Optical component detection equipment and method

Abstract

The invention relates to optical component detection equipment and method, and the equipment comprises a first carrying device which is used for driving a material carrying tray carrying a product to move, and enabling the material carrying tray to sequentially pass through a first station and a second station; the first detection device is used for carrying out optical detection on the upper side of the product on the material loading tray located at the first station; the second detection device is used for carrying out optical detection on the lower side and the peripheral side of the product at a third station; the second carrying device comprises a first picking mechanism and a first moving mechanism, the first picking mechanism is used for picking and placing products, the first moving mechanism is connected with the first picking mechanism so as to drive the first picking mechanism to move among a plurality of target positions, and the target positions at least comprise a second station and a third station. The optical detection efficiency of optical components and the like can be effectively improved, so that the optical detection requirements of large-batch optical components are met.

Description

Technical Field

[0001] This application relates to the technical field of optical component detection, and in particular to an optical component detection device and method. Background Art

[0002] With the development of the times, optical components such as lenses are widely used in electronic products such as mobile phones and tablets. To ensure the production quality of electronic products, optical components need to be optically detected before being assembled into electronic products such as mobile phones and tablets.

[0003] Therefore, designing a detection device that can efficiently detect optical components to meet the optical detection requirements of a large number of optical components has become an urgent problem to be solved. Summary of the Invention

[0004] Based on this, an optical component detection device and method are provided to improve the optical detection efficiency of optical components.

[0005] This application provides an optical component detection device, including: a first handling device for driving a material loading tray carrying a product to move, so that the material loading tray sequentially passes through a first station and a second station; a first detection device for optically detecting the upper side of the product on the material loading tray located at the first station; a second detection device for optically detecting the lower side and the peripheral side of the product at a third station; a second handling device including a first picking mechanism and a first moving mechanism, the first picking mechanism for picking and placing products, and the first moving mechanism connecting the first picking mechanism to drive the first picking mechanism to move between multiple target positions, the target positions at least including the second station and the third station.

[0006] According to an embodiment of the present application, it further includes: a positioning device, in signal connection with the second handling device, for detecting the position of the material loading tray and / or the product on the material loading tray at the second station; the second handling device is configured to control the operation of the first picking mechanism and the first moving mechanism based on the detection signal of the positioning device.

[0007] According to an embodiment of the present application, it further includes: a mounting rack, including a support portion and a cross beam fixedly connected to the support portion, the cross beam extending along a first direction, and the first detection device, the first moving mechanism, and the positioning device are mounted on the cross beam; wherein, the first detection device and the first working station are located on one side of the cross beam along a second direction, and the second detection device, the second working station, the third working station, the first moving mechanism, and the positioning device are located on the other side of the cross beam along the second direction; the first working station and the second working station are arranged along the second direction, and the third working station is located on one side of the second working station in the first direction, wherein the second direction is perpendicular to the first direction; wherein, the first handling device is arranged along the second direction and passes through below the cross beam.

[0008] According to an embodiment of the present application, the first moving mechanism includes: a rotation driving member, connected to the first picking mechanism, for driving the first picking mechanism to horizontally rotate; a first lifting driving member, connected to the rotation driving member, for driving the rotation driving member to lift; a first longitudinal driving member, connected to the first lifting driving member, for driving the first lifting driving member to move along the second direction; and a first lateral moving driving member, mounted on the cross beam and connected to the first longitudinal driving member, for driving the first longitudinal driving member to move along the first direction.

[0009] According to an embodiment of the present application, it further includes: a storage bin, having a storage cavity for storing the loading trays carrying the products; a picking device, including a second picking mechanism and a second moving mechanism, the second picking mechanism is used for picking and placing the loading trays, and the second moving mechanism is connected to the second picking mechanism for driving the second picking mechanism to move between the storage bin and the first handling device.

[0010] According to an embodiment of the present application, the second moving mechanism includes: a second lateral moving driving member, connected to the second picking mechanism, for driving the second picking mechanism to translate; a second lifting driving member, connected to the second lateral moving driving member, for driving the second lateral moving driving member to lift.

[0011] According to an embodiment of the present application, the first handling device includes: a first translation mechanism, including a first carrier and a first translation driving member, the first translation driving member is connected to the first carrier for driving the first carrier to move, and the moving path of the first carrier passes through the second working station; a second translation mechanism, including a second carrier and a second translation driving member, the second translation driving member is connected to the second carrier for driving the second carrier to move, and the moving path of the second carrier passes through the third working station; a transfer mechanism for transferring the loading tray on the first carrier to the second carrier.

[0012] According to an embodiment of the present application, it further includes: a tray supply device for providing a qualified product tray to the fourth station; the target position further includes the fourth station.

[0013] The present application also provides a detection method, which is applied to the optical component detection device of the above embodiment. The detection method includes: the first handling device drives the material carrier tray carrying the product to move, so that the material carrier tray moves to the first station; the first detection device performs optical detection on the upper side of the product on the material carrier tray located at the first station; the first handling device drives the material carrier tray carrying the product to move, so that the product moves to the second station; the first picking mechanism of the second handling device acquires the product on the material carrier tray located at the second station; the first moving mechanism of the second handling device drives the first picking mechanism to move from the second station to the third station; the second detection device performs optical detection on the lower side and the peripheral side of the product at the third station.

[0014] According to an embodiment of the present application, when the optical component detection device further includes a tray supply device and the target position further includes the fourth station, the method further includes: the tray supply device provides a qualified product tray to the fourth station; when it is determined that the detection result of the first detection device and / or the second detection device is that the product is qualified, the first moving mechanism drives the first picking mechanism to move from the third station to the fourth station, and the first picking mechanism places the product on the qualified product tray; when it is determined that the detection results of the first detection device and the second detection device are that the product is abnormal, the first moving mechanism drives the first picking mechanism to move from the third station to the fourth station, and the first picking mechanism places the product on the material carrier tray.

