection method using the visual inspection system according to any one of claims 1 to 7, 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 product 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 the first docking position, the second motion platform (300) drives the second conveyor line (400) to move along the X-axis direction to the 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 the second docking position to output the inspected material tray (700).

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