Appearance double-layer detection equipment based on machine vision

Abstract

The invention relates to the technical field of machine vision appearance detection equipment, and particularly discloses appearance double-layer detection equipment based on machine vision. The appearance double-layer detection equipment comprises a feeding module, a rotator, an upper-layer rotary table, an upper-layer visual detection module, an upper-layer multi-opening air blowing module, an upper-layer material receiving module, a backflow transportation module, a lower-layer rotary table, a lower-layer visual detection module, a lower-layer multi-opening air blowing module and a lower-layer multi-opening material receiving module. The rotator is connected with the lower-layer turntable and the upper-layer turntable. A workpiece is placed in the feeding module, conveyed to the upper-layer rotating disc and detected through the upper-layer visual detection module, the upper-layer multi-opening air blowing module blows the workpiece to the upper-layer material receiving module or the backflow conveying module, the backflow conveying module conveys the workpiece to be re-judged to the lower-layer rotating disc, re-judgment is conducted through the lower-layer visual detection module, and according to the re-judgment result, the workpiece is detected through the upper-layer visual detection module. And the lower-layer multi-port blowing module blows the workpieces to the lower-layer multi-port receiving module. The appearance double-layer detection equipment realizes reinspection and precise subdivision of appearance defects of workpieces.

Description

Technical Field

[0001] The present application relates to the technical field of machine vision appearance inspection equipment, and in particular to a machine vision-based appearance double-layer inspection equipment. Background Art

[0002] The Chinese patent application with application number CN202211277271.2 discloses a sheet metal appearance inspection device based on machine vision, which includes a conveyor belt, a workbench, a screening table and an appearance inspection machine, and also includes an adjustment mechanism, a detection and transportation device and a screening and transportation device. The surface of one side of the workbench is fixedly mounted on one end of the conveyor belt. The sheet metal appearance inspection device based on machine vision is provided with an adjustment mechanism. When the conveyor belt transports the workpiece to the bottom of the fixed frame, the clockwise rotation of the output shaft of the first motor drives the bidirectional screw in the first slide groove to rotate clockwise. The clockwise rotation of the bidirectional screw drives the two threaded sleeves to move along the inner wall of the first slide groove on the bidirectional screw to move toward both ends. The movement of the threaded sleeve drives the movement of the first hydraulic cylinder. When the first hydraulic cylinder moves, the piston rod extends to drive the adjustment plate to move downward until the adjustment plate adjusts the workpiece on the conveyor belt to the center position of the conveyor belt, thereby achieving the effect of positioning the workpiece. The appearance inspection device cannot realize the automatic re-inspection and re-classification of the workpiece. Summary of the invention

[0003] In view of the fact that some appearance inspection equipment cannot realize automatic re-inspection and re-classification of workpieces, the present application proposes a machine vision-based appearance double-layer inspection equipment to realize automatic re-inspection and re-classification of workpieces. To this end, the present application adopts the following technical solution.

[0004] A double-layer appearance inspection device based on machine vision comprises a feeding module, a rotator, an upper turntable, an upper visual inspection module, an upper multi-port blowing module, an upper receiving module, a reflux transport module, a lower turntable, a lower visual inspection module, a lower multi-port blowing module and a lower multi-port receiving module. The rotator connects the lower turntable and the upper turntable.

[0005] The feeding module, the upper visual inspection module and the upper multi-port blowing module are sequentially arranged along the A rotation direction of the upper turntable. The feeding module actively guides the workpiece to be inspected to the upper circumferential area of ​​the upper turntable. The upper visual inspection module faces the upper circumferential area. The blowing direction of each port of the upper multi-port blowing module is from the inside of the upper circumferential area to the outside of the upper circumferential area, and blows to the inlet of the upper material receiving module and the reflux transport module. The outlet of the reflux transport module faces the lower circumferential area of ​​the lower turntable. The lower visual inspection module and the lower multi-port blowing module are sequentially arranged along the A rotation direction of the lower turntable. The lower visual inspection module faces the lower circumferential area. The blowing direction of each port of the lower multi-port blowing module is from the inside of the lower circumferential area to the outside of the lower circumferential area, and blows to the lower multi-port receiving module.

[0006] By adopting the above technical scheme, a batch of workpieces are automatically placed in the loading module at intervals. The loading module can transport the workpieces to the upper circumference area of ​​the upper turntable. The upper visual inspection module automatically inspects the workpieces. The inspection results of the workpieces can be divided into confirmed categories and categories to be re-judged. The upper multi-port blowing module blows the workpieces with confirmed inspection results to the upper receiving module, and blows the workpieces to be re-judged to the reflux transport module. The reflux transport module transports the re-judged workpieces to the lower circumference area of ​​the lower turntable. The lower visual inspection module inspects and re-judges them. According to the re-judgment results, the lower multi-port blowing module blows the workpieces to the corresponding entrance of the lower multi-port receiving module. The double-layer appearance inspection equipment of this scheme realizes the automatic re-inspection and re-classification of workpieces.

[0007] It should be noted that the rotation direction of A can be clockwise or counterclockwise, but the rotation direction of A of the upper turntable and the rotation direction of A of the lower turntable represent the same rotation direction.

[0008] A preferred solution of the appearance double-layer inspection device based on machine vision is that the feeding module includes a feeding conveyor belt and a feeding baffle. The feeding baffle is suspended above the upper circumference area from the feeding conveyor belt to the upper turntable. The angle between the blocking surface of the feeding baffle and the conveying direction of the feeding conveyor belt is an acute angle less than 30°.