[0015] In the above optical component detection equipment and method, when the loading tray carrying the product (such as an optical component like a lens) is moved to the first station by the first handling device, the upper side of the product can be optically detected by the first detection device. Then, when the loading tray carrying the product is moved to the second station by the first handling device, the second handling device can move the product on the loading tray to the third station and perform optical detection on the lower side and the peripheral side through the second detection device. During this process, the first detection device and the second detection device jointly achieve the omnidirectional detection of the product, ensuring the accuracy of the detection. Moreover, when the first detection device is performing the detection, it is not necessary to remove the product from the loading tray. On the one hand, the detection efficiency is improved, and on the other hand, the risk of damaging the product can be reduced. Additionally, when there are multiple products on the loading tray, the upper side of multiple products on the loading tray can be optically detected simultaneously, further improving the detection efficiency. Thus, it can be seen that the present application can effectively improve the optical detection efficiency of optical components and the like, thereby meeting the optical detection requirements of a large number of optical components. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 FIG. 6 is a perspective view of an optical component detection device provided by an embodiment of the present application from one perspective.

[0017] Figure 2 FIG. 7 is a perspective view of an optical component detection device provided by an embodiment of the present application from another perspective.

[0018] Figure 3 FIG. 8 is a top view of an optical component detection device provided by an embodiment of the present application.

[0019] Figure 4 FIG. 9 is a schematic installation structure diagram of a first detection device in an optical component detection device provided by an embodiment of the present application.

[0020] Figure 5 FIG. 10 is a schematic installation structure diagram of a positioning device and a handling device in an optical component detection device provided by an embodiment of the present application.

[0021] Figure 6 is Figure 1 an enlarged view of part A in

[0022] Figure 7 FIG. 11 is a schematic structure diagram of a first handling device in an optical component detection device provided by an embodiment of the present application.

[0023] Figure 8 FIG. 12 is a schematic structure diagram of a transfer mechanism in an optical component detection device provided by an embodiment of the present application.

[0024] Figure 9One of the application scenario diagrams of the tray supply device in an optical component detection device provided by an embodiment of the present application.

[0025] Figure 10 Another application scenario diagram of the tray supply device in an optical component detection device provided by an embodiment of the present application.

[0026] Figure 11 Schematic diagram of a clamping mechanism in an optical component detection device provided by an embodiment of the present application.

[0027] Figure 12 Schematic diagram of the cooperation structure between the clamping mechanism and the actuator in an optical component detection device provided by an embodiment of the present application.

[0028] Reference numerals:

[0029] 100, First handling device; 110, First translation mechanism; 111, First carrier; 112, First translation driving member; 120, Second translation mechanism; 121, Second carrier; 122, Second translation driving member; 130, Transfer mechanism; 131, Base; 132, Hanging plate; 133, Third lifting driving member; 134, Vacuum suction cup;

[0030] 200, First detection device;

[0031] 300, Second detection device;

[0032] 400, Second handling device; 410, First picking mechanism; 420, First moving mechanism; 421, Rotation driving member; 422, First lifting driving member; 423, First longitudinal driving member; 424, First transverse driving member;

[0033] 500, Positioning device;

[0034] 600, Mounting frame; 610, Support part; 620, Cross beam;

[0035] 700, Magazine; 710, Storage cavity;

[0036] 800, Material taking device; 810, Second picking mechanism; 820, Second moving mechanism; 821, Second transverse driving member; 822, Second lifting driving member;

[0037] 910, Loading Tray; 920, Good Product Tray; 930, Tray Supply Device; 940, Tray Warehouse; 950, Third Carrier; 951, Table Board; 952, Clamping Mechanism; 9521, First Clamping Portion; 9522, Second Clamping Portion; 9523, Third Clamping Portion; 9524, Matching Rod; 9525, Rolling Element; 960, Unlocking Mechanism; 961, Executing Member; 9611, Push Rod; 962, Unlocking Driving Member; 970, Third Translational Driving Member

[0038] 1100, First Workstation; 1200, Second Workstation; 1300, Third Workstation; 1400, Fourth Workstation; 1500, Fifth Workstation Detailed Embodiment

[0039] To make the above objects, features, and advantages of the present application more apparent and understandable, the following provides a detailed description of the specific embodiments of the present application in conjunction with the accompanying drawings. Many specific details are set forth in the following description to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without departing from the connotation of the present application. Therefore, the present application is not limited by the specific embodiments disclosed below

[0040] In the description of the present application, it should be understood that if terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. appear, the orientation or positional relationship indicated by these terms is based on the orientation or positional relationship shown in the accompanying drawings. These are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation of the present application

[0041] In addition, if terms such as "first" and "second" appear, these terms are only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In the description of the present application, if the term "plural" appears, the meaning of "plural" is at least two, such as two, three, etc., unless otherwise specifically and clearly defined

[0042] In this application, unless otherwise clearly stipulated and defined, if terms such as "installed", "connected", "linked", "fixed", etc. appear, these terms shall be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components or the interaction relationship between two components, unless otherwise clearly defined. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0043] In this application, unless otherwise clearly stipulated and defined, if there is a description such as a first feature being "on" or "under" a second feature, its meaning can be that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature can mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is at a higher horizontal level than the second feature. The first feature being "under", "beneath" and "underneath" the second feature can be that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is at a lower horizontal level than the second feature.

[0044] It should be noted that if an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or there can also be an intermediate element. If an element is considered to be "connected" to another element, it can be directly connected to the other element or there may be an intermediate element at the same time. If so, the terms "vertical", "horizontal", "up", "down", "left", "right" and similar expressions used in this application are only for the purpose of illustration and do not represent the only implementation manner.

