Multi-surface detection device and system

Abstract

The invention discloses a multi-surface detection device and system, and the device comprises an installation platform, and a visual mechanism, a first carrier and an auxiliary mechanism which are disposed on the installation platform, and the first carrier comprises a second driving assembly, a third driving assembly, and a transmission assembly used for placing a product. The transmission assembly is in transmission connection with the second driving assembly and the third driving assembly so as to drive the product to rotate in the second direction or the third direction. A second carrier with the same structure as the first carrier is arranged at the end of the auxiliary mechanism, and the movable end of the auxiliary mechanism is in transmission connection with the bottom of the second carrier. The first carrier and the second carrier are arranged to be matched with the visual mechanism so that all surfaces of the product can be detected, the product detection accuracy can be improved, meanwhile, the first carrier is provided with at least two sets of mechanical arms used in cooperation for feeding and discharging, one set of mechanical arms is used for detection, the other set of mechanical arms can be used for discharging and feeding, and the detection efficiency is improved.

Description

Technical Field

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

[0002] In order to ensure the yield rate of products during the production process, product inspection is essential. With the development of visual technology, it can be widely used in automated production processes, especially in the inspection of products. However, existing visual equipment is often fixed above the assembly line or installed on a simple three-axis movable robotic arm. This visual inspection method is barely applicable to products with regular shapes and fewer inspection surfaces. For products that need to inspect multiple surfaces and are irregular, especially fixture-type products because their clamping surfaces are relatively hidden, existing visual equipment often finds it difficult to accurately and clearly capture all surfaces during inspection, thereby reducing the accuracy of product inspection. Summary of the invention

[0003] In order to overcome the above-mentioned shortcomings, the object of the present invention is to provide a multi-faceted inspection device, comprising an installation platform and a visual mechanism, a first carrier and an auxiliary mechanism arranged on the installation platform, the first carrier comprising a second drive assembly, a third drive assembly and a transmission assembly for placing a product, the transmission assembly is respectively connected to the second drive assembly and the third drive assembly to drive the product to rotate around a second direction and / or a third direction; a second carrier with the same structure as the first carrier is provided at the end of the auxiliary mechanism, and the movable end of the auxiliary mechanism is connected to the bottom of the second carrier, the second carrier is used to clamp the product to cooperate with the visual mechanism to inspect the bottom of the product, and the first carrier is used to carry the product to cooperate with the visual mechanism to inspect the side and / or top of the product.

[0004] Among them, by setting the first carrier in cooperation with the visual mechanism, the side and top of the product can be inspected, and by setting the second carrier in cooperation with the visual mechanism, the bottom of the product can be inspected, and the first carrier and the second carrier can rotate the product around the second direction and the third direction. Even if the product has an irregular plane or clamping surface, the first carrier and the second carrier can achieve accurate inspection of all surfaces of the product by cooperating with the visual mechanism.

[0005] In one or more embodiments of the present invention, the first vehicle includes a bottom plate and a mounting frame disposed on the bottom plate. Among them, the mounting frame includes a first mounting plate and a second mounting plate oppositely disposed along a second direction. The tops of the first mounting plate and the second mounting plate are connected by a top plate. A first fixing plate is drivingly connected to the outside of the first mounting plate, and a second fixing plate is drivingly connected to the outside of the second mounting plate. The first fixing plate and the second fixing plate are connected to the bottom plate. Side plates are provided on both sides of the first mounting plate and the second mounting plate. The first mounting plate, the second mounting plate, the side plates, the top plate, and the bottom plate enclose an installation cavity; the second driving component is disposed in the installation cavity, and its output end is drivingly connected to the second mounting plate. The third driving component is disposed in the installation cavity, and its output end is drivingly connected to the transmission component. The transmission component is mounted on the top plate.

[0006] Among them, an installation cavity is formed in the mounting frame to protect the transmission component and the driving component inside the installation.

