Automatic AOI (automatic optical inspection) equipment

Abstract

The invention relates to the technical field of automatic optical inspection of industrial products, in particular to automatic AOI (automatic optical inspection) equipment, which comprises a track mechanism, a gripper mechanism, an inspection mechanism and a rotating mechanism, and is characterized in that the track mechanism is provided with an upper-layer track and is used for conveying a product tray; the gripper mechanism is provided with a gripper device and a displacement device, and the gripper device is mounted at the driving end of the displacement device and moves under the driving of the displacement device, so that the to-be-detected product is gripped from the product tray and conveyed to the rotating mechanism; and the rotating mechanism is used for rotating the to-be-detected product, so that the detection mechanism can perform optical detection operation on different side surfaces of the to-be-detected product without changing the position. In this way, the product to be detected can rotate at the fixed position, and therefore multi-face detection can be completed without moving the detection mechanism. Therefore, the influence caused by vibration is reduced, the stability and the accuracy of detection are improved, the detection efficiency is remarkably improved, and the complexity and the maintenance cost of equipment are reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic optical inspection of industrial products, and in particular to an automatic AOI inspection device. Background Art

[0002] In the field of modern automatic optical inspection (AOI), the demand for comprehensive inspection of products is growing, especially for products that need to be inspected on multiple sides. At present, when inspecting multiple sides of a product separately, the commonly used method is to use a mobile device such as a manipulator to drive the optical inspection device to change its position along multiple sides of the product, so as to realize the inspection operation of each side.

[0003] However, this traditional detection method has obvious defects. When a mobile device such as a manipulator switches between different surfaces, it is very easy to generate vibration. This vibration will cause the position of the optical detection device to shift, which will have an adverse effect on its shooting effect. The shift in the position of the optical detection device reduces the quality of the captured image, increases the difficulty of subsequent image processing, and reduces the accuracy and efficiency of detection. It cannot meet the requirements of high-precision detection. Therefore, it is urgent to improve the existing detection method.

[0004] In addition, the detection efficiency is low: since the robot needs to move frequently between different surfaces, the detection efficiency is low and it is difficult to meet the needs of large-scale production.

[0005] Equipment complexity and high maintenance costs: Mobile devices such as robots have complex structures, high maintenance costs, and are prone to failure, affecting production continuity.

[0006] In summary, the existing automatic optical inspection equipment has deficiencies in many aspects and cannot meet the current production needs for high-precision, high-efficiency and high-adaptability inspection. Therefore, it is necessary to improve and innovate it to improve the performance and application scope of the inspection equipment. Summary of the invention

[0007] In order to overcome the above-mentioned shortcomings, the present invention aims to provide a technical solution that can solve the above-mentioned problems.

[0008] The present invention provides an automatic AOI inspection device, comprising a track mechanism, a gripper mechanism, a detection mechanism and a rotating mechanism installed on a device frame, wherein the track mechanism is provided with an upper track for conveying a product tray; the gripper mechanism is provided with a gripper device and a displacement device, wherein the gripper device is installed at a driving end of the displacement device and moves under the drive of the displacement device, thereby gripping a product to be tested from the product tray and conveying it to the rotating mechanism; the rotating mechanism is used for rotating the product to be tested, so that the detection mechanism can perform optical detection operations on different sides of the product to be tested without changing its position.

[0009] As a further solution of the present invention: the rotating mechanism is provided with a rotating pallet, a rotating motor and a rotating platform, the rotating platform is installed on the equipment frame, the rotating motor is transmission-connected to the rotating platform, the rotating pallet is fixedly connected to the driving end of the rotating platform, so that the rotating motor runs and drives the rotating pallet to rotate through the rotating platform.

[0010] As a further solution of the present invention: it also includes a translation device, which is provided with a translation base, a translation guide rail and a translation locking block. The translation guide rail is fixed to the equipment frame. The translation base forms a linear sliding connection with the translation guide rail through a slider. The translation locking block is used to lock the position of the translation base. The rotating platform is installed on the translation base.

[0011] As a further solution of the present invention: the rotation angle of the rotating platform is set to the angle between the central axes of adjacent side surfaces of the product to be tested, so that after the rotating platform drives the product to be tested to rotate a corresponding angle, each side surface can face the detection mechanism.

[0012] As a further solution of the present invention: the detection mechanism is provided with a slide module and a detection device, the slide module includes a longitudinal slide, a transverse slide, and a vertical slide, the longitudinal slide is installed on the equipment frame, the transverse slide is installed on the driving end of the longitudinal slide, the vertical slide is installed on the driving end of the transverse slide, and the detection device is installed on the driving end of the vertical slide, so that the detection device can move longitudinally, transversely and vertically.

[0013] As a further solution of the present invention: the detection device is provided with a first slide module, a first detection plate, a first driver and a first camera, the first detection plate is fixedly connected to the driving end of the vertical slide of the first slide module, the first driver is installed on the first detection plate, and the first camera is installed on the driving end of the first driver.

[0014] As a further solution of the present invention: the detection device is also provided with a second slide module, a second detection board, a second camera and a fill light board. The second detection board is fixedly connected to the driving end of the vertical slide of the second slide module, and the second camera and the fill light board are respectively installed on the second detection board.