[0045] Refer to Figure 1 and Figure 2 , Figure 1 is a perspective three-dimensional view of an optical component detection device provided by an embodiment of this application. Figure 2A perspective view of an optical component detection device provided by an embodiment of the present application from another perspective. The optical component detection device provided by an embodiment of the present application includes a first handling device 100, a first detection device 200, a second detection device 300, and a second handling device 400. The first handling device 100 is configured to drive the material carrier tray 910 carrying the product to move, so that the material carrier tray 910 passes through the first station 1100 and the second station 1200 in sequence. The first detection device 200 is configured to perform optical detection on the upper side of the product on the material carrier tray 910 located at the first station 1100. The second detection device 300 is configured to perform optical detection on the lower side and the peripheral side of the product at the third station 1300. The second handling device 400 includes a first picking mechanism 410 and a first moving mechanism 420. The first picking mechanism 410 is configured to pick and place the product. The first moving mechanism 420 is connected to the first picking mechanism 410 to drive the first picking mechanism 410 to move between a plurality of target positions, and the target positions at least include the second station 1200 and the third station 1300.

[0046] In this embodiment, the driving actions of the first handling device 100 and the second handling device 400 can be translation, rotation, etc. Among them, the driving object of the first handling device 100 is the tray carrying the product. During this process, it is not necessary to take out the product separately, so damage or contamination to the product can be avoided. When the material carrier tray 910 is located at the first station 1100 and the upper side of the product is optically detected by the first detection device 200, it is also not necessary to take out the product. On the one hand, the time required to take out and put back the product is saved. On the other hand, damage or contamination to the product is further avoided. The first picking mechanism 410 in the second handling device 400 can use a suction cup as an actuator to take out the product by adsorbing the upper side of the product. Compared with other material taking methods such as clamping, the adsorption method will not damage the product on the one hand and will not block other side walls other than the upper side of the product on the other hand. Therefore, it is beneficial to simultaneously perform optical detection on the lower side and the peripheral side of the product by the second detection device 300.

[0047] The above-mentioned first detection device 200 and second detection device 300 can adopt AOI (Automated Optical Inspection) to detect product defects based on optical principles. AOI can detect products on the production line through high-speed and high-precision vision processing technology. During the detection process, the device automatically scans the products through a camera, collects images, compares them with the qualified parameters in the database, and through image processing, detects product defects. Further, the defects can be displayed / indicated through a display or an automatic marker. In this embodiment, the first detection device 200 is used to detect the upper side of the product. Therefore, its lens can be set downward. When a light source is needed, the light source can be set below the first station 1100. The second detection device 300 is used to detect the lower side and the peripheral side of the product. Therefore, an upward-facing lens and a horizontal lens can be respectively set at the third station 1300. And when a light source is needed, corresponding light sources can be respectively set for the upward-facing lens and the horizontal lens. Of course, the first detection device 200 and the second detection device 300 in this embodiment can also adopt other detection devices such as a lens surface quality detector and a lens transmittance measuring instrument, which will not be elaborated here.

[0048] Figure 2 and Figure 5 In some embodiments, the optical component detection device further includes a positioning device 500. The positioning device 500 is in signal connection with the second handling device 400 and is used to detect the position of the loading tray 910 and / or the product on the loading tray 910 at the second station 1200. The second handling device 400 is configured to control the operation of the first picking mechanism 410 and the first moving mechanism 420 based on the detection signal of the positioning device 500.

[0049] In this embodiment, the positioning device 500 can adopt optical positioning and perform positioning by using optical principles (such as laser ranging, image processing, etc.). It has the advantages of high precision and non-contact. The positioning device 500 is signal-connected to the second handling device 400, and the position information detected by the positioning device 500 can be transmitted to the second handling device 400 in real time. The signal connection can be achieved by wired or wireless means, and specific limitations are not made here. After receiving the position information sent by the positioning device 500, the second handling device 400 will adjust its operating parameters according to this information to ensure that the first picking mechanism 410 and the first moving mechanism 420 can accurately perform subsequent handling and detection tasks. When the positioning device 500 detects that the position of the material-carrying tray 910 or the product has shifted, the second handling device 400 will immediately receive this signal and accordingly adjust the picking position of the first picking mechanism 410 and the moving path of the first moving mechanism 420. In this way, even if the position of the material-carrying tray 910 or the product changes slightly, the second handling device 400 can quickly respond to ensure the smooth progress of the handling and detection processes.

[0050] By setting the positioning device 500, it is beneficial to ensure detection safety, prevent damage to the product, reduce the failure rate, and improve the detection accuracy and detection efficiency.

[0051] Optionally, the positioning device 500 is arranged above the second working station 1200. When the first handling device 100 moves the material-carrying tray 910 carrying the product to the second working station 1200, the positioning device 500 can detect above the material-carrying tray 910 and the product.

[0052] Optionally, the optical component detection device further includes a first linear module and a second linear module. Both the first linear module and the second linear module are horizontally arranged, and an angle is set between the first linear module and the second linear module (for example, perpendicular to each other). The first linear module is connected to the positioning device 500, and the second linear module is connected to the first linear module. Thus, the positioning device 500 can be driven to move horizontally through the first linear module and the second linear module, so as to meet the requirements of various working conditions such as different position detections and moving avoidance.

[0053] Optionally, the height of the positioning device 500 is greater than the height of the second handling device 400, so as to avoid interference between the positioning device 500 and the second handling device 400.

[0054] Optionally, the positioning device 500 includes a laser altimeter sensor, and the laser altimeter sensor is used to collect the height information of the material-carrying tray 910 and / or the product on the material-carrying tray 910.

[0055] Exemplarily, a laser altimeter sensor is used to collect the height information of multiple points on the loading tray 910. The first linear module and the second linear module drive the laser altimeter sensor to move to multiple points on the loading tray 910, and the height information of each point is measured by the laser altimeter sensor respectively. For example, the height information of the four corners and the center of the loading tray 910 is measured by the laser altimeter sensor respectively. Thus, based on the height information of the four corners and the center of the loading tray 910, the pose of the loading tray 910 is determined, and the position information of each product on the loading tray 910 can be determined respectively through calculation. This measurement method does not require separate measurement of each product, can effectively reduce the measurement time, is beneficial to improving the detection efficiency, and ensures the operation rhythm of the optical component detection equipment.