[0007] In one or more embodiments of the present invention, the transmission component includes a plurality of commutation members arranged along the second direction and mounted on the top plate. The commutation member is provided with at least one output shaft along a third direction, and the commutation member is provided with a transmission shaft along the second direction. The transmission shaft penetrates through the commutation member and is drivingly connected to the output shaft through the commutation member. Adjacent commutation members are connected by the transmission shaft. The transmission shaft near the middle position along the second direction is drivingly connected to the third driving component to drive the output shaft on the commutation member to rotate around the third direction.

[0008] Among them, the power source of the transmission component is set at the middle position of all the commutation members, so as to ensure that the rotation error of the commutation member far from the power source can be controlled within a reasonable range and ensure the rotation accuracy of the product on the transmission component.

[0009] In one or more embodiments of the present invention, the third driving component includes a second motor. The output end of the second motor is drivingly connected to a second speed reducer. A first synchronous pulley is provided at the output end of the second speed reducer. A second synchronous pulley is provided on the transmission shaft. The first synchronous pulley and the second synchronous pulley are connected by a first synchronous belt.

[0010] Among them, by setting the third driving component and outputting the power to the transmission component through the synchronous belt pulley, the transmission component is driven to rotate, so as to realize the detection of the product on multiple planes and improve the detection accuracy.

[0011] In one or more embodiments of the present invention, the second driving assembly includes a first motor, the output end of the first motor is provided with a first speed reducer, the fixed end of the first speed reducer is mounted on a first fixing plate, the movable end of the first speed reducer is drivingly connected to a first mounting plate, and the first motor drives a transmission assembly mounted on the top plate to rotate along a second direction through the first speed reducer.

[0012] Wherein, by providing the second driving assembly, the whole transmission assembly can be driven to rotate around the second direction to improve the flexibility of use.

[0013] In one or more embodiments of the present invention, the vision mechanism includes a base, a camera transmission assembly and a camera assembly. Among them, the base is fixedly mounted on the mounting platform. The camera transmission assembly includes a fourth motor, a first transmission plate, a second transmission plate and a connecting plate. The output end of the fourth motor is drivingly connected to the first end of the first transmission plate. The second end of the first transmission plate is drivingly connected to the first end of the second transmission plate through a motor. The second end of the second transmission plate is drivingly installed with the first end of the connecting plate through a motor. The camera assembly includes a camera mounting plate and a camera. The second end of the connecting plate is fixedly mounted on the camera mounting plate, and several groups of cameras are arranged on the camera mounting plate along the second direction.

[0014] Among them, motors are provided on both the first transmission plate and the second transmission plate in the vision mechanism. Therefore, the end of each transmission plate can achieve independent rotation. Therefore, the camera assembly can rotate and move at any angle on the corresponding plane to realize multi-angle detection of the product.

[0015] In one or more embodiments of the present invention, the auxiliary mechanism includes a frame, a first moving assembly, a second moving assembly and a third moving assembly. Among them, the frame is mounted on the mounting platform, the first moving assembly is drivingly installed on the frame, the second moving assembly is drivingly installed on the movable end of the first moving assembly, the third moving assembly is drivingly installed on the movable end of the second moving assembly, and the movable end of the third moving assembly is fixedly connected to the bottom of the second carrier.

[0016] Wherein, by providing the auxiliary mechanism to connect the inverted second carrier, the product can be clamped to display the bottom and side parts of the product to the vision mechanism at multiple angles, so as to realize the detection of all surfaces of the product.

[0017] In one or more embodiments of the present invention, a first driving assembly is provided on the mounting platform, the output end of the first driving assembly is drivingly connected to a turntable, and several groups of the first carriers are arranged on the turntable along the first direction.

[0018] Among them, by setting up a loading robot arm and an unloading robot arm, the two groups of first carriers can complete the inspection of one group of products and the loading or unloading of another group of products, so as to improve the inspection efficiency.

[0019] In one or more embodiments of the present invention, the first drive assembly includes a third motor and a cam divider transmission-connected to the third motor, the output end of the cam divider is mounted at the bottom of the turntable, the output end of the third motor is mounted with a third synchronous wheel, and the third synchronous wheel is connected to the input end of the cam divider via a second synchronous belt.