[0009] By adopting the above technical solution, the loading conveyor belt drives the workpiece forward, and under the blocking of the loading baffle, the workpiece receives the combined force of the forward direction force and the elastic force of the loading baffle, and moves obliquely along the blocking surface of the loading baffle to the upper turntable. The oblique angle is less than 30 degrees, so that the loading baffle can change the forward direction of the workpiece relatively smoothly and smoothly enter the upper turntable.

[0010] A preferred solution of the appearance double-layer inspection device based on machine vision is that the upper multi-port blowing module includes a plurality of upper blowing parts, and the blowing direction of each upper blowing part is from the inside of the upper circumferential area to the outside of the upper circumferential area. The inlet of the upper material receiving module and the inlet of the return flow transport module are arranged below the upper turntable, one of the upper blowing parts faces the inlet of the return flow transport module, and the other upper blowing parts face the upper material receiving module.

[0011] By adopting the above technical solution, a corresponding number of blowing parts can be set according to the types to be classified, and each blowing part blows a type of workpiece to the corresponding upper material receiving module or the return flow transport module. The workpiece of a type can be a qualified product, a product with one defect, or a product with multiple defects according to the classification.

[0012] A preferred solution of the appearance double-layer inspection device based on machine vision is that the upper material receiving module includes a plurality of upper material separation conveyor belts, and upper material receiving baffles are arranged on both sides of the entrance of each upper material separation conveyor belt. The entrance of each upper material separation conveyor belt is located below the edge of the upper turntable, and each faces one of the upper blowing parts.

[0013] By adopting the above technical solution, each blowing member blows a workpiece of a test result category to a corresponding upper material conveyor belt. The upper material receiving baffles arranged on both sides of the entrance of the upper material conveyor belt can block the blown-off workpieces and confine the workpieces in the upper material conveyor belt.

[0014] A preferred solution of the appearance double-layer inspection device based on machine vision is that the reflux transport module includes a receiving conveyor belt, a transfer conveyor belt, an input conveyor belt and an input baffle. The inlet of the receiving conveyor belt is located below the edge of the upper turntable. Reflux baffles are arranged on both sides of the inlet of the receiving conveyor belt. One of the blowing parts faces the inlet of the receiving conveyor belt. The outlet of the receiving conveyor belt is located above the inlet of the transfer conveyor belt. The outlet of the transfer conveyor belt is located above the inlet of the input conveyor belt. The input baffle is suspended above the lower circumferential area from the outlet of the input conveyor belt to the lower turntable. The angle between the blocking surface of the input baffle and the material conveying direction of the input conveyor belt is an acute angle less than 30°.

[0015] By adopting the above technical solution, the workpieces to be re-inspected fall into the receiving conveyor belt, the transfer conveyor belt and the input conveyor belt in sequence. Under the blocking of the input baffle, the workpieces to be re-inspected enter the lower turntable for re-visual inspection and re-inspection.

[0016] A preferred solution of the double-layer appearance inspection equipment based on machine vision is that the upper-layer visual inspection module includes an upper-layer upper surface visual detector, an upper-layer lower surface visual detector, an upper-layer front side visual detector, an upper-layer rear side visual detector, an upper-layer inner side visual detector and an upper-layer outer side visual detector.

[0017] The upper rotating disk is a transparent disk. The upper surface visual detector is located above the upper rotating disk and faces the upper circumference area.

[0018] The upper lower surface visual detector is located below the upper turntable and faces the upper circumferential area.

[0019] The upper front side vision detector includes an upper front tilted optical reflector and an upper front camera, both of which are located above the upper circumference of the upper turntable. The upper front tilted optical reflector faces the rotation direction of the upper turntable and reflects the light on the upper turntable to the upper front camera.

[0020] The upper rear side vision detector includes an upper rear tilted optical reflector and an upper rear camera, both of which are located above the upper circumference of the upper turntable. The upper rear tilted optical reflector faces away from the rotation direction of the upper turntable and reflects the light on the upper turntable to the upper rear camera.

[0021] The upper inner side visual detector is directed from inside the upper circumferential area toward outside the upper circumferential area.

[0022] The upper outer surface visual detector is directed from outside the upper circumferential area toward inside the upper circumferential area.

[0023] By adopting the above technical solution, the upper visual inspection module can perform visual inspection on the six faces of the workpiece, and is suitable for inspecting a rectangular workpiece with six surfaces.

[0024] A preferred solution of the appearance double-layer inspection device based on machine vision is that the upper turntable and the lower turntable are parallel planar disks. The rotating shaft of the rotator is vertically connected to the center of the lower turntable and the center of the upper turntable. The outer diameter of the lower turntable is smaller than the outer diameter of the upper turntable. The lower turntable is a transparent disk.

[0025] The lower layer visual detection module includes a lower layer upper surface visual detector, a lower layer lower surface visual detector, a lower layer front side visual detector, a lower layer rear side visual detector, a lower layer inner side visual detector and a lower layer outer side visual detector.

[0026] The lower upper surface visual detector is located above the upper turntable and faces the lower circumferential area through the upper turntable.

[0027] The lower layer lower surface visual detector is located below the lower layer turntable, facing the lower circumferential area.

[0028] The lower front side vision detector comprises a lower front tilted optical reflector and a lower front camera, wherein the lower front tilted optical reflector is located above the lower circumference of the lower turntable, and the lower front camera is located above the upper turntable. The lower front tilted optical reflector faces the rotation direction of the lower turntable and reflects the light on the lower turntable to the lower front camera.

[0029] The lower rear side vision detector comprises a lower rear tilted optical reflector and a lower rear camera, wherein the lower rear tilted optical reflector is located above the lower circumference of the lower turntable, and the lower rear camera is located above the upper turntable. The lower rear tilted optical reflector faces away from the rotation direction of the lower turntable and reflects the light on the lower turntable to the lower rear camera.