[0056] Figures 3 to 5 , in some embodiments, the optical component detection equipment further includes a mounting frame 600. The mounting frame 600 includes a support portion 610 and a cross beam 620 fixedly connected to the support portion 610. Optionally, to maintain the stability of the cross beam 620, at least one support portion 610 is connected to each end of the cross beam 620. Both the support portion 610 and the cross beam 620 can adopt a strip-shaped structure. The cross beam 620 extends along the first direction X, the support portion 610 extends vertically, and the top end of the support portion 610 is connected to the end of the cross beam 620, making the overall mounting frame 600 in a gate-shaped structure. The first detection device 200, the first moving mechanism 420, and the positioning device 500 are mounted on the cross beam 620 and supported by the cross beam 620. Among them, the first detection device 200 and the first working station 1100 are located on one side of the cross beam 620 along the second direction Y, and the second detection device 300, the second working station 1200, the third working station 1300, the first moving mechanism 420, and the positioning device 500 are located on the other side of the cross beam 620 along the second direction Y. The first working station 1100 and the second working station 1200 are arranged along the second direction Y, and the third working station 1300 is located on one side of the second working station 1200 along the first direction X, where the second direction Y is perpendicular to the first direction X. The first handling device 100 is arranged along the second direction Y and passes through the lower part of the cross beam 620.

[0057] By providing the mounting frame 600, it can play a good supporting role for the first detection device 200, the first moving mechanism 420, and the positioning device 500, enabling them to operate stably. Moreover, using the structure of the mounting frame 600 can make the overall structure of the optical component detection equipment more compact, reduce the occupied space, and prevent interference between components.

[0058] Figure 4 It is a schematic diagram of the installation structure of the first detection device in an optical component detection equipment provided by an embodiment of the present application. To simplify the drawings, Figure 4 the right-side cross-moving mechanism is hidden.

[0059] Combined with Figure 4 The first detection device 200 is installed on the cross beam 620 through a transverse movement mechanism. The transverse movement mechanism can be a linear motor or the like. The transverse movement mechanism drives the first detection device 200 to move along the cross beam 620, so that the first detection device 200 can be adjusted to a position corresponding to the product for detection, which has better flexibility and detection accuracy.

[0060] Combined with Figure 5 In some embodiments, the first moving mechanism 420 includes a rotation driving member 421, a first lifting driving member 422, a first longitudinal driving member 423, and a first transverse driving member 424. Among them, the rotation driving member 421 can be a rotation motor. The rotation driving member 421 is connected to the first picking mechanism 410 and is used to drive the first picking mechanism 410 to rotate horizontally. The first lifting driving member 422 is connected to the rotation driving member 421 and is used to drive the rotation driving member 421 to lift. The first longitudinal driving member 423 is connected to the first lifting driving member 422 and is used to drive the first lifting driving member 422 to move along the second direction Y. The first transverse driving member 424 is installed on the cross beam 620 and is connected to the first longitudinal driving member 423 and is used to drive the first longitudinal driving member 423 to move along the first direction X.

[0061] In this embodiment, the rotation driving member 421 can be a rotation motor arranged vertically downward, and the first lifting driving member 422, the first longitudinal driving member 423, and the first transverse driving member can all be linear modules. When the first transverse driving member 424 drives the first longitudinal driving member 423 to move along the first direction X, it can synchronously drive the first lifting driving member 422, the rotation driving member 421, and the first picking mechanism 410 to move along the first direction X. When the first longitudinal driving member 423 drives the first lifting driving member 422 to move along the first direction X, it can synchronously drive the rotation driving member 421 and the first picking mechanism 410 to move along the first direction X.

[0062] Through the coordinated cooperation of the first lifting driving member 422, the first longitudinal driving member 423, the first transverse driving member, and the rotation driving member 421, the position of the first picking mechanism 410 can be flexibly adjusted, so that the first picking mechanism 410 is convenient for obtaining products at different positions on the loading tray 910, or placing the products detected by the second detection device 300 to the corresponding positions. In addition, the function of the rotation driving member 421 driving the first picking mechanism 410 to rotate can also cooperate with the second detection device 300 to achieve more comprehensive detection. Specifically, when the second detection device 300 only has a horizontal camera, it can only collect the image information on one side of the product, resulting in the inability to detect the other sides of the product. However, by driving the first picking mechanism 410 to rotate by the rotation driving member 421 in this embodiment, the second detection device 300 can detect different side walls of the product respectively, which is beneficial to improving the comprehensiveness and accuracy of detection.

[0063] Optionally, when the optical component detection device includes a first linear module and a second linear module, the first linear module is mounted on the cross beam 620 and arranged along the first direction X, the second linear module is fixedly connected to the movable end of the first linear module and arranged along the second direction Y, and the positioning device 500 is fixedly connected to the movable end of the second linear module.

[0064] Combined Figure 1 and Figure 6 , in some embodiments, the optical component detection device further includes a magazine 700 and a material picking device 800.

[0065] Among them, the magazine 700 has a storage cavity 710 for storing the carrier tray 910 carrying the product. The upper side of the storage cavity 710 has an opening through which the carrier tray 910 can enter and exit the storage cavity 710. The inner cavity shape of the storage cavity 710 is adapted to the shape of the carrier tray 910 to limit the carrier tray 910. Further, the storage cavity 710 is configured to be able to stack a plurality of carrier trays 910 in the vertical direction. The magazine 700 can limit and protect the carrier tray 910 and prevent the product on the carrier tray 910 from colliding and being damaged by other components. In addition, the buffering function of the magazine 700 is beneficial to improving the continuity of the operation of the optical component detection device and reducing the downtime.

[0066] The material picking device 800 includes a second picking mechanism 810 and a second moving mechanism 820. The second picking mechanism 810 is used for picking and placing the carrier tray 910, and the second moving mechanism 820 is connected to the second picking mechanism 810 and is used for driving the second picking mechanism 810 to move between the magazine 700 and the first handling device 100.