[0015] As a further solution of the present invention: the displacement device is provided with a longitudinal movement component, a transverse movement component and a vertical movement component, the longitudinal movement component is installed on the equipment frame, the transverse movement component is installed on the driving end of the longitudinal movement component, the vertical movement component is installed on the driving end of the transverse movement component, and the gripper device is installed on the driving end of the vertical movement component.

[0016] As a further solution of the present invention: the gripper device is provided with a gripper mounting plate, a gripper motor, a forward screw, a reverse screw, a forward clamp and a reverse clamp; the gripper mounting plate is fixedly connected to the driving end of the vertical movement assembly, and the gripper motor is fixedly connected to the gripper mounting plate; the forward screw and the reverse screw form a transmission connection, and are respectively rotatably connected to the gripper mounting plate, and are transmission connected to the driving end of the gripper motor; the forward clamp is transmission connected to the forward screw, and the reverse clamp is transmission connected to the reverse screw, so that the forward clamp and the reverse clamp can realize the operation of grabbing or releasing.

[0017] As a further solution of the present invention: the gripper device is also provided with a clamping jaw base plate, a quick-change guide groove and a quick-change insert plate, the clamping jaw base plate is slidably connected to the gripper mounting plate, the quick-change guide groove is fixedly connected to the clamping jaw base plate, the quick-change insert plate is used to install a forward clamping jaw or a reverse clamping jaw, and can be replaceably embedded in the quick-change guide groove to form a fixed connection.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] The present invention proposes an improved automatic AOI inspection equipment, which solves the deficiencies in the prior art by optimizing the equipment structure design. Specifically, the present invention introduces a rotating mechanism, which enables the product to be tested to rotate at a fixed position, thereby completing multi-faceted inspection without moving the inspection mechanism. This not only reduces the impact of vibration, improves the stability and accuracy of inspection, but also significantly improves inspection efficiency and reduces the complexity and maintenance cost of the equipment.

[0020] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0022] Figure 1 It is a structural schematic diagram of the equipment rack and track mechanism of the present invention;

[0023] Figure 2 It is a structural schematic diagram of the rotating mechanism of the present invention;

[0024] Figure 3 is a schematic structural diagram of the translation device of the present invention;

[0025] Figure 4is a schematic structural diagram of a first driver and a first camera of the present invention;

[0026] Figure 5 It is a structural schematic diagram of the second camera and the fill light board of the present invention;

[0027] Figure 6 It is a schematic diagram of the structure of the longitudinal movement assembly, the transverse movement assembly and the vertical movement assembly of the present invention;

[0028] Figure 7 It is a structural schematic diagram of the gripper device of the present invention;

[0029] Figure 8 It is a structural schematic diagram of the quick-change guide groove and the quick-change panel of the present invention in a separated state;

[0030] Fig. 9 It is a structural schematic diagram of the lifting movable plate and the rotating top plate of the present invention.

[0031] The reference numerals and names in the figures are as follows:

[0032] 10 Equipment rack; 11 Track mechanism; 12 Upper track; 13 Lower track; 14 Lifting base; 15 Lifting cylinder; 16 Lifting movable plate; 17 Rotating platform; 18 Rotating motor; 19 Rotating top plate; 20 Rotating mechanism; 21 Rotating pallet; 22 Quick-change pallet; 23 Quick-change locker; 24 Rotating motor; 25 Rotating platform; 26 Translation device; 27 Translation base; 28 Translation guide rail; 29 Translation lock block; 30 Detection mechanism; 31 Longitudinal slide; 32 Horizontal slide; 33 Vertical slide; 34 First detection board; 35 First driver; 36 First camera; 37 Second detection board; 38 Second camera; 39 Fill light board; 40 Gripper device; 41 gripper mounting plate; 42 gripper motor; 43 forward screw; 44 reverse screw; 45 forward clamp; 46 reverse clamp; 47 clamp base plate; 48 quick-change guide groove; 49 quick-change insert; 50 longitudinal movement assembly; 51 longitudinal movement bracket; 52 longitudinal movement slide rail; 53 longitudinal movement slide seat; 54 longitudinal movement rack; 55 longitudinal movement roller; 56 longitudinal movement motor; 60 transverse movement assembly; 61 transverse movement bracket; 62 transverse movement slide rail; 63 transverse movement slide seat; 64 transverse movement screw rod; 65 transverse movement motor; 70 vertical movement assembly; 71 vertical movement bracket; 72 vertical movement slide rail; 73 vertical movement slide seat; 74 vertical movement screw rod; 75 vertical movement motor; 80 product tray; 81 product to be tested. DETAILED DESCRIPTION

[0033] The technical solutions in the embodiments of the present invention are described clearly and completely below. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0034] See also Figures 1 to 9 In an embodiment of the present invention, an automatic AOI inspection device includes a track mechanism 11, a gripper mechanism, a detection mechanism 30 and a rotating mechanism 20 installed on an equipment frame 10. The track mechanism 11 is provided with an upper track 12 for conveying a product tray 80; the gripper mechanism is provided with a gripper device 40 and a displacement device, the gripper device 40 is installed at a driving end of the displacement device, and moves under the drive of the displacement device, so as to grasp a product 81 to be tested from the product tray 80 and convey it to the rotating mechanism 20; the rotating mechanism 20 is used to rotate the product 81 to be tested, so that the detection mechanism 30 can perform optical detection operations on different sides of the product 81 to be tested without changing its position.