[0020] Another aspect of the present invention also provides a multi-faceted detection system, comprising the above-mentioned multi-faceted detection device, and also comprising a loading and unloading mechanism installed along the second direction on the side close to the auxiliary mechanism, the loading and unloading mechanism comprising a robotic arm mounting plate arranged along the second direction, and the robotic arm mounting plate is sequentially installed with a loading robotic arm and a unloading robotic arm in transmission along the second direction, and the loading robotic arm and the unloading robotic arm can reciprocate along a third direction.

[0021] Among them, by setting up two groups of robotic arms, the loading and unloading rates of products during inspection can be increased. The loading robotic arm is used for picking and loading materials, and the unloading robotic arm is used for unloading and placing products, thereby improving the inspection efficiency of the entire inspection system.

[0022] The beneficial effects of the present invention are as follows: the multi-faceted inspection device of the present invention realizes shooting of the product to be inspected at multiple angles through a camera assembly installed on a three-axis mechanical arm, and at the same time, in order to cooperate with the camera assembly to clearly shoot each face, a carrier that can rotate in multiple directions is also provided, and an auxiliary mechanism for displaying the bottom face of the product to the camera assembly is further provided to shoot the bottom face of the product, so that all surfaces of the product can be comprehensively inspected, thereby improving the inspection accuracy of the product; The carrier of the present invention sets the power source of the transmission assembly at the middle position of the transmission assembly to ensure the accuracy of the rotation of the switching member, thereby ensuring that the product or carrier on each switching member has a similar rotation angle within a reasonable error range, while ensuring the detection efficiency, and also ensuring the uniformity of each group of products during detection to improve the detection accuracy; The multi-faceted inspection system in the present invention is provided with a plurality of product carriers. Through the rotation of the turntable and the action of the loading and unloading robotic arms, one group of carriers can drive the products to be inspected, while another group of carriers can realize the unloading and loading of the products, thereby further improving the inspection efficiency of the products. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 A top view of a multi-faceted detection system according to an embodiment of the present invention; Figure 2 is an overall schematic diagram of a carrier and a turntable in one embodiment of the present invention; Figure 3 Side view of the vehicle and the turntable in an embodiment of the present invention; Figure 4 Overall schematic diagram of the vehicle in an embodiment of the present invention; Figure 5 Internal schematic diagram of the vehicle in an embodiment of the present invention; Figure 6 Side view of the vehicle in an embodiment of the present invention; Figure 7 Schematic diagram of the transmission assembly in an embodiment of the present invention; Figure 8 Overall schematic diagram of the differential in an embodiment of the present invention; Figure 9 Transmission schematic diagram of the differential in an embodiment of the present invention; Figure 10 Overall schematic diagram of the vision mechanism in an embodiment of the present invention; Figure 11 Side view of the vision mechanism in an embodiment of the present invention; Figure 12 Front view of the loading and unloading mechanism in an embodiment of the present invention; Figure 13 Overall schematic diagram of the auxiliary mechanism in an embodiment of the present invention; Figure 14 Top view of the auxiliary mechanism in an embodiment of the present invention.

[0024] In the figure: The first driving mechanism 100, the third motor 10, the cam divider 11, the third synchronous pulley 12, the second synchronous belt 13; The turntable 200; The first vehicle 300, the bottom plate 31, the first mounting plate 32, the second mounting plate 33, the top plate 34, the second driving assembly 35, the first motor 351, the first reducer 352, the third driving assembly 36, the second motor 361, the second reducer 362, the first synchronous pulley 363, the second synchronous pulley 364, the first synchronous belt 365, the transmission assembly 37, the differential 371, the coupling 372, the transmission shaft 373, the output shaft 374, the first fixing plate 38, the second fixing plate 39, the positioning plate 310, the positioning sensor 311, the bearing 312, the wire outlet box 313, the side plate 314; The installation platform 400; The vision mechanism 500, the base 51, the camera transmission assembly 52, the fourth motor 521, the first transmission plate 522, the second transmission plate 523, the connecting plate 524, the camera assembly 53, the camera mounting plate 531, the camera 532; Loading and unloading mechanism 600, robotic arm mounting plate 61, loading robotic arm 62, unloading robotic arm 63; Auxiliary mechanism 700, frame 71, first moving component 72, second moving component 73, third moving component 74. Detailed implementation

[0025] In order to enable those skilled in the art of the present technology to better understand the technical solutions in the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by those of ordinary skill in the art without making creative efforts shall fall within the protection scope of the present invention.

