A double-layer appearance inspection device based on machine vision

Abstract

The present application relates to the technical field of machine vision appearance inspection equipment, and specifically discloses a double-layer appearance inspection equipment based on machine vision. The double-layer appearance inspection equipment includes a loading module, a rotator, an upper turntable, an upper visual inspection module, an upper multi-port air blowing module, an upper material receiving module, a reflux transport module, a lower turntable, a lower visual inspection module, a lower multi-port air blowing module, and a lower multi-port material receiving module. The rotator connects the lower turntable and the upper turntable. The workpiece is placed in the loading module, and the workpiece is transported to the upper turntable for inspection by the upper visual inspection module. The upper multi-port air blowing module blows the workpiece to the upper material receiving module or the reflux transport module. The reflux transport module transports the workpiece to be re-judged to the lower turntable for re-judgment by the lower visual inspection module. Based on the re-judgment result, the lower multi-port air blowing module blows the workpiece to the lower multi-port material receiving module. The double-layer appearance inspection equipment realizes re-inspection and precise segmentation of the appearance defects of the workpiece.

Description

Technical Field

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

[0002] Chinese patent application number CN202211277271.2 discloses a machine vision-based appearance inspection device for sheet metal parts. The device comprises a conveyor belt, a workbench, a screening table, and an appearance inspection machine. The device also includes an adjustment mechanism, an inspection and transport device, and a screening and transport device. One side surface of the workbench is fixedly mounted on one end of the conveyor belt. This machine vision-based appearance inspection device employs an adjustment mechanism. When the conveyor belt transports a workpiece below a fixed frame, the clockwise rotation of the first motor output shaft drives the bidirectional lead screw in the first chute to rotate clockwise. This clockwise rotation of the lead screw drives two threaded sleeves to move toward each end of the lead screw along the inner wall of the first chute. The movement of the threaded sleeves drives the movement of the first hydraulic cylinder. As the first hydraulic cylinder moves, the piston rod extends, driving the adjustment plate downward until the adjustment plate adjusts the workpiece on the conveyor belt to the center of the conveyor belt, thereby achieving the effect of positioning the workpiece. This appearance inspection device cannot achieve automated re-inspection and re-sorting of workpieces. Summary of the Invention

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

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

[0005] The loading module, the upper visual inspection module, and the upper multi-port air blowing module are sequentially arranged along the rotation direction A of the upper turntable. The loading 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 air blowing module is from the inside of the upper circumferential area to the outside of the upper circumferential area, and blows toward 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 air blowing module are sequentially arranged along the rotation direction A 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 air blowing module is from the inside of the lower circumferential area to the outside of the lower circumferential area, and blows toward the lower multi-port material receiving module.

[0006] By adopting the above technical solution, a batch of workpieces are automatically placed in intervals into the loading module. 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 generally 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 return transport module. The return 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. Based on the re-judgment results, the lower multi-port blowing module blows the workpieces to the corresponding entrance of the lower multi-port receiving module. This solution's double-layer appearance inspection equipment realizes automated re-inspection and reclassification of workpieces.

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

[0008] In a preferred embodiment of the machine vision-based double-layer appearance inspection equipment, the loading module includes a loading conveyor belt and a loading baffle. The loading baffle is suspended above the upper circumference of the loading conveyor belt to the upper turntable. The angle between the blocking surface of the loading baffle and the conveying direction of the loading conveyor belt is an acute angle of less than 30°.

[0009] With this technical solution, the loading conveyor belt drives the workpiece forward. The workpiece, blocked by the loading baffle, experiences a combined force from the forward direction and the elastic force of the loading baffle, advancing obliquely along the baffle's blocking surface toward the upper turntable. This oblique angle, less than 30°, allows the loading baffle to smoothly redirect the workpiece, allowing it to enter the upper turntable smoothly.

[0010] A preferred embodiment of this machine vision-based double-layer appearance inspection equipment is that the upper multi-port air blowing module includes multiple upper air blowing parts, each of which blows air from within the upper circumferential area toward the outside of the upper circumferential area. The inlet of the upper material receiving module and the inlet of the return transport module are located below the upper turntable, with one of the upper air blowing parts facing the inlet of the return transport module and the others facing the upper material receiving module.