[0035] Specifically, in the existing field of automatic optical inspection, when multiple sides of a product need to be inspected separately, a mobile device such as a manipulator is usually used to drive the optical inspection device to change position along multiple sides, so as to inspect each side separately. However, when a mobile device such as a manipulator switches between different sides, it is easy to generate vibration, causing the position of the optical inspection device to shift, affecting its shooting effect and increasing the difficulty of image processing. Therefore, it is necessary to make improvements.

[0036] Secondly, the track mechanism 11 is also provided with a lower track 13 for rotating and conveying the product tray 80. When the testing equipment is installed on a complete production line, in order to circulate and rotate the product tray 80, the lower track 13 can be provided so that after the product 81 to be tested is discharged at the last station, the product tray 80 can be returned to the initial station through the lower track 13 again, and a new product 81 to be tested can be conveyed again.

[0037] like Figure 2 As shown, preferably, the rotating mechanism 20 is provided with a rotating pallet 21, a rotating motor 24 and a rotating platform 25, the rotating platform 25 is installed on the equipment frame 10, the rotating motor 24 is transmission-connected to the rotating platform 25, and the rotating pallet 21 is fixedly connected to the driving end of the rotating platform 25, so that the rotating motor 24 is operated and the rotating pallet 21 is driven to rotate through the rotating platform 25.

[0038] Specifically, in order to perform a stable rotation operation on the product 81 to be tested, it is preferred to use a stable rotating platform 25 to rotate the product 81 to be tested. The rotating platform 25 can be a hollow rotating platform 25 in existing products, such as a KFN200 hollow rotating platform 25, so that it can drive the rotating support plate 21 to rotate a preset angle.

[0039] like Figure 3As shown, preferably, it also includes a translation device 26, which is provided with a translation base 27, a translation guide rail 28 and a translation locking block 29, the translation guide rail 28 is fixed to the equipment frame 10, the translation base 27 forms a linear sliding connection with the translation guide rail 28 through a slider, the translation locking block 29 is used to lock the position of the translation base 27, and the rotating platform 25 is installed on the translation base 27.

[0040] Specifically, for the products 81 to be tested of different specifications or sizes, the position of the rotating mechanism 20 needs to be adjusted. In order to facilitate the adjustment, a translation base 27 can be provided to cooperate with the translation guide rail 28, and the rotating platform 25 can be installed on the translation base 27, and the position of the translation base 27 can be adjusted by the translation handle provided on the translation base 27. After the adjustment, the translation lock block 29 can also be used for locking. Preferably, a locking cylinder installed on the equipment frame 10 is also provided, and the translation lock block 29 is fixed to the piston end of the locking cylinder, so that the locking cylinder drives the translation lock block 29 to lock the translation base 27. Preferably, a locking groove can also be provided on the translation base 27, and a locking protrusion can be provided on the translation lock block 29, and the locking of the translation base 27 is achieved by the embedded cooperation between the locking protrusion and the locking groove.

[0041] Secondly, in order to enable the rotating support plate 21 to support the products 81 to be tested of different specifications or sizes, a quick-change support plate 22 and a quick-change locker 23 may be provided. The quick-change support plate 22 is provided with a support column for supporting the corresponding product 81 to be tested, and the quick-change locker 23 may be used to quickly replace the quick-change support plate 22 or lock it on the rotating support plate 21. The quick-change locker 23 may adopt the QCTHS0834-20S button-type locker in the existing product, so that it can achieve a quick locking effect.

[0042] like Figures 1 to 3 As shown, preferably, the rotation angle of the rotating platform 25 is set to the angle between the central axes of adjacent side surfaces of the product 81 to be tested, so that after the rotating platform 25 drives the product 81 to be tested to rotate a corresponding angle, each side surface thereof can face the detection mechanism 30.

[0043] Specifically, the rotation angle of the rotating platform 25 is set accordingly according to the angle relationship between two adjacent side surfaces of the product 81 to be tested, so that each side surface of the product 81 to be tested can face the detection mechanism 30, and the detection mechanism 30 can perform optical detection operations on all sides of the product 81 to be tested without changing its position. For example, when the cross section of the product 81 to be tested along its vertical direction is a square or a rectangle, the angle between the central axes of its two adjacent side surfaces is 90 degrees, so the rotation angle of the rotating platform 25 can be set to 90 degrees, so that after it is driven to rotate three times, all four side surfaces can be detected by the detection mechanisms 30 on both sides. For another example, when the cross section of the product 81 to be tested along its vertical direction is a regular hexagon, the angle between the central axes of its two adjacent side surfaces is 60 degrees, so the rotation angle of the rotating platform 25 is correspondingly set to 60 degrees.