[0067] The second picking mechanism 810 can adopt structures such as clamping jaws and suction cups. When the second moving mechanism 820 drives the second picking mechanism 810 to move to the position of the magazine 700, the second picking mechanism 810 can obtain the carrier tray 910 and keep the horizontal angle of the carrier tray 910 unchanged. At this time, by driving the second picking mechanism 810 to move through the second moving mechanism 820, the carrier tray 910 and the product on the carrier tray 910 can be driven to move. When the second moving mechanism 820 drives the second picking mechanism 810 to move to the position of the first handling device 100, the second picking mechanism 810 releases the carrier tray 910, realizing the function of transferring the carrier tray 910 and the product on the carrier tray 910 from the magazine 700 to the first handling device 100.

[0068] Optionally, the magazine 700 and the material picking device 800 are on the same side of the cross beam 620 as the first station 1100 and the first detection device 200.

[0069] Optionally, the second moving mechanism 820 includes a second transverse movement driving member 821 and a second lifting driving member 822. The second transverse movement driving member 821 is connected to the second picking mechanism 810 and is used to drive the second picking mechanism 810 to translate. The second lifting driving member 822 is connected to the second transverse movement driving member 821 and is used to drive the second transverse movement driving member 821 to lift, and further drive the second picking mechanism 810 to lift.

[0070] In this embodiment, the second transverse movement driving member 821 and the second lifting driving member 822 can adopt structures such as linear modules or telescopic motors. Preferably, the second transverse movement driving member 821 adopts a linear module and is arranged along the first direction X, and the second lifting driving member 822 adopts a telescopic motor and is arranged vertically downward.

[0071] Combined Figure 7 and Figure 8 In some embodiments, the first handling device 100 includes a first translation mechanism 110, a second translation mechanism 120, and a transfer mechanism 130. The first translation mechanism 110 includes a first carrier 111 and a first translation driving member 112. The first carrier 111 is used to receive the loading tray 910 placed by the second picking mechanism 810. The first translation driving member 112 is connected to the first carrier 111 and is used to drive the first carrier 111 to move. The movement path of the first carrier 111 passes through the second station 1200. The second translation mechanism 120 includes a second carrier 121 and a second translation driving member 122. The second translation driving member 122 is connected to the second carrier 121 and is used to drive the second carrier 121 to move. The movement path of the second carrier 121 includes the third station 1300. The transfer mechanism 130 is used to transfer the loading tray 910 on the first carrier 111 to the second carrier 121.

[0072] The first translation mechanism 110 can drive the first carrier 111 to move horizontally or vertically, and can be flexibly adjusted according to the spatial layout.

[0073] Optionally, the first translation mechanism 110 and the second translation mechanism 120 include linear modules. The first translation mechanism 110 is used to drive the first carrier 111 to move horizontally along the second direction Y, and the second translation mechanism 120 is used to drive the second carrier 121 to move horizontally along the second direction Y. The first translation mechanism 110 and the second translation mechanism 120 are connected end to end. When the first carrier 111 is located at one end of the first translation mechanism 110 close to the second translation mechanism 120, the second carrier 121 is located at one end of the second translation mechanism 120 close to the first translation mechanism 110. At this time, the transfer mechanism 130 operates to move the loading tray 910 on the first carrier 111 to the second carrier 121.

[0074] Optionally, the first station 1100 is located in the middle or near the middle of the first translation mechanism 110. When the first translation mechanism 110 moves the first carrier 111 to the position of the first station 1100, the first detection device 200 detects the products on the material loading tray 910 supported by the first carrier 111.

[0075] Optionally, the second station 1200 is located at one end of the second translation mechanism 120 away from the first translation mechanism 110. After the material loading tray 910 is transferred from the first carrier 111 to the second carrier 121, the second translation mechanism 120 drives the second carrier 121 to move to the position of the second station 1200. At this time, the second handling device 400 moves the products on the material loading tray 910 at the position of the second station 1200 to the second detection position for detection.

[0076] With the above settings, it is beneficial to ensure the coherence of detection and improve the detection efficiency. Specifically, when the first translation mechanism 110 drives the first carrier 111 to move and moves the material loading tray 910 on the first carrier 111 to the first station 1100 for detection, the second translation mechanism 120 can drive the second carrier 121 to move and move the material loading tray 910 on the second carrier 121 to the second station 1200 for secondary detection. Thus, the process of the first detection (upper side detection) of the products on one material loading tray 910 can be carried out simultaneously with the process of the secondary detection (lower side and circumferential side detection) of the products on another material loading tray 910, which can reduce the waiting time and effectively improve the detection efficiency.

[0077] Optionally, as Figure 8As shown, the transfer mechanism 130 includes a base 131, a hanging plate 132, a third lifting drive member 133 and a vacuum suction cup 134, wherein the hanging plate 132 is horizontally arranged and slidably connected to the base 131 along the vertical direction, the third lifting drive member 133 can be a telescopic motor or a linear module, etc., the third lifting drive member 133 is connected to the hanging plate 132, and is used to drive the hanging plate 132 to rise and fall, the vacuum suction cup 134 is arranged on the lower side of the hanging plate 132, the vacuum suction cup 134 is connected to negative pressure equipment such as an air pump, and the loading tray 910 can be adsorbed and released through the vacuum suction cup 134. When it is necessary to transfer the loading tray 910 on the first loading platform 111 to the second loading platform 121, the third lifting drive member 133 can be used to drive the hanging plate 132 to rise, and the first translation mechanism 110 can be used to drive the first loading platform 111 to move under the hanging plate 132, and the third lifting drive member 133 can be used to drive the hanging plate 132 to descend, and the loading tray 910 can be adsorbed by the vacuum suction cup 134, and then the third lifting drive member 133 can be used to drive the hanging plate 132 to rise, and the loading tray 910 can be lifted. The first translation mechanism 110 drives the first loading platform 111 to leave the position under the hanging plate 132, and the second translation mechanism 120 drives the second loading platform 121 to move to the position under the hanging plate 132, and the third lifting drive member 133 can be used to drive the hanging plate 132 to descend, and the vacuum suction cup 134 can release the loading tray 910, so that the loading tray 910 falls on the second loading platform 121, so as to realize the transfer of the loading tray 910 between the first loading platform 111 and the second loading platform 121.