[0011] By adopting the above technical solution, a corresponding number of blowing elements can be provided according to the types of workpieces to be classified, and each blowing element blows a type of workpiece to the corresponding upper receiving module or the return transport module. The workpieces of a type can be qualified products, products with a single defect, or products with multiple defects, depending on the classification.

[0012] A preferred embodiment of the machine vision-based double-layer appearance inspection equipment is that the upper material receiving module includes multiple upper material separation conveyor belts, each of which is provided with upper material receiving baffles on both sides of the inlet. The inlet of each upper material separation conveyor belt is located below the edge of the upper turntable and faces one of the upper air blowing elements.

[0013] By adopting the above technical solution, each blowing element blows workpieces of a certain test result category onto a corresponding upper material separation conveyor. The upper material receiving baffles set on both sides of the entrance of the upper material separation conveyor can block the blown-off workpieces and confine them to the upper material separation conveyor.

[0014] A preferred solution of the double-layer appearance inspection equipment 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 provided 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 transport direction of the input conveyor belt is an acute angle of 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 turntable is a transparent disk. The upper surface visual detector is located above the upper turntable 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 and 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 light from 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 light from the upper turntable to the upper rear camera.

[0021] The upper inner side visual detector is directed from the inside of the upper circumferential area toward the outside of 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 rectangular workpieces with six surfaces.

[0024] A preferred embodiment of the machine vision-based dual-layer appearance inspection device is as follows: the upper and lower turntables are parallel planar circular disks. The rotation axis of the rotator is perpendicularly 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 that of the upper turntable. The lower turntable is transparent.

[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 surface visual detector is located below the lower turntable and faces the lower circumferential area.

[0028] The lower front and side vision detector includes a lower front tilted optical reflector and a lower front camera. 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 direction of rotation of the lower turntable and reflects light from the lower turntable to the lower front camera.

[0029] The lower rear side vision detector includes a lower rear tilted optical reflector and a lower rear camera. 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 light from the lower turntable to the lower rear camera.

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

[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 embodiment of the machine vision-based dual-layer appearance inspection device further comprises a mounting plate positioned above the upper turntable. The lower-layer upper surface visual detector, the lower-layer front camera, the lower-layer rear camera, the lower-layer inner side visual detector, the upper-layer inner side visual detector, and the upper-layer multi-port air blowing module are all secured to the mounting 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 machine vision-based double-layer appearance inspection device is that the double-layer appearance inspection device further includes a base located below the lower turntable. The rotator is mounted 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 equipment based on machine vision is that the lower layer multi-port blowing module includes multiple lower blowing parts, and the blowing direction of each lower blowing part is from the inside of the lower circumferential area to the outside of the lower circumferential area.

[0040] The lower multi-port material receiving module includes multiple lower material distribution conveyor belts, and lower material distribution baffles are set on both sides of the inlet of each lower material distribution conveyor belt. The inlet of each lower material distribution conveyor belt is located below the edge of the lower turntable and faces one of the lower blowing parts.

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

[0042] To sum up, 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 detection structure to realize classified inspection and classified cutting of various situations of workpieces, and can realize re-inspection of controversial workpieces, reduce missed detection and false detection, and has high versatility and high 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 view 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 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 Magnified view of area D.

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

[0052] Figure 10 for Figure 9 Magnified view of area E.

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

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

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

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

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

[0058] Figure 16 for Figure 15 Magnified view of the H region.

[0059] Figure 1: Workpiece; 2: Collection frame; 3: Loading module; 4: Rotator; 5: Upper turntable; 6: Upper visual inspection module; 7: Upper multi-port air blowing module; 8: Upper receiving module; 9: Reflux transport module; 10: Lower turntable; 11: Lower visual inspection module; 12: Lower multi-port air blowing module; 13: Lower multi-port receiving module; 501: Upper circumferential area; 304: Loading box; 301: Vibrating plate; 302: Loading transport module Conveyor; 303, loading baffle; 601, upper surface visual detector of upper layer; 602, lower surface visual detector of upper layer; 603, front and side visual detector of upper layer; 604, rear and side visual detector of upper layer; 605, inner and outer side visual detector of upper layer; 606, outer and outer side visual detector of upper layer; 1001, lower circumferential 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 air blowing element; 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 and side surfaces of the lower layer; 114. Visual detector for the rear and side surfaces of the lower layer; 115. Visual detector for the inner and outer surfaces of the lower layer; 116. Visual detector for the outer and outer surfaces 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 air blowing component; 1301. Lower material distribution conveyor belt. DETAILED DESCRIPTION