[0030] The lower inner side visual detector is directed from the inside of the lower circumferential zone toward the outside of the lower circumferential zone.

[0031] The lower outer side visual detector is directed from outside the lower circumferential area toward inside the lower circumferential area.

[0032] By adopting the above technical solution, the lower-layer visual inspection module can perform visual re-inspection on the six faces of the workpiece, and is suitable for re-inspection of a rectangular workpiece with six surfaces.

[0033] A preferred solution of the appearance double-layer inspection device based on machine vision is that the appearance double-layer inspection device further includes a hanging plate located above the upper turntable. The lower upper surface visual detector, the lower front camera, the lower rear camera, the lower inner side visual detector, the upper inner side visual detector and the upper multi-port blowing module are all fixed to the hanging plate.

[0034] By adopting the above technical solution, the above components are fixed on the top of the device and will not interfere with other components.

[0035] A preferred solution of the appearance double-layer inspection device based on machine vision is that the appearance double-layer inspection device further includes a base located below the lower turntable. The rotator is installed on the base.

[0036] The upper surface visual detector, the upper lower surface visual detector, the upper front inclined optical reflector, the upper front camera, the upper rear inclined optical reflector, the upper rear camera and the upper outer side visual detector are respectively fixed on the base through supporting columns.

[0037] The lower front tilted optical reflector, the lower rear tilted optical reflector, the lower lower surface visual detector, the lower outer side visual detector and the lower multi-port blowing module are respectively fixed on the base through supporting columns.

[0038] By adopting the above technical solution, the above components are fixed on the periphery of the upper turntable and the lower turntable of the equipment, and will not interfere with other components.

[0039] A preferred solution of the double-layer appearance inspection device based on machine vision is that the lower layer multi-port blowing module includes a plurality of lower blowing parts, and the blowing direction of each lower blowing part is from inside the lower circumferential area toward outside the lower circumferential area.

[0040] The lower layer multi-port receiving module comprises a plurality of lower material conveying belts, and lower material receiving baffles are arranged on both sides of the inlet of each lower material conveying belt. The inlet of each lower material conveying belt is located below the edge of the lower layer turntable, and each faces one of the lower blowing parts.

[0041] By adopting the above technical solution, the re-judged products are reclassified into each lower material conveyor belt.

[0042] To summarize, the double-layer appearance inspection equipment based on machine vision of the present application has the following beneficial effects: the double-layer appearance inspection equipment based on machine vision adopts a double-layer inspection structure to realize classified inspection and classified unloading of various situations of workpieces, and can realize re-inspection of controversial workpieces, reduce missed inspections and false inspections, and has high versatility and detection efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 This is the first perspective structural diagram of a double-layer appearance inspection device based on machine vision.

[0044] Figure 2 for Figure 1 A magnified image of area A.

[0045] Figure 3 This is the second perspective structural diagram of a double-layer appearance inspection device based on machine vision.

[0046] Figure 4 for Figure 3 A magnified view of area B.

[0047] Figure 5This is the third perspective structural diagram of a double-layer appearance inspection device based on machine vision.

[0048] Figure 6 for Figure 5 Magnified view of area C.

[0049] Figure 7 This is the fourth perspective structural diagram of a double-layer appearance inspection device based on machine vision.

[0050] Figure 8 for Figure 7 A magnified view of area D.

[0051] Fig. 9 This is the fifth perspective structural diagram of a double-layer appearance inspection device based on machine vision.

[0052] Fig.10 for Fig. 9 Enlarged view of area E.

[0053] Fig.11 for Figure 1 Another annotation diagram of .

[0054] Fig.12 for Fig.11 Magnified view of region F.

[0055] Fig.13 This is the sixth perspective structural diagram of a double-layer appearance inspection device based on machine vision.

[0056] Fig.14 for Fig.13 Magnified view of region G.

[0057] Fig.15 This is the seventh perspective structural diagram of a double-layer appearance inspection device based on machine vision.

[0058] Fig.16 for Fig.15 Enlarged view of the H region.

[0059] Figure numerals: 1, workpiece; 2, collection frame; 3, feeding module; 4, rotator; 5, upper turntable; 6, upper visual inspection module; 7, upper multi-port blowing module; 8, upper material receiving module; 9, reflux transport module; 10, lower turntable; 11, lower visual inspection module; 12, lower multi-port blowing module; 13, lower multi-port receiving module; 501, upper circumferential area; 304, feeding box; 301, vibration plate; 302, feeding transport module Conveyor belt; 303, feeding baffle; 601, upper surface visual detector of upper layer; 602, lower surface visual detector of upper layer; 603, front side visual detector of upper layer; 604, rear side visual detector of upper layer; 605, inner side visual detector of upper layer; 606, outer side visual detector of upper layer; 1001, lower circumference area; 14, base; 15, support column; 6031, front tilted optical reflector of upper layer; 6032, front camera of upper layer; 6041, upper rear tilted optical reflector; 6042, upper rear camera; 16, light-emitting board; 17, viewfinder; 1701, through hole; 18, lifting plate; 701, upper blowing piece; 801, upper material distribution conveyor belt; 901, receiving conveyor belt; 902, transfer conveyor belt; 903, input conveyor belt; 904, input baffle; 8011, upper material receiving baffle; 9011, return baffle; 111, lower upper surface visual detector; 112. Visual detector for the lower surface of the lower layer; 113. Visual detector for the front side of the lower layer; 114. Visual detector for the rear side of the lower layer; 115. Visual detector for the inner side of the lower layer; 116. Visual detector for the outer side of the lower layer; 1131. Front inclined optical reflector of the lower layer; 1132. Front camera of the lower layer; 1141. Rear inclined optical reflector of the lower layer; 1142. Rear camera of the lower layer; 1201. Lower blowing part; 1301. Lower material distribution conveyor belt. DETAILED DESCRIPTION

[0060] The technical solutions in the embodiments will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the following embodiments, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0061] like Figure 1 and Figure 2 , a double-layer appearance inspection device based on machine vision, suitable for the inspection of rectangular workpieces 1, such as rectangular workpieces 1 with a length of 40mm, a width of 15mm, and a thickness of 2mm. The upper layer of the device visually inspects and classifies the workpieces 1, such as qualified products, general appearance defective products, serious appearance defective products, and others. Qualified products and serious appearance defective products do not need to be re-judged, and are directly classified and flow into the collection frame 2. General appearance defective products are automatically sent to the lower layer for re-judgment and re-classification.