[0026] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "vertical", "horizontal", "top", "bottom", "upper", "lower", "front", "rear", etc. is based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention.

[0027] It should be noted that unless otherwise defined, all the technical and scientific terms used in the present invention have the same meaning as commonly understood by those skilled in the technical field to which the present invention belongs. The terms used in the present invention in the specification are only for the purpose of describing specific embodiments, and are not intended to limit the present invention.

[0028] As described in the background art, when detecting products with multiple surfaces and irregular shapes, especially products such as jigs with relatively concealed clamping surfaces, existing vision devices often have difficulty accurately and clearly photographing all their surfaces during detection, thereby reducing the accuracy of product detection.

[0029] For the above problems, referring to the attached Figure 1 As shown, the present invention provides a multi-surface detection device, including a mounting platform 400. A first carrier 300 and a vision mechanism 500 are oppositely arranged on the mounting platform 400. An auxiliary mechanism 700 is also provided on the mounting platform 400. A second carrier 800 having the same structure as the first carrier 300 is provided at the end of the auxiliary mechanism 700. The first carrier 300 and the second carrier 800 are used to carry products and drive the products to rotate around the second direction Y and the third direction Z.

[0030] The movable end of the auxiliary mechanism 700 is drivingly connected to the bottom of the second carrier 800. The second carrier 800 is used to clamp the product to cooperate with the vision mechanism 500 to detect the bottom and / or side of the product. The first carrier 300 is used to carry the product to cooperate with the vision mechanism 500 to detect the side and / or top of the product. In this embodiment, the carrier is used to place the product or the carrier plate provided with the product for detection.

[0031] In a further embodiment, the first carrier 300 includes a second driving component 35, a third driving component 36, and a transmission component 37 for placing the product. The transmission component 37 is respectively drivingly connected to the second driving component 35 and the third driving component 36. In this embodiment, since the second carrier 800 and the first carrier 300 have the same structure, only the first carrier 300 will be described in detail here.

[0032] Among them, as shown in the appendix Figures 2 - 9 As shown, the first carrier 300 includes a bottom plate 34, a first fixing plate 38 and a second fixing plate 39 oppositely arranged on both sides of the bottom plate 34 along the second direction Y. On the side of the second fixing plate 39 close to the first fixing plate 38, a second mounting plate 33 is drivingly installed through a coupling. In this embodiment, the second mounting plate 33 can rotate axially in the second direction Y relative to the second fixing plate 39. On the side of the first fixing plate 38 close to the second fixing plate 39, a first mounting plate 32 is drivingly installed. In this embodiment, the first mounting plate 32 can rotate axially in the second direction Y relative to the first fixing plate 38. At the top of the first mounting plate 32 and the second mounting plate 33, a top plate 34 is installed. On both sides of the first mounting plate 32, the second mounting plate 33, and the top plate 34, side plates 314 are also installed. The first mounting plate 32, the second mounting plate 33, the top plate 34, and the side plates 314 enclose an installation cavity. A third transmission component 36 is installed in the installation cavity. The output end of the third transmission component 36 is drivingly connected to the transmission component 37. The transmission component 37 is used to place the product or the carrier plate provided with the product and drive the product to rotate. In this embodiment, the reversing part is a differential 371. In other possible embodiments, the reversing part can also be a commutator.

[0033] As shown in the appendix Figure 5 As shown, in a further embodiment, the third transmission component 36 includes a second motor 361. The output end of the second motor 361 is drivingly connected to a second speed reducer 362. A first synchronous pulley 363 is provided at the output end of the second speed reducer 362. A second synchronous pulley 364 is provided on the transmission shaft 373. The first synchronous pulley 363 and the second synchronous pulley 364 are connected by a first synchronous belt 365.