[0044] like Figure 4 and Figure 5 As shown, preferably, the detection mechanism 30 is provided with a slide module and a detection device, the slide module includes a longitudinal slide 31, a transverse slide 32, and a vertical slide 33, the longitudinal slide 31 is installed on the equipment frame 10, the transverse slide 32 is installed on the driving end of the longitudinal slide 31, the vertical slide 33 is installed on the driving end of the transverse slide 32, and the detection device is installed on the driving end of the vertical slide 33, so that the detection device can move longitudinally, transversely and vertically.

[0045] Specifically, the longitudinal slide 31 and the transverse slide 32 can respectively adopt the electronic screw slides of the RMH 17 and RMH 14 models of Ruijian Electronics Co., Ltd., so as to achieve precise linear movement. The vertical slide 33 can adopt the EC65L-L10 model linear servo electric cylinder of Dongguan Tianyou Zhiyun Hardware Technology Co., Ltd., and is provided with an L-shaped guide plate to further improve the linear movement accuracy of the electric cylinder. When the size of the product 81 to be tested is large, one of its sides has a relatively large area. Therefore, when a comprehensive inspection is performed on the same side, it is necessary to move along the same side. In order to improve the movement stability of the detection device, it is preferred to use a linear slide to drive the detection device. The linear slide only performs linear motion and does not need to change position, so it will not affect the detection device.

[0046] like Figure 4 As shown, preferably, the detection device is provided with a first slide module, a first detection plate 34, a first driver 35 and a first camera 36, ​​the first detection plate 34 is fixedly connected to the driving end of the vertical slide 33 of the first slide module, the first driver 35 is installed on the first detection plate 34, and the first camera 36 is installed on the driving end of the first driver 35.

[0047] Specifically, the first camera 36 can use the existing product MV-DP2120-01H Hikvision 3D industrial camera laser profiler to detect whether the side interface of the product to be tested 81 is installed correctly, and whether the pins in the interface are tilted. The first driver 35 includes a servo motor and a servo planetary reducer, so that the first camera 36 can be transformed at a certain angle to make its detection more complete and accurate.

[0048] like Figure 5 As shown, preferably, the detection device is also provided with a second slide module, a second detection plate 37, a second camera 38 and a fill light board 39, the second detection plate 37 is fixedly connected to the driving end of the vertical slide 33 of the second slide module, and the second camera 38 and the fill light board 39 are respectively installed on the second detection plate 37.

[0049] Specifically, the second camera 38 can be a Hikvision MV-CS200-10GM industrial camera with 20 million pixel area array camera, so as to perform relevant detection services such as presence detection, front and back detection, and installation position detection on the side parts of the product to be tested 81. Since the first camera 36 mainly adopts the laser detection principle, it does not need fill light, and the second camera 38 uses ordinary light for detection, so a fill light board 39 can also be set to supplement the light of the corresponding part of the product to be tested 81.

[0050] Secondly, preferably, the first camera 36 and the second camera 38 can be respectively installed on both sides of the rotating mechanism 20 through the corresponding longitudinal slide 31, transverse slide 32 and vertical slide 33, so that the two sides of the product to be tested 81 can be inspected at the same time. When the product to be tested 81 rotates the corresponding side under the drive of the rotating mechanism 20, the first camera 36 and the second camera 38 can also inspect the corresponding side.

[0051] It is understandable that in order to further improve the accuracy of the detection, it is preferred to wait until the rotating mechanism 20 has completed its rotation, stop the product 81 to be detected, and then start the first camera 36 and the second camera 38 for corresponding detection. For products 81 to be detected of different specifications, shapes and sizes, the first camera 36 and the second camera 38 can also be moved longitudinally, transversely or vertically through the corresponding linear slide, so as to perform detection operations on the entire side of the product 81 to be detected. Since the detection mechanism 30 uses the moving method of the linear module to drive the detection device, its movement is accurate and stable, which can further improve the accuracy and efficiency of the detection.

[0052] like Figure 1 and Figure 6As shown, preferably, the displacement device is provided with a longitudinal movement component 50, a transverse movement component 60 and a vertical movement component 70, the longitudinal movement component 50 is installed on the equipment frame 10, the transverse movement component 60 is installed on the driving end of the longitudinal movement component 50, the vertical movement component 70 is installed on the driving end of the transverse movement component 60, and the gripping device 40 is installed on the driving end of the vertical movement component 70.

[0053] Specifically, the longitudinal movement assembly 50 is provided with a longitudinal movement bracket 51, a longitudinal movement rail 52, a longitudinal movement slide 53, a longitudinal movement rack 54, a longitudinal movement roller 55 and a longitudinal movement motor 56. The longitudinal movement bracket 51 is installed on the equipment frame 10, the longitudinal movement rail 52 and the longitudinal movement rack 54 are respectively fixed to the longitudinal movement bracket 51, the longitudinal movement slide 53 forms a linear sliding connection with the longitudinal movement rail 52 through a slider, the longitudinal movement motor 56 is installed on the longitudinal movement slide 53, and the longitudinal movement roller 55 is transmission-connected to the output shaft of the longitudinal movement motor 56 and forms a meshing connection with the longitudinal movement rack 54, so that the longitudinal movement motor 56 runs and drives the longitudinal movement roller 55 to rotate, thereby cooperating with the longitudinal movement rack 54 to drive the longitudinal movement slide 53 to perform linear motion along the longitudinal movement rail 52.