[0062] like Figure 1 and Figure 2 The main components of the appearance double-layer inspection equipment are a feeding module 3, a rotator 4, an upper turntable 5, an upper visual inspection module 6, an upper multi-port blowing module 7, an upper receiving module 8, a reflux transport module 9, and a lower turntable 10. Figure 3 and Figure 4 The main components of the double-layer appearance inspection device also include a lower visual inspection module 11, combined with Figure 5 and Figure 6 The main components of the double-layer appearance inspection equipment also include a lower layer multi-port blowing module 12 and a lower layer multi-port receiving module 13.

[0063] The rotator 4 may be a motor, and its stator is mounted on the base 14. The upper turntable 5 and the lower turntable 10 are both circular. The rotating shaft of the rotator 4 vertically connects the lower turntable 10 and the upper turntable 5 vertically upward, and the rotating shaft is connected to the center of the lower turntable 10 and the center of the upper turntable 5. From a top view, the rotator 4 drives the lower turntable 10 and the upper turntable 5 to rotate synchronously clockwise.

[0064] Along the clockwise direction of the upper turntable 5, a feeding module 3, an upper visual inspection module 6 and an upper multi-port blowing module 7 are arranged in sequence.

[0065] Such as 7 and Figure 8 The feeding module 3 is used to feed the workpiece 1 into the upper circumference area 501 of the upper disc. The upper circumference area 501 is the edge circumference area of ​​the feeding disc.

[0066] like Figure 1 The feeding module 3 includes a feeding box 304, a vibration plate 301, a feeding conveyor belt 302 and a feeding baffle 303. The bottom of the feeding box 304 is equipped with a transport crawler from a low position to a high position, which can feed the workpiece 1 into the vibration plate 301. The outlet of the vibration plate 301 faces the inlet of the feeding conveyor belt 302. The feeding baffle 303 is suspended above the upper circumferential area 501 from the outlet of the feeding conveyor belt 302 to the upper turntable 5. The feeding baffle 303 is fixed to the base 14 by a bracket. The gap between the feeding baffle 303 and the feeding conveyor belt 302 should be less than the thickness of the workpiece 1. The angle between the feeding baffle 303 and the feeding conveyor belt 302 in the material transport direction is 10°~15°.

[0067] A batch of workpieces 1 are poured into the vibration plate 301, and the vibration plate 301 automatically sorts the workpieces 1, and outputs the workpieces 1 one by one in the same direction to the loading conveyor belt 302. The loading conveyor belt 302 drives the workpieces 1 forward to the exit, is blocked by the loading baffle 303, and moves obliquely to the upper circumferential area 501 of the upper turntable 5, that is, the edge of the upper turntable 5. As the upper turntable 5 rotates in a circle, it is first inspected by the upper visual inspection module 6, and then the upper multi-port blowing module 7 blows the workpieces 1 into the upper receiving module 8 or the reflux transport module 9 according to the inspection results.

[0068] In order to completely detect the appearance of the rectangular workpiece 1 on the upper turntable 5, the device is equipped with six groups of upper detectors to detect the six faces of the rectangular workpiece 1 on the upper turntable 5 respectively. The six groups of upper detectors are: Fig. 9 and Fig.10 The upper surface visual detector 601 and the upper lower surface visual detector 602 are as follows: Figure 7 and Figure 8 The upper front side visual detector 603 and the upper rear side visual detector 604, such as Fig.11 and Fig.12 The upper inner side visual detector 605 and the upper outer side visual detector 606.

[0069] Similarly, in order to completely detect the appearance of the rectangular workpiece 1 on the lower turntable 10 , the device is provided with six groups of lower detectors, which are respectively used to detect the six faces of the rectangular workpiece 1 on the lower turntable 10 .

[0070] In order to detect the lower surface of the workpiece 1, the present device is provided with an upper turntable 5 and a lower turntable 10, both of which are made of transparent glass. Since the upper turntable 5 and the lower turntable 10 are both made of transparent materials, if the upper circumferential area 501 and the lower circumferential area 1001 overlap each other in the vertical direction, the light will pass through the glass and be captured by the upper surface visual detector or the lower surface visual detector of the non-current layer. Therefore, in order to accurately obtain the surface appearance image of the upper workpiece 1 or the lower workpiece 1, it is necessary to ensure that the acquisition of the appearance image of the upper workpiece 1 and the lower workpiece 1 will not interfere with each other. Therefore, the present device is provided with an outer diameter of the upper turntable 5 that is larger than the outer diameter of the lower turntable 10, and the upper circumferential area 501 and the lower circumferential area 1001 are staggered in the vertical direction, that is, the workpiece 1 in the upper circumferential area 501 and the workpiece 1 in the lower circumferential area 1001 are staggered in the vertical direction, which will not affect the detection of their respective appearances.