[0034] As Figure 4As shown, in a further embodiment, the second drive assembly 35 includes a first motor 351. A first speed reducer 352 is installed at the output end of the first motor 351. The fixed end of the first speed reducer 352 is installed on the first fixing plate 38. The first speed reducer 352 is also in transmission connection with the first mounting plate 32. The first motor 351 drives the transmission assembly 37 installed on the top plate 34 to rotate along the second direction Y through the first speed reducer 352. In this embodiment, the first speed reducer 352 is a harmonic speed reducer, and its fixed end is installed on the first fixing plate 38. The first mounting plate 32 is rotatably installed on the first speed reducer 352. Therefore, the first mounting plate 32, the second mounting plate 33, the top plate 34, the side plate 314, and the transmission assembly 37 installed on the top plate 34 can rotate around the second direction Y under the drive of the first speed reducer 315.

[0035] As Figure 7 shown, in a further embodiment, the transmission assembly 37 includes a number of differentials 371. The differentials 371 are installed below the top plate 34 along the second direction Y. A transmission shaft 373 is installed on the differential 371 along the second direction. An output shaft 374 is installed in transmission along the third direction Z. The end of the output shaft 374 passes through the top plate 34, and the product can be installed and fixed on the output shaft 374. The adjacent transmission shafts 373 are connected by a coupling 372.

[0036] Since the differentials 371 are connected by the transmission shaft 373, the rotation accuracy of the differential 371 farther away from the power source is worse. To ensure that the rotation accuracy error of all differentials 371 is within an acceptable range, the power source needs to be set on the transmission shaft 373 of the middle differential 371. As Figure 6 shown, in this embodiment, the transmission mechanism 37 has 6 groups of differentials. Therefore, the second synchronous pulley 364 is arranged between the third group of differentials and the fourth group of differentials to ensure that the error of the differential 371 farthest from the power source caused by the transmission mechanism is the smallest.

[0037] As Figure 6 shown, in a further embodiment, a positioning plate 310 is installed at the end of the second mounting plate 33. A positioning sensor 311 for detecting the positioning plate 310 is provided on the second fixing plate 39. The positioning plate sensor 311 is provided with several groups and is arranged at equal angles on the rotation path of the positioning plate 310.

[0038] As Figures 8 - 9 shown, to further improve the rotation accuracy of the differential 371, a high-precision differential 374 is selected in this embodiment. Its arc-minute accuracy difference is only 3. On this differential 371, the axes of the transmission shaft 373 and the output shaft 374 are not in the same plane. The mutually approaching ends of the transmission shaft 373 and the output shaft 374 can pass through as Figure 8The hyperbolic gears shown are used for transmission. Compared with the transmission method of spur gears, the direct meshing of hyperbolic gears is more secure, the contact surface is larger, and the transmission error is smaller.

[0039] like Figures 2 - 3 As shown, in a further embodiment, a turntable 200 is further installed on the mounting platform 400, a first carrier 300 is installed on the turntable 200, and a first driving assembly 100 for driving the turntable 200 to rotate along the third direction Z is provided at the bottom of the turntable 200; the first carrier 300 is provided with a plurality of groups installed on the turntable 200 along the second direction, and in this embodiment, the number of the first carrier 300 is two groups, which are relatively installed on the turntable 200. In a further embodiment, the first driving assembly 100 includes a first motor 10 and a cam divider 11 drivingly connected to the first motor 10, the output end of the cam divider 11 is installed at the bottom of the turntable 200, the output end of the first motor 10 is installed with a third synchronous wheel 12, and the third synchronous wheel 12 is connected to the input end of the cam divider 11 through a second synchronous belt 13.