[0078] Optionally, the transfer mechanism 130 also includes a pushing drive member and a pushing member, wherein the pushing drive member is a telescopic driving structure, such as a telescopic motor, the pushing drive member is installed on the base 131, and is arranged along the first direction X, the execution end of the pushing drive member is connected to the pushing member, and the pushing drive member can drive the pushing member to move along the first direction X when it is running, thereby pushing the loading tray 910 to move along the first direction X after the vacuum suction cup 134 releases the loading tray 910, and adjusting the position of the loading tray 910.

[0079] In some embodiments, the optical component inspection device further includes a tray supply device 930 , and the tray supply device 930 is used to provide a good product tray 920 to the fourth station 1400 . Furthermore, the target position further includes the fourth station 1400 .

[0080] Since it can be determined whether the product is a qualified product or an abnormal product (unqualified product) after being detected by the first detection device 200 and the second detection device 300, it is necessary to store the products separately, that is, place the qualified products and unqualified products in different trays respectively. In this embodiment, the good product tray 920 can be provided by the tray supply device 930. After the product is detected, the abnormal (unqualified) product can be put back into the loading tray 910, and the qualified product can be placed in the good product tray 920 provided by the tray supply device 930 to achieve classification, ensuring that all products in the good product tray 920 are qualified products and all products in the loading tray 910 are abnormal products. When all the products in the loading tray 910 have been detected and classified, the loading tray 910 can be removed to process the abnormal products, and the products in the good product tray 920 can be put into the next process. Or, continue to detect the products in the next loading tray 910. After the good product tray 920 is full of qualified products, then move the good product tray 920 away and put it into the next process to ensure that the good product tray 920 is full of products that have passed the detection.

[0081] Optionally, for the convenience of realizing the classification function, the second handling device 400 is also in signal connection with the first detection device 200 and the second detection device 300. The second handling device 400 is configured to control the operation of the first picking mechanism 410 and the first moving mechanism 420 according to the detection signals of the first detection device 200 and the second detection device 300.

[0082] Combined with Figure 2 and Figure 9 , optionally, the tray supply device 930 includes a tray warehouse 940 and a tray transfer mechanism. The tray warehouse 940 is configured to stack multiple good product trays 920 in layers. The tray transfer mechanism can be formed by a structure such as a linear module, a lifting structure, and a suction cup combination, or can also adopt the structure of a manipulator, etc. No specific limitation is made here. The tray transfer mechanism is used to move the good product trays 920 in the tray warehouse 940 to the fourth station 1400 one by one for use.

[0083] Optionally, the tray transfer mechanism includes a third carrier 950 and a third translation driving member 970. The third translation driving member 970 is connected to the third carrier 950 and is used to drive the third carrier 950 to move between the fourth station 1400, the tray supply device 930, and the fifth station 1500, where the fifth station 1500 is used to unload the good product tray 920 to other equipment.

[0084] Optionally, the third translation driving member 970 extends linearly. For example, the third translation driving member 970 is a linear module extending in the second direction. Wherein, the tray supply device 930 is located between the fourth station 1400 and the fifth station 1500. After the third translation driving member 970 drives the third carrier 950 to move to the tray supply device 930 to receive an empty good product tray 920, it drives the third carrier 950 to move to the fourth station 1400 to receive materials. After the good product tray 920 is filled with qualified products, the third translation driving member 970 drives the third carrier 950 to move to the fifth station 1500 for discharging materials. Subsequently, the third translation driving member 970 drives the third carrier 950 to return to the tray supply device 930 to receive an empty good product tray 920. By reciprocating movement, the switching between the three stations can be satisfied, the process flow of supplying and discharging the good product tray 920 can be optimized, and the time occupation can be reduced.

[0085] In this embodiment, the first carrier 111, the second carrier 121, and the third carrier 950 may have the same structure or different structures. Preferably, the first carrier 111, the second carrier 121, and the third carrier 950 have the same structure to reduce the production cost of the equipment.

[0086] Combined with Figure 10 、 Figure 11 and Figure 12 In some embodiments, at least one of the first carrier 111, the second carrier 121, and the third carrier 950 is configured to include: a platen 951, a clamping mechanism 952, and an unlocking mechanism 960. Wherein, the platen 951 is horizontally arranged and connected to the first translation mechanism 110, the second translation mechanism 120, or the third translation mechanism. The upper side of the platen 951 is used to carry the material-loading tray 910 or the good product tray 920. The clamping mechanism 952 is arranged on the platen 951. The clamping mechanism 952 includes at least two clamping parts oppositely arranged on both sides of the platen 951 and a locking driving member (not shown in the figure) connecting the clamping parts. The locking driving member is connected to the clamping parts and is used to apply a force for the clamping parts to approach each other. The unlocking mechanism 960 includes an actuator 961 and an unlocking driving member 962. The unlocking driving member 962 is connected to the actuator 961 and is used to drive the actuator 961 to move to a position cooperating with the clamping parts to drive the clamping parts oppositely arranged on both sides of the platen 951 to move away from each other, or to drive the actuator 961 to disengage from the clamping parts.

[0087] When the unlocking driving member 962 drives the executing member 961 to disengage from the clamping portion, the relatively arranged clamping portions approach each other under the drive of the locking driving member, and can respectively form limits on the tray from the opposite sides of the tray, realizing clamping of the tray to prevent the tray from shaking, moving or deflecting. When the unlocking driving member 962 drives the executing member 961 to move to a position where it cooperates with the clamping portion, the executing member 961 acts on the clamping portion, thereby driving the clamping portions relatively arranged on both sides of the platen 951 to move away from each other, realizing relaxation of the tray and moving the tray out.

[0088] It should be noted that the relatively arranged clamping portions approaching or moving away from each other can be that the two clamping portions act simultaneously, or the first clamping portion remains stationary and the second clamping portion approaches or moves away from the first clamping portion. Both methods can achieve the required locking and unlocking functions. In addition, the relatively arranged clamping portions approaching or moving away from each other can be that the clamping portions as a whole approach or move away from each other, or only the upper parts of the clamping portions approach or move away from each other.