[0071] like Fig. 9 and Fig.10The upper surface visual detector 601 includes a camera, which is fixed on a support column 15, and the support column 15 is fixed on the base 14. The support column 15 is located beside the upper turntable 5. The camera is vertically downward toward the upper circular area 501 of the upper turntable 5, and can obtain the upper surface image of the workpiece 1 passing directly below the camera, so that the system can automatically determine the appearance condition.

[0072] like Fig. 9 and Fig.10 The upper lower surface visual detector 602 includes a camera, which is fixed on a support column 15, and the support column 15 is fixed on the base 14. The support column 15 is located beside the lower turntable 10. The camera is vertically downward toward the upper circular area 501 of the upper turntable 5, and can obtain the lower surface image of the workpiece 1 passing directly under the camera, so that the system can automatically determine the appearance condition.

[0073] like Figure 7 and Figure 8 The upper front side visual detector 603 includes an upper front tilted optical reflector 6031 and an upper front camera 6032, both of which are located above the upper circumference 501 of the upper turntable 5. The upper front tilted optical reflector 6031 is tilted toward the rotation direction of the upper turntable 5, and reflects the light emitted from the front side of the oncoming workpiece 1 upward to the upper front camera 6032, which is analyzed and judged by the system. The gap between the upper front tilted optical reflector 6031 and the upper turntable 5 should be greater than the height of the workpiece 1 so as not to touch the workpiece 1.

[0074] like Figure 7 and Figure 8 The upper rear side visual detector 604 includes an upper rear tilted optical reflector 6041 and an upper rear camera 6042, both of which are located above the upper circumference area 501 of the upper turntable 5. The upper rear tilted optical reflector 6041 faces away from the rotation direction of the upper turntable 5. When the workpiece 1 passes over the upper rear tilted optical reflector 6041, the upper rear tilted optical reflector 6041 captures the rear side light of the workpiece 1 and reflects the rear side light to the upper rear camera 6042. The reflection direction is vertically upward. The upper rear camera 6042 obtains the light and converts it to the system for analysis and processing. The gap between the upper rear tilted optical reflector 6041 and the upper turntable 5 should be greater than the height of the workpiece 1 so as not to touch the workpiece 1.

[0075] like Fig.11 and Fig.12, the upper inner side visual detector 605 is from the inner side of the upper circumference area 501 to the outer side of the upper circumference area 501. The upper outer side visual detector 606 is from the outer side of the upper circumference area 501 to the inner side of the upper circumference area 501. Each visual detection device of the upper layer is equipped with a light-emitting board 16 for irradiating the corresponding side of the workpiece 1, so that the light emitted from each side of the workpiece 1 is captured by the detector, and analyzed and determined by the system.

[0076] like Figure 5 and Figure 6 It should be noted that, in order to accurately obtain images, the upper surface visual detector 601, the upper lower surface visual detector 602, the upper inner side visual detector 605 and the upper outer side visual detector 606 are each equipped with a viewfinder 17, the viewfinder 17 has a cylindrical through hole 1701, and the cylindrical through hole 1701 is facing each position to be detected. The camera of each of the above detectors is facing the through hole 1701. When the workpiece 1 moves to the through hole 1701, the camera obtains the image in the through hole 1701, that is, the image of the corresponding surface of the workpiece 1 can be obtained. When obtaining an image, the viewfinder 17 is located between the camera and the workpiece 1.

[0077] It should be noted that each set of detectors may include one camera or two cameras, etc. If there are two cameras, they may be arranged in parallel side by side or distributed on the circumference to detect different defects on the same surface of the workpiece 1.

[0078] like Figure 5 and Figure 6 Among the upper visual inspection module 6, the upper inner side visual detector 605 and the upper multi-port blowing module 7 are fixed to the hanging plate 18. The upper upper surface visual detector 601, the upper lower surface visual detector 602, the upper front tilted optical reflector 6031, the upper front camera 6032, the upper rear tilted optical reflector 6041, the upper rear camera 6042 and the upper outer side visual detector 606 are fixed to the base 14 through the support column 15 respectively.

[0079] like Fig.13 and Fig.14The upper multi-port blowing module 7 includes six upper blowing parts 701, each of which has a blowing needle, all of which are located above the upper turntable 5, and blow air from the inside of the upper circumferential area 501 to the outside of the upper circumferential area 501, so as to blow the workpiece 1 in the upper circumferential area 501 of the upper turntable 5 to the upper receiving module 8 or the reflux transport module 9. Each blowing needle has an air outlet, and the plurality of blowing needles have a plurality of air outlets in total, and these plurality of air outlets constitute the plurality of ports of the upper multi-port blowing module 7, and the six upper blowing parts 701 have six ports. The six blowing parts are fixed to a bracket, and the bracket is fixed to the hanging plate 18 of the device. The upper inner side visual detector 605 is also fixed to the lifting plate 18, while the upper upper surface visual detector 601, the upper lower surface visual detector 602, the upper front side visual detector 603, the upper rear side visual detector 604 and the upper outer side visual detector 606 are each fixed to the base 14 through a support column 15, and these support columns 15 are located on the side of the upper turntable 5 or on the side of the lower turntable 10.

[0080] like Fig.11 The upper material receiving module 8 includes five upper material distributing conveyor belts 801. Fig. 9 , the reflux transport module 9 includes a receiving conveyor belt 901, a transfer conveyor belt 902, an input conveyor belt 903 and an input baffle 904 from front to back. The six upper blowing parts 701 blow the workpieces 1 to the five upper material separation conveyor belts 801 and the receiving conveyor belt 901 respectively. Upper material receiving baffles 8011 are set on both sides of the inlet of each upper material separation conveyor belt 801. Reflux baffles 9011 are set on both sides of the inlet of the receiving conveyor belt 901. The five types of workpieces 1 received by the five upper material separation conveyor belts 801 flow into the collection frame 2 respectively.