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

[0061] like Figure 1 and Figure 2 This is a dual-layer machine vision-based appearance inspection device suitable for inspecting rectangular workpieces 1, such as those measuring 40 mm in length, 15 mm in width, and 2 mm in thickness. The upper layer of the device visually inspects and classifies workpieces 1 into categories such as acceptable, generally defective, severely defective, and others. Acceptable and severely defective products, etc., do not require re-inspection and are directly sorted into a collection bin 2. Generally defective products are automatically sent to the lower layer for re-inspection and reclassification.

[0062] like Figure 1 and Figure 2 The main components of the double-layer appearance inspection equipment are the feeding module 3, the rotator 4, the upper turntable 5, the upper visual inspection module 6, the upper multi-port blowing module 7, the upper receiving module 8, the reflux transport module 9, and the lower turntable 10. Figure 3 and Figure 4 The main components of the double-layer appearance inspection equipment also include the 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 can be a motor, with its stator mounted on a base 14. Both the upper turntable 5 and the lower turntable 10 are circular. The rotator 4's rotational axis extends vertically upward, connecting the lower turntable 10 and the upper turntable 5. The axis of rotation is connected at the center of the lower turntable 10 and the center of the upper turntable 5. When viewed from above, 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, the feeding module 3, the upper visual inspection module 6 and the upper multi-port blowing module 7 are arranged in sequence.

[0065] Such as 7 and Figure 8 The loading 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 loading disc.

[0066] like Figure 1 The loading module 3 includes a loading box 304, a vibration disk 301, a loading conveyor belt 302 and a loading baffle 303. The bottom of the loading 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 disk 301. The outlet of the vibration disk 301 faces the entrance of the loading conveyor belt 302. The loading baffle 303 is suspended above the upper circumferential area 501 from the outlet of the loading conveyor belt 302 to the upper turntable 5. The loading baffle 303 is fixed to the base 14 by a bracket. The gap between the loading baffle 303 and the loading conveyor belt 302 should be less than the thickness of the workpiece 1. The angle between the loading baffle 303 and the feeding direction of the loading conveyor belt 302 is 10°~15°.

[0067] A batch of workpieces 1 are poured into the vibrating plate 301, which automatically sorts the workpieces 1 and outputs them one by one, all facing the same direction, onto the loading conveyor 302. The loading conveyor 302 drives the workpieces 1 forward to the exit, where they are blocked by the loading baffle 303 and move obliquely to the upper circumferential area 501 of the upper turntable 5, i.e., the edge of the upper turntable 5. As the upper turntable 5 rotates in a circle, the workpieces 1 are first inspected by the upper visual inspection module 6. Then, based on the inspection results, the upper multi-port air blowing module 7 blows the workpieces 1 into the upper receiving module 8 or the return conveyor module 9.

[0068] In order to fully 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: Figure 9 and Figure 10 The upper surface visual detector 601 and the upper lower surface visual detector 602 are as shown in FIG. Figure 7 and Figure 8 The upper front side visual detector 603 and the upper rear side visual detector 604, as Figure 11 and Figure 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 does 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 Figure 9 and Figure 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 next to the upper turntable 5. The camera is vertically downward toward the upper circumferential 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 Figure 9 and Figure 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 next to the lower turntable 10. The camera is vertically downward toward the upper circumferential area 501 of the upper turntable 5, and can obtain the image of the lower surface 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 and side vision detector 603 includes an upper front tilted optical reflector 6031 and an upper front camera 6032, both located above the upper circumference 501 of the upper turntable 5. The upper front tilted optical reflector 6031 is tilted in the direction of rotation of the upper turntable 5, reflecting light from the front and side of the oncoming workpiece 1 upward to the upper front camera 6032 for analysis and identification 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 to prevent it from contacting 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 located above the upper circumference 501 of the upper turntable 5. The upper rear tilted optical reflector 6041 faces away from the direction of rotation of the upper turntable 5. When the workpiece 1 passes over the upper rear tilted optical reflector 6041, it captures light from the workpiece 1's rear side and reflects it vertically upward toward the upper rear camera 6042. The upper rear camera 6042 captures the light and transmits 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 to prevent it from contacting the workpiece 1.