[0040] like Figures 10 - 11 As shown, in a further embodiment, the visual mechanism 500 includes a base 51, a camera transmission assembly 52 and a camera assembly 53, wherein the base 51 is fixedly mounted on the mounting platform 400, the camera transmission assembly 52 includes a fourth motor 521, a first transmission plate 522, a second transmission plate 523 and a connecting plate 524, the output end of the fourth motor 521 is transmission-connected to the first end of the first transmission plate 522, the second end of the first transmission plate 522 is transmission-connected to the first end of the second transmission plate 523 through the motor, and the second end of the second transmission plate 523 is transmission-mounted through the motor and the first end of the connecting plate 524; the camera assembly 53 includes a camera mounting plate 531 and a camera 532, the second end of the connecting plate 524 is fixedly mounted to the camera mounting plate 531, and a plurality of groups of cameras 532 are provided on the camera mounting plate 531 along the second direction, and six groups of cameras are provided in this embodiment. In this embodiment, motors are provided on the first transmission plate 522 and the second transmission plate 523 in the visual mechanism 500, so that the end of each transmission plate can realize independent rotation. Therefore, the camera assembly 53 can realize rotation and movement at any angle on the corresponding plane to realize multi-angle detection of the product, wherein the motor connected between the transmission plates is a micro motor. For example, while the second end of the first transmission plate 522 is rotationally connected to the second transmission plate 523, the second end of the first transmission plate 522 is also provided with a motor, and the output end of the motor is connected to the second transmission plate 523 to control the second transmission plate 523 to rotate relative to the first transmission plate 522. Similarly, the second end of the second transmission plate 523 is rotationally connected to the first end of the connecting plate 524, and the second end of the second transmission plate 523 is also provided with a motor, and the output end of the motor is connected to the second end of the connecting plate 524 to control the connecting plate 524 to rotate relative to the second transmission plate 523.

[0041] As shown Figure 13 in the figure, in a further embodiment, the auxiliary mechanism 700 includes a frame 71, a first moving component 72, a second moving component 73, and a third moving component 74. Among them, the frame 71 is installed on the installation platform 400. The first moving component 72 is drivingly installed on the frame 71. The moving end of the first moving component 72 is drivingly installed with the second moving component 73. The moving end of the second moving component 73 is drivingly installed with the third moving component 74. The moving end of the third moving component 74 is fixedly connected to the bottom of the second carrier 800. In this embodiment, the first moving component 72, the second moving component 73, and the third moving component 74 can be a manipulator capable of reciprocating in the first direction, the second direction, and the third direction. By setting the auxiliary mechanism 700 to connect the inverted second carrier 800, after the vision mechanism 500 detects the product on the first carrier 300, the auxiliary mechanism 700 clamps the product through the second carrier 800 and displays the bottom and side of the product to the vision mechanism 500 at multiple angles, so as to realize the detection of all surfaces of the product.

[0042] The present invention also provides a multi-faceted detection system, which includes the detection device described above, and further includes a loading and unloading mechanism 600 installed along the second direction on the side close to the auxiliary mechanism 700. The loading and unloading mechanism 600 includes a robotic arm mounting plate 61 arranged along the second direction. A loading robotic arm 62 and an unloading robotic arm 63 are successively drivingly installed on the robotic arm mounting plate 61 along the second direction. The loading robotic arm 62 and the unloading robotic arm 63 can reciprocate in the third direction. Among them, by setting the loading robotic arm 62 and the unloading robotic arm 63, the detection of a set of products and the loading or unloading of another set of products can be completed for two sets of first carriers 300, so as to improve the detection efficiency.

[0043] Workflow: The product can be placed on the output shaft 374, or by setting a carrier on the output shaft 374, the product to be detected is placed on the carrier. The loading robot arm 62 clamps the product or the carrier and places it on the first carrier 300 on the side away from the vision mechanism 500. The differential 371 on the first carrier 300 is connected to the product or the carrier through the output shaft. At this time, the first driving mechanism 100 rotates the first carrier 300 on the turntable 200 by 180°. The product on the first carrier 300 comes to the side close to the vision mechanism 500 and starts to be detected. During the detection, as needed, the output shaft 374 can drive the product to rotate around the third direction Z to cooperate with the vision mechanism 500 for shooting. The product can also be driven to rotate around the second direction Y by the third driving component 36 to achieve multi-angle shooting of the side and top of the product. After the shooting of the top and side is completed, the auxiliary mechanism 700 clamps the product or the carrier that has completed the shooting of the side and top through the second carrier 800 provided at its end, and shows the bottom and side of the product to the vision mechanism 500 through the transmission mechanism on the second carrier 800, thus completing the detection work of all surfaces of the entire product; when this group of products is being detected, the loading robot arm 62 can pick up the product and place the obtained product or carrier on another group of first carriers 300 to prepare for the detection of the next batch of products; after the detection of the current product is completed, the first driving component 100 rotates 180° again, and the unloading robot arm 63 can unload the detected product. At the same time, the products on another group of first carriers 300 start to be detected. After the unloading robot arm 63 completes the unloading, the loading robot arm 62 starts to load the current first carrier 300, thus starting the next round of detection cycle.