[0081] The inlet of the receiving conveyor belt 901 is located below the edge of the upper turntable 5. The outlet of the receiving conveyor belt 901 is located above the inlet of the transfer conveyor belt 902. The outlet of the transfer conveyor belt 902 is located above the inlet of the input conveyor belt 903. The input baffle 904 is suspended above the lower circumferential area 1001 from the outlet of the input conveyor belt 903 to the lower turntable 10. The angle between the blocking surface of the input baffle 904 and the material conveying direction of the input conveyor belt 903 is 10° to 15°.

[0082] The sixth appearance category workpiece 1 received by the receiving conveyor belt 901 flows through the receiving conveyor belt 901, the transfer conveyor belt 902, the input conveyor belt 903 and the input baffle 904 in sequence, and then enters the lower turntable 10 for re-judgment and re-classification.

[0083] The re-judgment of the appearance category of the workpiece 1 entering the lower turntable 10 is performed by using the lower visual inspection module 11 .

[0084] Combination Fig.15 and Fig.16 The lower visual inspection module 11 is basically the same as the upper visual inspection module 6, and also includes six groups of visual detectors for detecting the six surfaces of the workpiece 1. Each detector has a camera for acquiring the corresponding surface image. The lower visual inspection module 11 includes: a lower upper surface visual detector 111, a lower lower surface visual detector 112, a lower front side visual detector 113, a lower rear side visual detector 114, a lower inner side visual detector 115, and a lower outer side visual detector 116.

[0085] The lower upper surface visual detector 111 is located above the upper turntable 5, and passes through the upper turntable 5 and faces the lower circumferential area 1001 to obtain the upper surface image of the workpiece 1 on the lower turntable 10. Since the outer diameter of the lower turntable 10 is smaller than the outer diameter of the upper turntable 5, the workpiece 1 on the lower turntable 10 and the workpiece 1 on the upper turntable 5 are staggered in the vertical direction, and the lower upper surface visual detector 111 and the upper upper surface visual detector 601 are also staggered, and will not interfere with each other in obtaining the appearance image of the upper surface of the workpiece 1. The lower upper surface visual detector 111 is not installed above the lower turntable 10, that is, it is not installed between the upper turntable 5 and the lower turntable 10. This is because the visual detector is connected to electrical wires and signal lines, etc., and is set due to the space limitation between the upper turntable 5 and the lower turntable 10.

[0086] The lower surface visual detector 112 is located below the lower turntable 10 and faces upward toward the lower circumferential area 1001, and is used to obtain the lower surface image of the workpiece 1 on the lower turntable 10 so that the system can perform analysis and judgment.

[0087] like Fig.15 and Fig.16 The lower front side visual detector 113 includes a lower front tilted optical reflector 1131 and a lower front camera 1132. The lower front tilted optical reflector 1131 is located between the upper turntable 5 and the lower turntable 10, and is above the lower circumferential area 1001. The lower front camera 1132 is located above the upper turntable 5, which is also affected by the space limitation between the upper turntable 5 and the lower turntable 10. The gap between the lower front tilted optical reflector 1131 and the lower turntable 10 should be greater than the height of the workpiece 1 so as not to interfere with the movement of the workpiece 1. The lower front tilted optical reflector 1131 faces the rotation direction of the lower turntable 10, and reflects the front side light of the workpiece 1 moving forward to the lower front camera 1132, and the reflection direction is vertically upward. The front side is the side facing forward along the direction of travel.

[0088] like Fig.15 and Fig.16The lower rear side visual detector 114 includes a lower rear tilted optical reflector 1141 and a lower rear camera 1142. The lower rear tilted optical reflector 1141 is located between the upper turntable 5 and the lower turntable 10, and is located above the lower circumferential area 1001. The lower rear camera 1142 is located above the upper turntable 5. The lower rear tilted optical reflector 1141 faces away from the rotation direction of the lower turntable 10. When the workpiece 1 passes over the rear tilted optical reflector, the lower rear tilted optical reflector 1141 faces the rear side of the workpiece 1, and reflects the light from the rear side of the workpiece 1 on the lower turntable 10 to the lower rear camera 1142, and the reflection direction is vertically upward. The rear side is the side facing backward along the traveling direction.

[0089] like Fig. 9 and Fig.10 The lower inner side visual detector 115 is used to obtain the inner side appearance image of the workpiece 1 from the inner side of the lower circumferential area 1001 to the outer side of the lower circumferential area 1001. The inner side is the side facing the center of the circle.

[0090] The lower outer side visual detector 116 is used to obtain the appearance image of the outer side of the workpiece from the outside of the lower circumferential area 1001 to the inside of the lower circumferential area 1001. The outer side is the side facing the outside of the rotating disk in the radial direction.

[0091] The above lower layer upper surface visual detector 111 , lower layer front camera 1132 , lower layer rear camera 1142 and lower layer inner side visual detector 115 are all fixed to the hanging plate 18 .

[0092] The above lower front inclined optical reflector 1131, lower rear inclined optical reflector 1141, lower lower surface visual detector 112, lower outer side visual detector 116 and the lower multi-port blowing module 12 described below are fixed on the base 14 through support columns 15 respectively.

[0093] Each visual detection device in the lower layer is equipped with a light-emitting panel 16 for irradiating the corresponding surface of the workpiece 1, so that the light emitted from each surface of the workpiece 1 is captured by the detector and analyzed and classified by the system.