[0089] Optionally, the locking driving member is an elastic member, such as a compression spring, a pneumatic spring or a torsion spring, etc., for providing an elastic acting force for the clamping portion.

[0090] Optionally, the clamping portion includes two relatively arranged first clamping portions 9521. The two first clamping portions 9521 are rotatably connected to the corresponding sides of the platen 951. The rotation axis of the first clamping portion 9521 is perpendicular to the arrangement direction of the two first clamping portions 9521. The locking driving member is used to provide an acting force for driving the upper ends of the two first clamping portions 9521 to approach each other in a rotational motion. Taking the locking driving member as a torsion spring as an example, the torsion spring is arranged at the rotation axis position of the first clamping portion 9521, with one end connected to the first clamping portion 9521 and the other end connected to the platen 951, so as to provide an elastic acting force for driving the first clamping portion 9521 to rotate. When the executing member 961 cooperates with the two first clamping portions 9521, it drives the upper ends of the two first clamping portions 9521 to move away from each other.

[0091] Optionally, the clamping portion includes a second clamping portion 9522 and a third clamping portion 9523. Among them, the second clamping portion 9522 is slidably arranged on one side of the platen 951, and the third clamping portion 9523 is fixedly arranged on the other side of the platen 951. The locking driving member is used to provide an acting force for driving the second clamping portion 9522 to slide in a direction approaching the third clamping portion 9523. For example, the locking driving member is a tension spring, and the locking driving member provides an elastic tensile force for the second clamping portion 9522 towards the third clamping portion 9523. The executing member 961 cooperates with the second clamping portion 9522 to drive the second clamping portion 9522 to slide in a direction away from the third clamping portion 9523.

[0092] In this embodiment, the clamping part may only include two relatively arranged first clamping parts 9521, or only include the second clamping part 9522 and the third clamping part 9523. It may also include two relatively arranged first clamping parts 9521, the second clamping part 9522 and the third clamping part 9523 at the same time. Preferably, the clamping part includes two relatively arranged first clamping parts 9521, the second clamping part 9522 and the third clamping part 9523, wherein the relative direction of the two first clamping parts 9521 is perpendicular to the relative direction of the second clamping part 9522 and the third clamping part 9523.

[0093] Optionally, the actuator 961 includes at least one vertically arranged push rod 9611. The clamping part is provided with a mating rod 9524. The unlocking driving part 962 is used to drive the push rod 9611 to move up and down. When the push rod 9611 rises to a height that cooperates with the clamping part, it squeezes the mating rod 9524 in the horizontal direction. For example, the mating rods 9524 of the two first clamping parts 9521 are located at the lower ends of the first clamping parts 9521, and the rotation axis of the first clamping part 9521 is located in the vertical middle of the first clamping part 9521. When the push rod 9611 squeezes the mating rod 9524 of the first clamping part 9521 in the horizontal direction, it drives the first clamping part 9521 to rotate vertically around the rotation axis. For example, a mating rod 9524 is provided on the side of the second clamping part 9522 facing the third clamping part 9523. When the push rod 9611 squeezes the mating rod 9524 of the first clamping part 9521 in the horizontal direction, it drives the second clamping part 9522 to slide away from the third clamping part 9523.

[0094] Optionally, a rolling part 9525 is provided at the end of the mating rod 9524. The rolling part 9525 can be a roller or a bearing, etc. When the push rod 9611 rises to a height that cooperates with the clamping part, the rolling part 9525 rolls in contact with the side wall of the push rod 9611.

[0095] Optionally, the actuator 961 includes a plurality of push rods 9611. Four push rods 9611 are correspondingly arranged for each platen 951, and notches through which the push rods 9611 can pass vertically are respectively arranged at the four corner positions of the platen 951. Thus, when the push rod 9611 rises, it can not only achieve unlocking, but also lift the loading tray 910 or the good product tray 920 by increasing the length of the push rod 9611 or increasing the rising height of the push rod 9611.

[0096] Optionally, the unlocking driving part 962 is a vertically arranged linear motor, electric cylinder or cylinder, etc.

[0097] In some embodiments of the present application, there are two first handling devices 100, first detection devices 200, second detection devices 300, second handling devices 400, positioning devices 500, and pallet supply devices 930 respectively. One of the first handling device 100, first detection device 200, second detection device 300, second handling device 400, positioning device 500, and pallet supply device 930 are combined to form a detection line, and the other first handling device 100, first detection device 200, second detection device 300, second handling device 400, positioning device 500, and pallet supply device 930 are combined to form another detection line. The two detection lines share a bin 700 and a picking device 800.

[0098] An embodiment of the present application further provides a detection method, which is applied to the above optical component detection device. The detection method includes:

[0099] S100. The first handling device 100 drives the material-carrying pallet 910 carrying the product to move, so that the material-carrying pallet 910 moves to the first station 1100.

[0100] S200. The first detection device 200 performs optical detection on the upper side of the product on the material-carrying pallet 910 located at the first station 1100.

[0101] S300. The first handling device 100 drives the material-carrying pallet 910 carrying the product to move, so that the product moves to the second station 1200.

[0102] S400. The first picking mechanism 410 of the second handling device 400 acquires the product on the material-carrying pallet 910 located at the second station 1200.

[0103] S500. The first moving mechanism 420 of the second handling device 400 drives the first picking mechanism 410 to move from the second station 1200 to the third station 1300.

[0104] S600. The second detection device 300 performs optical detection on the lower side and the peripheral side of the product at the third station 1300.

[0105] In some embodiments, when the optical component detection device further includes a pallet supply device 930 and the target position further includes a fourth station 1400, the method further includes:

[0106] S700. The pallet supply device 930 provides a good product pallet 920 to the fourth station 1400;

[0107] When it is determined that the detection results of the first detection device 200 and / or the second detection device 300 are that the product is qualified, the first moving mechanism 420 drives the first picking mechanism 410 to move from the third station 1300 to the fourth station 1400, and the first picking mechanism 410 places the product on the good product tray 920;

[0108] S900. When it is determined that the detection results of the first detection device 200 and the second detection device 300 are that the product is abnormal, the first moving mechanism 420 drives the first picking mechanism 410 to move from the third station 1300 to the fourth station 1400, and the first picking mechanism 410 places the product on the loading tray 910.