[0044] In the multi-surface detection device of the present invention, the camera assembly 53 installed on the three-axis robot arm is used to achieve multi-angle shooting of the product to be detected. At the same time, in order to cooperate with the clear shooting of each surface by the camera assembly 53, a first carrier 300 that can rotate in multiple directions is also provided. Further, an auxiliary mechanism 700 for showing the bottom surface of the product to the camera assembly 53 is provided to shoot the bottom of the product, so that all surfaces of the product can be comprehensively detected to improve the detection accuracy of the product. In the carrier of the present invention, the power source of the transmission component 37 is set in the middle position of the transmission component 37 to ensure the accuracy of the rotation of all differentials 371. Furthermore, it is ensured that the products or carriers on each differential 371 have similar rotation angles within a reasonable error range. While ensuring the detection efficiency, the unity during the detection of each group of products is also ensured to improve the detection accuracy. In the multi-faceted detection system of the present invention, there are two sets of first carriers 300. Through the rotation of the turntable 200 and the actions of the loading and unloading robotic arm, one set of first carriers 300 can drive the product to be detected, and the other set of first carriers 300 can achieve the unloading and loading of the product, further improving the detection efficiency of the product.

[0045] The above embodiments are only for illustrating the technical concept and characteristics of the present invention, and the purpose is to enable those familiar with this technology to understand the content of the present invention and implement it. It cannot be used to limit the protection scope of the present invention. Any equivalent changes or modifications made according to the spirit of the present invention should be covered within the protection scope of the present invention.

Claims

1. A multi-faceted inspection device, comprising a mounting platform (400), a visual mechanism (500) arranged on the mounting platform (400), a first carrier (300), and an auxiliary mechanism (700), characterized in that: The first carrier (300) comprises a second drive assembly (35), a third drive assembly (36) and a transmission assembly (37) for placing a product, the transmission assembly (37) being respectively connected to the second drive assembly (35) and the third drive assembly (36) to drive the product to rotate around a second direction and / or a third direction, the first carrier (300) being used to cooperate with a visual mechanism (500) to detect the side and top of the product; a second carrier (800) having the same structure as the first carrier (300) is provided at the end of the auxiliary mechanism (700), the movable end of the auxiliary mechanism (700) being connected to the bottom of the second carrier (800), and the second carrier (800) being used to clamp the product to cooperate with the visual mechanism (500) to detect the bottom of the product.

2. A multi-surface detection device according to claim 1, characterized in that: The first carrier (300) comprises a bottom plate (31) and a mounting frame arranged on the bottom plate (31), wherein the mounting frame comprises a first mounting plate (32) and a second mounting plate (33) arranged opposite to each other along a second direction, the first mounting plate (32) and the second mounting plate (33) are connected at the top via a top plate (34), the outer side of the first mounting plate (32) is transmission-connected to a first fixing plate (38), the outer side of the second mounting plate (33) is transmission-connected to a second fixing plate (39), the first fixing plate (38) and the second fixing plate (39) are connected On the bottom plate (31), side plates (314) are provided on both sides of the first mounting plate (32) and the second mounting plate (33); the first mounting plate (32), the second mounting plate (33), the side plates (314), the top plate (34) and the bottom plate (31) together form a mounting cavity; the second drive assembly (35) is arranged in the mounting cavity, and its output end is transmission-connected to the second mounting plate (33); the third drive assembly (36) is arranged in the mounting cavity, and its output end is transmission-connected to the transmission assembly (37); and the transmission assembly (37) is mounted on the top plate (34).