[0094] like Fig.11It should be noted that, in order to accurately obtain images, the lower upper surface visual detector 111, the lower lower surface visual detector 112, the lower inner side visual detector 115 and the lower outer side visual detector 116 are each equipped with a viewfinder 17, the viewfinder 17 has a cylindrical through hole 1701, and the cylindrical through hole 1701 is facing each position to be detected. The camera of each of the above detectors faces the through hole 1701. When the workpiece 1 moves to the position facing the through hole 1701, the camera obtains the image in the through hole 1701, that is, the image of the corresponding surface of the workpiece 1 can be obtained. When obtaining an image, the viewfinder 17 is located between the camera and the workpiece 1.

[0095] It should be noted that each set of detectors may include one camera or two cameras, etc. If there are two cameras, they may be arranged in parallel side by side or distributed around the circumference to detect different defects on the same surface of the workpiece 1 .

[0096] like Figure 5 The lower multi-port blowing module 12 includes three lower blowing parts 1201 , and the blowing direction of each lower blowing part 1201 is from the inside of the lower circumferential area 1001 to the outside of the lower circumferential area 1001 .

[0097] like Figure 5 , the lower multi-port material receiving module 13 includes three lower material conveyor belts 1301, and lower material receiving baffles are set on both sides of the entrance of each lower material conveyor belt 1301. It should be noted that in order to facilitate the display of the lower material conveyor belts 1301, the lower material receiving baffles are hidden in the attached drawings. The entrance of each lower material conveyor belt 1301 is located below the edge of the lower turntable 10, and each faces a lower blowing piece 1201. After the re-judgment of the lower visual inspection module 11, the lower blowing piece 1201 can blow the workpiece 1 into the lower material conveyor belt 1301 of the corresponding re-judgment category.

[0098] In the above embodiment of the appearance double-layer inspection device based on machine vision, the loading module 3 transports the workpiece 1 to the upper inspection station for inspection. After being inspected by the inspection device, the workpiece 1 will be classified. A part of the workpieces with determined appearance categories will be directly unloaded and framed, and the other part of the controversial workpieces will flow into the lower turntable 10 through the return transport module 9 for re-judgment and re-classification. The appearance double-layer inspection device based on machine vision adopts a double-layer inspection structure to realize the inspection and classification of various appearance conditions of the workpiece 1. It has high versatility and high inspection efficiency, and can realize the re-inspection of some appearance workpieces 1 to reduce missed judgments and misjudgments.

[0099] Although the present application has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A double-layer appearance inspection device based on machine vision, characterized in that: It comprises a feeding module (3), a rotator (4), an upper turntable (5), an upper visual inspection module (6), an upper multi-port air blowing module (7), an upper material receiving module (8), a reflux transport module (9), a lower turntable (10), a lower visual inspection module (11), a lower multi-port air blowing module (12) and a lower multi-port material receiving module (13); the rotator (4) is connected to the lower turntable (10) and the upper turntable (5); The feeding module (3), the upper visual inspection module (6) and the upper multi-port blowing module (7) are arranged in sequence along the rotation direction A of the upper turntable (5); the feeding module (3) actively guides the workpiece to be inspected to the upper circumferential area (501) of the upper turntable (5); the upper visual inspection module (6) faces the upper circumferential area (501); the blowing direction of each port of the upper multi-port blowing module (7) is from the inside of the upper circumferential area (501) to the outside of the upper circumferential area (501), blowing towards the upper receiving module (8) and the reflux transport module. (9); the outlet of the reflux transport module (9) faces the lower circumferential area (1001) of the lower turntable (10); the lower visual inspection module (11) and the lower multi-port blowing module (12) are arranged in sequence along the rotation direction A of the lower turntable (10); the lower visual inspection module (11) faces the lower circumferential area (1001); the blowing direction of each port of the lower multi-port blowing module (12) is from the inside of the lower circumferential area (1001) to the outside of the lower circumferential area (1001), and blows towards the lower multi-port receiving module (13).

2. The appearance double-layer detection device based on machine vision according to claim 1 is characterized in that: The loading module (3) comprises a loading conveyor belt (302) and a loading baffle (303); the loading baffle (303) is suspended above an upper circumferential area (501) from the loading conveyor belt (302) to the upper turntable (5); and the angle between the blocking surface of the loading baffle (303) and the material conveying direction of the loading conveyor belt (302) is an acute angle less than 30°.

3. The appearance double-layer detection device based on machine vision according to claim 1 is characterized in that: The upper multi-port blowing module (7) comprises a plurality of upper blowing parts (701), and the blowing direction of each upper blowing part (701) is from inside the upper circumferential area (501) toward outside the upper circumferential area (501); The inlet of the upper material receiving module (8) and the inlet of the return flow transport module (9) are arranged below the upper turntable (5), one of the upper air blowing parts (701) faces the inlet of the return flow transport module (9), and the other upper air blowing parts (701) face the upper material receiving module (8).

4. The appearance double-layer detection device based on machine vision according to claim 3 is characterized in that: The upper material receiving module (8) comprises a plurality of upper material distributing conveyor belts (801), and upper material receiving baffles (8011) are arranged on both sides of the inlet of each of the upper material distributing conveyor belts (801); the inlet of each of the upper material distributing conveyor belts (801) is located below the edge of the upper turntable (5), and each faces one of the upper blowing members (701).

5. The appearance double-layer detection device based on machine vision according to claim 3 is characterized in that: The reflux transport module (9) comprises a receiving conveyor belt (901), a transfer conveyor belt (902), an input conveyor belt (903) and an input baffle (904); the inlet of the receiving conveyor belt (901) is located below the edge of the upper turntable (5); reflux baffles (9011) are arranged on both sides of the inlet of the receiving conveyor belt (901); one of the blowing parts faces the inlet of the receiving conveyor belt (901); the outlet of the receiving conveyor belt (901) is provided with a reflux baffle (9011); The opening is located above the entrance of the transfer conveyor belt (902); the exit of the transfer conveyor belt (902) is located above the entrance of the input conveyor belt (903); the input baffle (904) is suspended above the lower circumferential area (1001) from the exit of the input conveyor belt (903) to the lower turntable (10); the angle between the blocking surface of the input baffle (904) and the material transport direction of the input conveyor belt (903) is an acute angle less than 30°.