[0054] In addition, the transverse moving assembly 60 is installed on the longitudinal moving slide 53 so that it can synchronously perform longitudinal linear motion with the longitudinal moving slide 53. In order to evenly support and drive the transverse moving assembly 60, it is preferred to respectively set a set of longitudinal moving assemblies 50 on both sides of the equipment frame 10, and the longitudinal moving assemblies 50 on both sides can be synchronously driven by two sets of servo motors, or only one set of servo motors, and the two sets of longitudinal moving assemblies 50 are then synchronously operated and coordinated through synchronous belts and synchronous wheels, so that the transverse moving assembly 60 is straddled on the longitudinal moving assemblies 50 on both sides and can perform synchronous linear motion.

[0055] Secondly, the transverse movement assembly 60 is provided with a transverse movement bracket 61, a transverse movement slide 62, a transverse movement slide 63, a transverse movement screw 64 and a transverse movement motor 65. The two ends of the transverse movement bracket 61 are respectively fixed to the longitudinal movement slide 53, the transverse movement slide 62 and the transverse movement motor 65 are respectively fixed to the transverse movement bracket 61, the transverse movement screw 64 is rotatably connected to the transverse movement bracket 61, the transverse movement slide 63 forms a linear sliding connection with the transverse movement slide 62 through a slider, and forms a transmission connection with the transverse movement screw 64 through a nut, so that the transverse movement motor 65 is operated to drive the transverse movement screw 64 to rotate, thereby driving the nut and the transverse movement slide 63 to perform a transverse linear motion along the transverse movement slide 62.

[0056] Next, the vertical moving assembly 70 is provided with a vertical moving bracket 71, a vertical moving slide rail 72, a vertical moving slide seat 73, a vertical moving screw rod 74 and a vertical moving motor 75. The vertical moving bracket 71 is fixedly connected to the horizontal moving slide seat 63, the vertical moving slide rail 72 and the vertical moving motor 75 are respectively fixedly connected to the vertical moving bracket 71, the vertical moving screw rod 74 is rotatably connected to the vertical moving bracket 71, the vertical moving slide seat 73 forms a linear sliding connection with the vertical moving slide rail 72 through a slider, and forms a transmission connection with the vertical moving screw rod 74 through a nut, so that the vertical moving motor 75 is operated to drive the vertical moving screw rod 74 to rotate, thereby driving the nut and the vertical moving slide seat 73 to perform vertical linear motion along the vertical moving slide rail 72. The gripper device 40 is installed on the vertical moving slide seat 73, so as to perform vertical synchronous linear motion with the vertical moving slide seat 73.

[0057] like Figure 6 and Figure 7 As shown, preferably, the gripper device 40 is provided with a gripper mounting plate 41, a gripper motor 42, a forward screw 43, a reverse screw 44, a forward clamp 45 and a reverse clamp 46, the gripper mounting plate 41 is fixedly connected to the driving end of the vertical movement assembly 70, and the gripper motor 42 is fixedly connected to the gripper mounting plate 41; the forward screw 43 and the reverse screw 44 are transmission connected through a coupling, and are respectively rotationally connected to the gripper mounting plate 41, and are transmission connected to the driving end of the gripper motor 42; the forward clamp 45 is transmission connected to the forward screw 43 through a forward nut, and the reverse clamp 46 is transmission connected to the reverse screw 44 through a reverse nut, so that the gripper motor 42 is operated, driving the forward screw 43 and the reverse screw 44 to rotate synchronously, and driving the forward nut and the reverse nut to move in opposite directions, thereby driving the forward clamp 45 and the reverse clamp 46 to realize the grasping or releasing operation.

[0058] Specifically, in the prior art, if the screw and the nut have the same spiral direction, the direction of the screw drive is forward; if the spiral directions are opposite, the direction of the screw drive is reverse. Forward rotation: When the screw rotates, the nut moves forward. Reverse rotation: When the screw rotates, the nut moves backward. Therefore, the forward clamping jaw 45 and the reverse clamping jaw 46 can be driven to move toward each other by utilizing the respective characteristics of the forward screw 43 and the reverse screw 44, so as to achieve the clamping or releasing operation of the object.

[0059] Secondly, in order to further improve the stability of the forward clamping jaw 45 and the reverse clamping jaw 46 during the clamping operation, a linear guide rail and a linear slider may be provided between the clamping jaw and the gripper mounting plate 41 to form a linear slide module to achieve stable linear motion.

[0060] like Figure 7 and Figure 8As shown, preferably, the gripper device 40 is also provided with a clamping jaw base plate 47, a quick-change guide groove 48 and a quick-change insert plate 49, the clamping jaw base plate 47 is slidably connected to the gripper mounting plate 41, the quick-change guide groove 48 is fixedly connected to both sides of the clamping jaw base plate 47, and the quick-change insert plate 49 is used to install the forward clamping jaw 45 or the reverse clamping jaw 46, and can be replaceably embedded in the quick-change guide groove 48 to form a fixed connection.

[0061] Specifically, since the product 81 to be tested has various specifications and sizes, in order to better clamp, it is necessary to replace the forward clamping jaw 45 and the reverse clamping jaw 46 that match it. In order to speed up the replacement, a quick-change guide groove 48 and a quick-change panel 49 can be provided to achieve quick replacement. In addition, the quick-change guide groove 48 is also provided with an indexing pin to fix the quick-change panel 49 embedded in the quick-change guide groove 48.