3. A multi-faceted detection device according to claim 2, characterized in that: The transmission assembly (37) comprises a plurality of switching members arranged along the second direction and mounted on the top plate (34); the switching member is provided with at least one output shaft (374) along the third direction; the switching member is provided with a transmission shaft (373) along the second direction; the transmission shaft (373) penetrates the switching member and is transmission-connected to the output shaft (374) through the switching member; adjacent switching members are connected through the transmission shaft (373); the transmission shaft (373) near the middle position along the second direction is transmission-connected to the third drive assembly (36) to drive the output shaft (374) on the switching member to rotate around the third direction.

4. A multi-surface detection device according to claim 3, characterized in that: The third driving assembly (36) comprises a second motor (361), the output end of the second motor (361) being transmission-connected to a second reducer (362), the output end of the second reducer (362) being provided with a first synchronous wheel (363), the transmission shaft (373) being provided with a second synchronous wheel (364), and the first synchronous wheel (363) and the second synchronous wheel (364) being connected via a first synchronous belt (365).

5. A multi-surface detection device according to claim 2, characterized in that: The second driving assembly (35) comprises a first motor (351), the output end of the first motor (351) being mounted with a first reducer (352), the fixed end of the first reducer (352) being mounted on a first fixed plate (38), the movable end of the first reducer (352) being transmission-connected to the first mounting plate (32), and the first motor (351) drives the transmission assembly (37) mounted on the top plate (34) to rotate in a second direction via the first reducer (352).

6. A multi-surface detection device according to claim 1, characterized in that: The visual mechanism (500) comprises a base (51), a camera transmission assembly (52) and a camera assembly (53), wherein the base (51) is fixedly mounted on the mounting platform (400), the camera transmission assembly (52) comprises a fourth motor (521), a first transmission plate (522), a second transmission plate (523) and a connecting plate (524), the output end of the fourth motor (521) is transmission-connected to the first end of the first transmission plate (522), the second end of the first transmission plate (522) is transmission-connected to the first end of the second transmission plate (523) through the motor, and the second end of the second transmission plate (523) is transmission-mounted to the first end of the connecting plate (524) through the motor; the camera assembly (53) comprises a camera mounting plate (531) and a camera (532), the second end of the connecting plate (524) is fixedly mounted to the camera mounting plate (531), and a plurality of groups of cameras (532) are arranged on the camera mounting plate (531) along a second direction.

7. A multi-surface detection device according to claim 1, characterized in that: The auxiliary mechanism (700) comprises a frame (71), a first movable assembly (72), a second movable assembly (73) and a third movable assembly (74), wherein the frame (71) is mounted on a mounting platform (400), the first movable assembly (72) is transmission-mounted on the frame (71), the second movable assembly (73) is transmission-mounted on a movable end of the first movable assembly (72), the third movable assembly (74) is transmission-mounted on a movable end of the second movable assembly (73), and the movable end of the third movable assembly (74) is fixedly connected to the bottom of the second carrier (800).

8. A multi-surface detection device according to claim 1, characterized in that: A first driving component (100) is provided on the installation platform (400), an output end of the first driving component (100) is drivingly connected to a turntable (200), and the first carrier (300) is provided with a plurality of groups arranged along a first direction and installed on the turntable (200).

9. A multi-surface detection device according to claim 8, characterized in that: The first driving assembly (100) comprises a third motor (10) and a cam divider (11) drivingly connected to the third motor (10); the output end of the cam divider (11) is mounted on the bottom of the rotating disk (200); the output end of the third motor (10) is mounted with a third synchronous wheel (12); the third synchronous wheel (12) is connected to the input end of the cam divider (11) via a second synchronous belt (13).

10. A multi-faceted detection system, comprising the multi-faceted detection device according to any one of claims 1 to 9, characterized in that: It also includes a loading and unloading mechanism (600) installed along the second direction on a side close to the auxiliary mechanism (700), the loading and unloading mechanism (600) including a robot arm mounting plate (61) arranged along the second direction, a loading robot arm (62) and a unloading robot arm (63) being installed on the robot arm mounting plate (61) in sequence along the second direction, the loading robot arm (62) and the unloading robot arm (63) being capable of reciprocating motion along the third direction.

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