6. The appearance double-layer detection device based on machine vision according to claim 1 is characterized in that: The upper visual detection module (6) comprises an upper surface visual detector (601), an upper lower surface visual detector (602), an upper front side visual detector (603), an upper rear side visual detector (604), an upper inner side visual detector (605) and an upper outer side visual detector (606); The upper rotating disk (5) is a transparent disk; the upper surface visual detector (601) is located above the upper rotating disk (5) and faces the upper circumferential area (501); The upper lower surface visual detector (602) is located below the upper turntable (5) and faces the upper circumferential area (501); The upper front side vision detector (603) comprises an upper front tilted optical reflector (6031) and an upper front camera (6032), both of which are located above the upper circumferential area (501) of the upper turntable (5); the upper front tilted optical reflector (6031) faces the rotation direction of the upper turntable (5) and reflects light from the upper circumferential area (501) to the upper front camera (6032); The upper rear side visual detector (604) comprises an upper rear tilted optical reflector (6041) and an upper rear camera (6042), both of which are located above the upper circumferential area (501) of the upper turntable (5); the upper rear tilted optical reflector (6041) faces away from the rotation direction of the upper turntable (5) and reflects light from the upper circumferential area (501) to the upper rear camera (6042); The upper inner side visual detector (605) is directed from inside the upper circumferential area (501) toward outside the upper circumferential area (501); The upper outer side visual detector (606) is directed from outside the upper circumferential area (501) toward inside the upper circumferential area (501).

7. The appearance double-layer detection device based on machine vision according to claim 6 is characterized in that: The upper turntable (5) and the lower turntable (10) are planar disks parallel to each other; the rotating shaft of the rotator (4) is connected to the center of the circle of the lower turntable (10) and the center of the circle of the upper turntable (5); the outer diameter of the lower turntable (10) is smaller than the outer diameter of the upper turntable (5); the lower turntable (10) is a transparent disk; The lower layer visual detection module (11) comprises a lower layer upper surface visual detector (111), a lower layer lower surface visual detector (112), a lower layer front side visual detector (113), a lower layer rear side visual detector (114), a lower layer inner side visual detector (115) and a lower layer outer side visual detector (116); The lower upper surface visual detector (111) is located above the upper turntable (5), and is directed toward the lower circumferential area (1001) through the upper turntable (5); The lower layer lower surface visual detector (112) is located below the lower layer turntable (10) and faces the lower circumferential area (1001); The lower front side vision detector (113) comprises a lower front tilted optical reflector (1131) and a lower front camera (1132); the lower front tilted optical reflector (1131) is located above the lower circumferential area (1001) of the lower turntable (10), and the lower front camera (1132) is located above the upper turntable (5); the lower front tilted optical reflector (1131) faces the rotation direction of the lower turntable (10) and reflects light on the lower turntable (10) to the lower front camera (1132); The lower rear side vision detector (114) comprises a lower rear tilted optical reflector (1141) and a lower rear camera (1142); the lower rear tilted optical reflector (1141) is located above the lower circumferential area (1001) of the lower turntable (10), and the lower rear camera (1142) is located above the upper turntable (5); the lower rear tilted optical reflector (1141) faces away from the rotation direction of the lower turntable (10) and reflects light on the lower turntable (10) to the lower rear camera (1142); The lower inner side visual detector (115) is directed from inside the lower circumferential area (1001) toward outside the lower circumferential area (1001); The lower outer side visual detector (116) is directed from outside the lower circumferential area (1001) toward inside the lower circumferential area (1001).

8. The appearance double-layer detection device based on machine vision according to claim 7 is characterized in that: The appearance double-layer inspection device further comprises a hanging plate (18) located above the upper turntable (5); the lower upper surface visual detector (111), the lower front camera (1132), the lower rear camera (1142), the lower inner side visual detector (115), the upper inner side visual detector (605) and the upper multi-port blowing module (7) are all fixed to the hanging plate (18).

9. The appearance double-layer detection device based on machine vision according to claim 7 is characterized in that: The appearance double-layer inspection device further comprises a base (14) located below the lower turntable (10); the rotator (4) is mounted on the base (14); The upper surface visual detector (601), the lower surface visual detector (602), the front tilted optical reflector (6031), the front camera (6032), the rear tilted optical reflector (6041), the rear camera (6042), and the outer side visual detector (606) are fixed to the base (14) via support columns (15). The lower front tilted optical reflector (1131), the lower rear tilted optical reflector (1141), the lower lower surface visual detector (112), the lower outer side visual detector (116), and the lower multi-port blowing module (12) are respectively fixed to the base (14) via support columns (15).

10. The appearance double-layer inspection device based on machine vision according to claim 1, characterized in that: The lower layer multi-port blowing module (12) comprises a plurality of lower blowing parts (1201), and the blowing direction of each lower blowing part (1201) is from inside the lower circumferential area (1001) toward outside the lower circumferential area (1001); The lower layer multi-port material receiving module (13) comprises a plurality of lower material distribution conveyor belts (1301), and lower material receiving baffles are arranged on both sides of the inlet of each of the lower material distribution conveyor belts (1301); the inlet of each of the lower material distribution conveyor belts (1301) is located below the edge of the lower layer turntable (10), and each faces one of the lower blowing parts (1201).

Images