[0062] like Figure 1 and Fig. 9 As shown, preferably, the track mechanism 11 is also provided with a jacking assembly, and the jacking assembly is provided with a jacking base 14, a jacking cylinder 15 and a jacking movable plate 16. The jacking base 14 is fixedly connected to the equipment frame 10, and the jacking cylinder 15 is fixedly connected to the jacking base 14. The jacking movable plate 16 forms a linear sliding connection with the jacking base 14 through a linear bearing, and forms a transmission connection with the piston rod of the jacking cylinder 15, so that the jacking cylinder 15 is operated, which can drive the jacking movable plate 16 to perform a jacking operation.

[0063] Specifically, since the track mechanism 11 is mainly used to transport the product pallet 80, its positioning of the position relationship of the product pallet 80 is not accurate enough, which makes it inconvenient for the gripping device 40 to grip the product pallet 80. Therefore, a lifting assembly can be provided to lift the product pallet 80 that has stopped on the track mechanism 11 so that it is accurately lifted up at a preset position, facilitating the gripping operation by the gripping device 40.

[0064] Secondly, the lifting assembly is also provided with a rotating platform 17, a rotating motor 18 and a rotating top plate 19. The rotating platform 17 is fixedly connected to the lifting movable plate 16, the rotating motor 18 is transmission-connected to the rotating platform 17, and the rotating top plate 19 is fixedly connected to the driving end of the rotating platform 17, and is used to dock and rotate the product tray 80. Since the direction of the product tray 80 delivered from the previous station may be inconsistent, or it is inconvenient for the gripper device 40 to grab it, the rotating platform 17 can also be set to rotate the product tray 80, so that after it rotates a certain angle, it is convenient for the gripper device 40 to grab the product 81 to be tested in the product tray 80. The rotating top plate 19 is also provided with a guide column, so that it can dock with the guide hole on the product tray 80, so that the product tray 80 is placed on the rotating top plate 19.

[0065] Example 1: Overall operation process of the equipment and basic coordination of various mechanisms

[0066] This embodiment mainly describes the operation process and basic coordination of various mechanisms when the automatic AOI inspection equipment normally inspects a common square product (such as an electronic product housing).

[0067] Product conveying and grabbing: The product 81 to be tested is placed in the product tray 80 at the previous station, and the product tray 80 is transported to the designated position through the upper track 12 of the track mechanism 11. The lifting assembly of the track mechanism 11 starts to work, and the lifting cylinder 15 drives the lifting movable plate 16 and the rotating top plate 19 to rise synchronously, and the product tray 80 is accurately lifted to the preset position. At the same time, the rotating platform 17 drives the rotating top plate 19 to rotate under the drive of the rotating motor 18, so that the product tray 80 is rotated to an angle that is convenient for grabbing. The longitudinal motor 56 of the displacement device runs, drives the longitudinal roller 55 to rotate, and cooperates with the longitudinal rack 54 to drive the longitudinal slide 53 to move longitudinally along the longitudinal slide rail 52, the transverse motor 65 runs to drive the transverse slide 63 to move horizontally along the transverse slide rail 62, and the vertical motor 75 runs to drive the vertical slide 73 to move vertically along the vertical slide rail 72, so that the gripper device 40 moves to the top of the product tray 80. The gripper motor 42 runs, driving the forward screw 43 and the reverse screw 44 to rotate synchronously, driving the forward nut and the reverse nut to move in opposite directions, thereby causing the forward clamping jaw 45 and the reverse clamping jaw 46 to move towards each other, grabbing the product 81 to be tested in the product tray 80.

[0068] Product rotation and inspection preparation: The gripper device 40 conveys the product 81 to be tested to the quick-change pallet 22 on the rotating pallet 21 of the rotating mechanism 20. The rotating motor 24 runs, and drives the rotating pallet 21 and the quick-change pallet 22 to rotate synchronously through the rotating platform 25. Since the product 81 to be tested is square, the rotation angle of the rotating platform 25 is set to 90 degrees. When the rotating pallet 21 stops rotating, one side of the product 81 to be tested just faces the inspection mechanism 30. The slide module of the inspection mechanism 30 starts to work, and the longitudinal slide 31, the transverse slide 32, and the vertical slide 33 work together to move the detection device to the appropriate detection position and conduct a comprehensive inspection of the corresponding side.

[0069] Product inspection: The first camera 36 in the inspection device starts to detect whether the side interface of the product to be tested 81 is installed correctly, whether the pins in the interface are tilted, etc. The first driver 35 transforms the first camera 36 at a certain angle to improve the inspection. At the same time, the second camera 38 performs ordinary light related inspection services such as presence inspection, front and back inspection, and installation position inspection on the side parts of the product to be tested 81, and the fill light board 39 provides light supplement for the inspection of the second camera 38. When the inspection of one side is completed, the rotating mechanism 20 drives the product to be tested 81 to rotate 90 degrees again, and the inspection mechanism 30 inspects the new side, and repeats this operation until the inspection of four sides is completed.