[0075] like Figure 11 and Figure 12The upper inner side vision detector 605 is directed from the inside of the upper circumference area 501 toward the outside of the upper circumference area 501. The upper outer side vision detector 606 is directed from the outside of the upper circumference area 501 toward the inside of the upper circumference area 501. Each upper layer of vision detection equipment is equipped with a light-emitting panel 16 for illuminating the corresponding surface of the workpiece 1. This allows the light emitted from each surface of the workpiece 1 to be captured by the detector, analyzed by the system, and classified.

[0076] like Figure 5 and Figure 6 It should be noted that to accurately capture images, each of 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 is equipped with a framing block 17. Framing block 17 has a cylindrical through-hole 1701, which faces the location to be inspected. The cameras of each of these detectors face this through-hole 1701. When workpiece 1 reaches through-hole 1701, the camera captures the image within through-hole 1701, effectively capturing an image of the corresponding surface of workpiece 1. When capturing images, framing block 17 is positioned between the camera and workpiece 1.

[0077] It should be noted that each detector group 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 air 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 respectively fixed to the base 14 via support columns 15.

[0079] like Figure 13 and Figure 14The upper multi-port blow module 7 includes six upper blow elements 701, each with a blow needle. These elements are located above the upper turntable 5 and blow air from within the upper circumferential area 501 toward the outside of the upper circumferential area 501, thereby blowing the workpieces 1 from the upper circumferential area 501 of the upper turntable 5 down to the upper receiving module 8 or the return transport module 9. Each blow needle has an air outlet, and the multiple blow needles together have multiple air outlets, which together constitute the multiple outlets of the upper multi-port blow module 7. The six upper blow elements 701 have six outlets. These six blow elements are fixed to a bracket, which is fixed to the equipment's lifting plate 18. 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 beside the upper turntable 5 or beside the lower turntable 10.

[0080] like Figure 11 The upper material receiving module 8 includes five upper material conveyor belts 801. Figure 9 The return transport module 9 includes, from front to back, a receiving conveyor belt 901, a transfer conveyor belt 902, an input conveyor belt 903, and an input baffle 904. Six upper air blowing elements 701 blow the workpieces 1 toward the five upper material separation conveyor belts 801 and the receiving conveyor belt 901. Upper material receiving baffles 8011 are set on both sides of the inlet of each upper material separation conveyor belt 801. Return 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.

[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 between the outlet of the input conveyor belt 903 and the lower turntable 10. The angle between the blocking surface of the input baffle 904 and the conveying direction of the input conveyor belt 903 is 10° to 15°.

[0082] The workpieces 1 of the sixth appearance category received by the receiving conveyor belt 901 flow 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 enter the lower turntable 10 for re-judgment and re-classification.

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

[0084] Combine Figure 15 and Figure 16 Lower-layer visual inspection module 11 is essentially the same as upper-layer visual inspection module 6 in its composition, also including six sets of visual detectors for inspecting the six surfaces of workpiece 1. Each detector has a camera for acquiring images of the corresponding surface. Lower-layer visual inspection module 11 includes: 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.

[0085] The lower upper surface visual detector 111 is located above the upper turntable 5, and is directed through the upper turntable 5 and toward the lower circumferential area 1001 to obtain an image of the upper surface 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 Figure 15 and Figure 16 The lower front and side visual detector 113 includes a lower front inclined optical reflector 1131 and a lower front camera 1132. The lower front inclined 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 inclined 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 inclined optical reflector 1131 faces the rotation direction of the lower turntable 10, and reflects the oncoming front side light of the workpiece 1 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 Figure 15 and Figure 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 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, reflecting light from the rear side of the workpiece 1 on the lower turntable 10 toward the lower rear camera 1142 in a vertically upward direction. The rear side is the side facing backward along the direction of travel.