[0109] It should be noted that in step S800 and step S900, the judgment on whether the product is qualified and the classification process of the product are carried out separately for each product, that is, multiple products are respectively judged through the detection results of the first detection device 200 and the second detection device 300, the qualified products are put back into the loading tray 910, and the defective products are placed on the good product tray 920.

[0110] In some embodiments, the optical component detection device further includes a positioning device 500. Before the first picking mechanism 410 of the second handling device 400 in step S400 obtains the product on the loading tray 910 located at the second station 1200, it further includes:

[0111] The positioning device 500 performs position detection on the loading tray 910 and / or the product on the loading tray 910 at the second station 1200;

[0112] Based on the detection signal of the positioning device 500, the first moving mechanism 420 drives the first picking mechanism 410 to move above the product.

[0113] The technical features of the above embodiments can be combined arbitrarily. For the sake of brief description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope recorded in this specification.

[0114] The above embodiments only represent several implementation manners of the present application, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the patent application. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several deformations and improvements can still be made, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application should be subject to the appended claims.

Claims

1. An optical component detection device, characterized in that: include: A first handling device is used to drive the loading tray carrying the product to move so that the loading tray passes through the first station and the second station in sequence; a first detection device, for optically detecting the upper side of the product on the loading tray at the first station; A second detection device, used for optically detecting the lower side and the peripheral side of the product at a third station; The second handling device includes a first picking mechanism and a first moving mechanism, wherein the first picking mechanism is used to pick up and place products, and the first moving mechanism is connected to the first picking mechanism to drive the first picking mechanism to move between multiple target positions, and the target positions at least include the second station and the third station.

2. The optical component detection device according to claim 1, characterized in that: Also includes: a positioning device, connected to the second handling device by signal, for detecting the position of the loading tray and / or the product on the loading tray at the second station; The second transport device is configured to control the first picking mechanism and the first moving mechanism to operate based on the detection signal of the positioning device.

3. The optical component detection device according to claim 2, characterized in that: Also includes: A mounting frame, comprising a support portion and a crossbeam fixedly connected to the support portion, the crossbeam extending along a first direction, the first detection device, the first moving mechanism and the positioning device being mounted on the crossbeam; The first detection device and the first station are located on one side of the beam along the second direction, and the second detection device, the second station, the third station, the first moving mechanism and the positioning device are located on the other side of the beam along the second direction; the first station and the second station are arranged along the second direction, and the third station is located on one side of the second station in the first direction, wherein the second direction is perpendicular to the first direction; Wherein, the first transport device is arranged along the second direction and passes through the bottom of the crossbeam.

4. The optical component detection device according to claim 3, characterized in that: The first moving mechanism comprises: A rotation driving member, connected to the first picking mechanism, and used to drive the first picking mechanism to rotate horizontally; A first lifting driving member, connected to the rotating driving member, and used to drive the rotating driving member to lift; a first longitudinal driving member connected to the first lifting driving member, and configured to drive the first lifting driving member to move along the second direction; and The first transverse driving member is installed on the crossbeam and connected to the first longitudinal driving member, and is used for driving the first longitudinal driving member to move along the first direction.

5. The optical component detection device according to any one of claims 1 to 4, characterized in that: Also includes: A material bin having a storage cavity, wherein the storage cavity is used to store the loading tray carrying the product; The material picking device includes a second picking mechanism and a second moving mechanism, wherein the second picking mechanism is used to pick up and place the material loading tray, and the second moving mechanism is connected to the second picking mechanism and is used to drive the second picking mechanism to move between the material bin and the first transport device.

6. The optical component detection device according to claim 5, characterized in that: The second moving mechanism comprises: a second transverse driving member, connected to the second picking mechanism, and used for driving the second picking mechanism to translate; The second lifting drive member is connected to the second transverse driving member and is used to drive the second transverse driving member to rise and fall.

7. The optical component detection device according to any one of claims 1 to 4, characterized in that: The first transport device comprises: A first translation mechanism, comprising a first bearing platform and a first translation driver, wherein the first translation driver is connected to the first bearing platform and is used to drive the first bearing platform to move, and a moving path of the first bearing platform passes through a second station; A second translation mechanism includes a second bearing platform and a second translation driver, the second translation driver is connected to the second bearing platform and is used to drive the second bearing platform to move, and the moving path of the second bearing platform passes through the third station; A transfer mechanism is used to transfer the material loading tray on the first loading platform to the second loading platform.

8. The optical component detection device according to any one of claims 1 to 4, characterized in that: Also includes: A tray supply device, used to provide a good tray to the fourth station; The target position also includes a fourth station.

9. A detection method, characterized in that: Applied to the optical component detection device according to any one of claims 1 to 8, the detection method comprises: The first handling device drives the loading tray carrying the product to move, so that the loading tray moves to the first station; A first detection device performs optical detection on the upper side of the product on the loading tray located at the first station; The first handling device drives the loading tray carrying the product to move, so that the product moves to the second station; A first picking mechanism of a second handling device obtains the product on the loading tray located at the second station; The first moving mechanism of the second transport device drives the first picking mechanism to move from the second station to the third station; The second detection device performs optical detection on the lower side and the peripheral side of the product at the third station.

10. The detection method according to claim 9, characterized in that: When the optical component inspection device further includes a tray supply device, and the target position further includes a fourth station, the method further includes: The tray supply device provides good-quality trays to the fourth station; When it is determined that the detection result of the first detection device and / or the second detection device is that the product is qualified, the first moving mechanism drives the first picking mechanism to move from the third station to the fourth station, and the first picking mechanism places the product on the good product tray; When it is determined that the detection results of the first detection device and the second detection device are that the product is abnormal, the first moving mechanism drives the first picking mechanism to move from the third station to the fourth station, and the first picking mechanism places the product on the loading tray.

Images