[0070] Product unloading and tray circulation: After the test is completed, the gripper device 40 grabs the product 81 to be tested again and places it on the product tray 80, and the track mechanism 11 drives the product tray 80 to be transported to the next station. In addition, after the transportation is completed, the product tray 80 is rotated and transported through the lower track 13 of the track mechanism 11, returns to the initial station, and waits for the loading of a new product 81 to be tested.

[0071] Example 2: Mechanism adjustment for products of different specifications

[0072] This embodiment takes the detection of a relatively large rectangular product as an example to describe the adjustment process of various mechanisms of the device for products of different specifications.

[0073] Adjustment of the rotating mechanism 20: Since the product 81 to be tested is relatively large, it is necessary to adjust the position of the rotating mechanism 20. First, loosen the translation lock block 29 (retract the locking cylinder to separate the translation lock block 29 from the translation base 27), and adjust the position of the translation base 27 through the translation handle on the translation base 27, so that it moves to a suitable position along the translation guide rail 28. After the adjustment is completed, the locking cylinder extends, driving the locking protrusion on the translation lock block 29 to embed into the locking groove on the translation base 27, thereby locking the position of the translation base 27.

[0074] Adjustment of gripper device 40: Due to the large size of the product, the original clamping jaws are not suitable and need to be replaced. Operate the indexing pin on the quick-change guide groove 48, pull out the quick-change panel 49 from the quick-change guide groove 48, that is, remove the original forward clamping jaws 45 and reverse clamping jaws 46, replace them with clamping jaws matching the large-sized product, and install the new clamping jaws on the quick-change panel 49, insert them into the quick-change guide groove 48, and insert the indexing pin to fix them.

[0075] Adjustment of the detection mechanism 30: For large-sized products, one side surface is relatively large. The slide module of the detection mechanism 30 is adjusted according to the product size, and the longitudinal slide 31, the transverse slide 32 and the vertical slide 33 work together to enable the detection device to cover the entire side surface of the product for detection. That is, during the detection process, the first camera 36 and the second camera 38 move longitudinally, transversely or vertically through the linear slide to fully detect the side surface of the product.

[0076] Inspection process: After the adjustment is completed, the product conveying, grabbing, rotating and inspection process is similar to that of Example 1. The product tray 80 is transported by the track mechanism 11, the lifting assembly lifts and adjusts the angle of the product tray 80, the gripper device 40 grabs the product and places it on the rotating mechanism 20, the rotating mechanism 20 rotates the product according to the angle between the central axes of the adjacent sides of the product (90 degrees for rectangular products), the first camera 36 and the second camera 38 of the inspection mechanism 30 inspect the sides of the product respectively, the product is unloaded after the inspection is completed, and the product tray 80 rotates in a cycle.

[0077] Example 3: Equipment efficiently detects special-shaped products (regular hexagonal products)

[0078] This embodiment takes the detection of a regular hexagonal product (such as an electronic component of a special shape) as an example to highlight the efficiency and accuracy of the device in detecting products of special shapes.

[0079] Product conveying and grasping preparation: The regular hexagonal product to be tested is placed in the product tray 80 and conveyed through the upper track 12 of the track mechanism 11. The lifting assembly works to lift the product tray 80 and adjust the angle. The displacement device drives the gripper device 40 to move above the product tray 80, and the gripper device 40 is ready to grasp the product. Prior to this, the corresponding forward clamping jaw 45 and reverse clamping jaw 46 are also replaced according to the shape of the product 81 to be tested, so that it can grasp the product 81 of special shape to be tested.

[0080] Product rotation angle setting and rotation: Since the angle between the central axes of two adjacent sides of the regular hexagonal product is 60 degrees, the rotation angle of the rotating platform 25 of the rotating mechanism 20 is set to 60 degrees. The gripper device 40 grabs the product and places it on the support column of the quick-change pallet 22 on the rotating pallet 21. The rotating motor 24 runs and drives the rotating pallet 21 to rotate 60 degrees through the rotating platform 25, so that one side of the product faces the detection mechanism 30. Prior to this, the corresponding quick-change pallet 22 is also replaced according to the shape of the product 81 to be tested, so that its support column can better support and match the product 81 to be tested.

[0081] Inspection process: The slide module of the inspection mechanism 30 moves to the appropriate position. The first camera 36 inspects the side interface of the product, and the second camera 38 inspects the side parts. After the inspection is completed, the rotation mechanism 20 drives the product to rotate 60 degrees again, and the inspection mechanism 30 inspects the new side. Repeat this operation, and after five rotations, the inspection of six sides is completed.

[0082] Unloading and pallet circulation: After the inspection is completed, the gripper device 40 grabs the product and unloads it, and the product pallet 80 rotates through the lower track 13 to prepare for the next inspection task.

[0083] The above embodiments describe in detail the working process of the automatic AOI inspection equipment under different situations, and clearly and completely demonstrate the technical solution of the equipment and its flexibility and efficiency in practical applications.

[0084] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above and that the present invention can be implemented in other specific forms without departing from the spirit or essential features of the present invention. Therefore, the embodiments should be considered exemplary and non-restrictive in all respects, and the scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims be included in the present invention.