[0089] like Figure 9 and Figure 10 The lower inner side visual detector 115 is used to obtain the appearance image of the inner side of the workpiece 1 from the inner side of the lower circumference area 1001 to the outer side of the lower circumference 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 turntable 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 respectively fixed on the base 14 through support columns 15.

[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 Figure 11It should be noted that, in order to accurately capture images, each of the lower-layer upper surface visual detector 111, the lower-layer lower surface visual detector 112, the lower-layer inner side visual detector 115, and the lower-layer outer side visual detector 116 is equipped with a framing block 17. Framing block 17 has a cylindrical through-hole 1701, which faces the position to be inspected. The cameras of each of the above detectors face this through-hole 1701. When workpiece 1 moves to a position facing through-hole 1701, the camera captures the image within through-hole 1701, thus capturing an image of the corresponding surface of workpiece 1. When capturing images, framing block 17 is located between the camera and 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 toward the outside of the lower circumferential area 1001 .

[0097] like Figure 5 The lower-layer 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 accompanying 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 air blowing part 1201. After re-judgment by the lower-layer visual inspection module 11, the lower air blowing part 1201 can blow the workpiece 1 into the lower material conveyor belt 1301 of the corresponding re-judgment category.

[0098] In the above-described embodiment of the machine vision-based dual-layer appearance inspection equipment, the loading module 3 transports the workpiece 1 to the upper inspection station for inspection. After inspection, the workpiece 1 is classified. Some workpieces with confirmed appearance categories are directly unloaded and framed, while others, which are controversial, flow through the return transport module 9 to the lower turntable 10 for re-inspection and reclassification. This machine vision-based dual-layer appearance inspection equipment utilizes a dual-layer inspection structure, enabling inspection and classified unloading of workpieces 1 based on a variety of appearance conditions. It offers high versatility and inspection efficiency, enabling re-inspection of a wide range of appearance-related workpieces 1, reducing missed and misclassified items.

[0099] Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments, or 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 scope of protection 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 sequentially arranged 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), and blows toward the upper receiving module (8) and the return 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 sequentially arranged 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) toward the outside of the lower circumferential area (1001), and blows toward the lower multi-port receiving module (13); A batch of workpieces are automatically placed in the loading module at intervals. The loading module transports 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 are generally divided into confirmed and awaiting re-judgment categories. The upper multi-port air blowing module blows the workpieces with confirmed inspection results to the upper receiving module, and blows the workpieces awaiting re-judgment to the reflux transport module. The reflux transport module transports the workpieces awaiting re-judgment to the lower circumference area of the lower turntable. The lower visual inspection module inspects and re-judgments the workpieces. According to the re-judgment results, the lower multi-port air blowing module blows the workpieces to the corresponding entrance of the lower multi-port receiving module.

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 the 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 conveying direction of the loading conveyor belt (302) is an acute angle less than 30°.

3. The appearance double-layer inspection 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 transport module (9) are arranged below the upper turntable (5), one of the upper air blowing parts (701) faces the inlet of the return 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 provided on both sides of the inlet of each upper material distributing conveyor belt (801); the inlet of each upper material distributing conveyor belt (801) is located below the edge of the upper turntable (5), and each faces one of the upper blowing parts (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 provided 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 plurality of reflux baffles (9011); the blowing part ... 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 inspection device based on machine vision according to claim 1 is characterized in that: The upper visual detection module (6) includes 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 turntable (5) is a transparent disk; the upper surface visual detector (601) is located above the upper turntable (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 vision 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 the inside of the upper circumferential area (501) toward the outside of 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 inspection 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) includes 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 surface visual detector (112) is located below the lower 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), wherein 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), wherein 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 the inside of the lower circumferential area (1001) toward the outside of 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 inspection device based on machine vision according to claim 7 is characterized in that: The appearance double-layer inspection device further includes 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 inspection device based on machine vision according to claim 7, characterized in that: The appearance double-layer inspection device further includes 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 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 respectively 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 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 distribution baffles are provided on both sides of the inlet of each lower material distribution conveyor belt (1301); the inlet of each lower material distribution conveyor belt (1301) is located below the edge of the lower layer turntable (10), and each faces one of the lower blowing parts (1201).

Images