Claims

1. An automatic AOI inspection device, characterized in that: The invention comprises a track mechanism (11), a gripper mechanism, a detection mechanism (30) and a rotating mechanism (20) installed on an equipment frame (10); the track mechanism (11) is provided with an upper track (12) for conveying a product tray (80); the gripper mechanism is provided with a gripper device (40) and a displacement device; the gripper device (40) is installed at a driving end of the displacement device and moves under the drive of the displacement device, thereby gripping a product to be tested (81) from the product tray (80) and conveying it to the rotating mechanism (20); the rotating mechanism (20) is used to rotate the product to be tested (81), so that the detection mechanism (30) can perform optical detection operations on different sides of the product to be tested (81) without changing its position.

2. The automatic AOI inspection equipment according to claim 1, characterized in that: The rotating mechanism (20) is provided with a rotating support plate (21), a rotating motor (24) and a rotating platform (25); the rotating platform (25) is mounted on the equipment frame (10); the rotating motor (24) is drivingly connected to the rotating platform (25); the rotating support plate (21) is fixedly connected to the driving end of the rotating platform (25); when the rotating motor (24) is running, the rotating support plate (21) is driven to rotate through the rotating platform (25).

3. The automatic AOI inspection equipment according to claim 2, characterized in that: The device also comprises a translation device (26), wherein the translation device (26) is provided with a translation base (27), a translation guide rail (28) and a translation locking block (29), wherein the translation guide rail (28) is fixedly connected to the equipment frame (10), the translation base (27) is connected to the translation guide rail (28) in a linear sliding manner via a slider, and the translation locking block (29) is used to lock the position of the translation base (27), and the rotating platform (25) is mounted on the translation base (27).

4. The automatic AOI inspection equipment according to claim 2, characterized in that: The rotation angle of the rotating platform (25) is set to be the angle between the central axes of adjacent side surfaces of the product to be tested (81), so that after the rotating platform (25) drives the product to be tested (81) to rotate a corresponding angle, each side surface thereof can face the detection mechanism (30).

5. The automatic AOI inspection equipment according to claim 1, characterized in that: The detection mechanism (30) is provided with a slide module and a detection device, wherein the slide module comprises a longitudinal slide (31), a transverse slide (32), and a vertical slide (33), wherein the longitudinal slide (31) is mounted on the equipment frame (10), the transverse slide (32) is mounted on the driving end of the longitudinal slide (31), the vertical slide (33) is mounted on the driving end of the transverse slide (32), and the detection device is mounted on the driving end of the vertical slide (33), so that the detection device can move longitudinally, transversely, and vertically.

6. The automatic AOI inspection equipment according to claim 5, characterized in that: The detection device is provided with a first slide module, a first detection plate (34), a first driver (35) and a first camera (36); the first detection plate (34) is fixedly connected to the driving end of the vertical slide (33) of the first slide module; the first driver (35) is installed on the first detection plate (34); and the first camera (36) is installed on the driving end of the first driver (35).

7. The automatic AOI inspection equipment according to claim 5, characterized in that: The detection device is also provided with a second slide module, a second detection board (37), a second camera (38) and a fill light board (39); the second detection board (37) is fixedly connected to the driving end of the vertical slide (33) of the second slide module; the second camera (38) and the fill light board (39) are respectively mounted on the second detection board (37).

8. The automatic AOI inspection equipment according to claim 1, characterized in that: The displacement device is provided with a longitudinal movement component (50), a transverse movement component (60) and a vertical movement component (70); the longitudinal movement component (50) is mounted on the equipment frame (10); the transverse movement component (60) is mounted on the driving end of the longitudinal movement component (50); the vertical movement component (70) is mounted on the driving end of the transverse movement component (60); and the gripping device (40) is mounted on the driving end of the vertical movement component (70).

9. The automatic AOI inspection equipment according to claim 1, characterized in that: The gripper device (40) is provided with a gripper mounting plate (41), a gripper motor (42), a forward screw (43), a reverse screw (44), a forward clamping jaw (45) and a reverse clamping jaw (46); the gripper mounting plate (41) is fixedly connected to the driving end of the vertical moving assembly (70), and the gripper motor (42) is fixedly connected to the gripper mounting plate (41); the forward screw (43) and the reverse screw (44) form a transmission connection, and are respectively rotationally connected to the gripper mounting plate (41), and are transmission-connected to the driving end of the gripper motor (42); the forward clamping jaw (45) is transmission-connected to the forward screw (43), and the reverse clamping jaw (46) is transmission-connected to the reverse screw (44), so that the forward clamping jaw (45) and the reverse clamping jaw (46) can realize the operation of gripping or releasing.

10. The automatic AOI inspection equipment according to claim 9, characterized in that: The gripper device (40) is further provided with a clamping jaw base plate (47), a quick-change guide groove (48) and a quick-change insert plate (49); the clamping jaw base plate (47) is slidably connected to the gripper mounting plate (41); the quick-change guide groove (48) is fixedly connected to the clamping jaw base plate (47); the quick-change insert plate (49) is used to install a forward clamping jaw (45) or a reverse clamping jaw (46), and is replaceably embedded in the quick-change guide groove (48) to form a fixed connection.

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