VR lens detection equipment and detection method thereof

Abstract

The invention relates to VR lens detection equipment and a detection method thereof. The VR lens detection equipment comprises a rack, a transferring mechanism is arranged on the rack, and a code scanning mechanism, a feeding and discharging mechanism, a grabbing mechanism, a posture calibration mechanism and a detection mechanism are arranged on the rack and located on the peripheral side of the transferring mechanism; the feeding and discharging mechanism is used for rotating the detected product after obtaining the two-dimensional code information from the feeding and discharging station to the station where the grabbing mechanism is located, and transferring the detected product to the feeding and discharging station from the grabbing mechanism. The grabbing mechanism is used for taking and placing the tested product transferred by the feeding and discharging mechanism onto the transferring mechanism. The transferring mechanism comprises a product carrying table for positioning and lightening a detected product, and a multi-axis conveying module for driving the product carrying table to reciprocate among the grabbing mechanism, the posture calibration mechanism and the detection mechanism in sequence; the attitude calibration mechanism corrects the position and attitude of the tested product; the detection mechanism is used for detecting the detected product. Full-process automatic detection is achieved, and the detection efficiency and the qualification rate are improved.

Description

Technical Field

[0001] This application relates to the technical field of VR glasses optical detection, and particularly relates to a VR lens detection device and its detection method. Background Art

[0002] Currently, display screens have been widely applied to various scenarios of people's lives and have become an essential part of people's lives. Moreover, with the development of science and technology, virtual reality (VR) and augmented reality head-mounted devices have applied many new technologies, gradually attracting people's attention to near-eye display (NED). Prior to this, NED system manufacturers did not have an objective and quantitative way to test the quality of their display screens and could only judge by manual means.

[0003] However, as NED transitions from a novelty product to a mainstream product, achieving reliable and predictable performance will become increasingly crucial. For consumer-grade NED systems, it is necessary to ensure a consistent customer experience and guarantee that the product meets the reputation and performance standards consistent with the manufacturer's brand.

[0004] In the component development of VR / AR, it is mainly the display screen and optical devices of the head-mounted device. However, the field of view in current head-mounted devices is very small, restricting users from immersing themselves in the image. Improving this through optical devices means challenges in terms of ergonomics, manufacturing size, weight, and scalability.

[0005] Then there is the visual experience. AR / VR display screens project visual information very close to the human eye, covering the user's full-angle field of view. However, this proximity to the human eye also magnifies the display screen defects that users usually cannot detect when viewing at a distance.

[0006] Near-eye display screen defects have a significant impact on the user experience and may hinder visualization and device operability. To improve product quality and meet user requirements, advanced optical detection equipment is needed.

[0007] Before the head-mounted device leaves the factory, it is usually necessary to detect the display screen, which involves detecting the brightness, chromaticity, etc. of the display screen. During the detection, a loading station, an unloading station, and a handling mechanism are provided on the detection stage. The handling mechanism is used to transport the display module from the loading station to the detection station and from the detection station to the unloading station.

[0008] The loading station includes a loading transfer platform, and the loading transfer platform can support the display module from the upper shelf station to the loading station. The unloading station includes an unloading transfer platform, and the unloading transfer platform can support the display module from the unloading station to the lower shelf station.

[0009] As described above, the feeding transfer platform and the discharging transfer platform need to cooperate with each other to realize the loading and unloading operations of the display module, resulting in a large occupied space, complex structure, high cost of the detection stage, and the need for the handling mechanism to move back and forth between the feeding transfer platform and the discharging transfer platform, and repeated positioning is required, which reduces the detection work rhythm. Summary of the Invention

[0010] The embodiments of the present application provide a VR lens detection device and its detection method to solve the problems in the related art that the detection stage occupies a large space, has a complex structure, high cost, and the handling mechanism needs to move back and forth between the feeding transfer platform and the discharging transfer platform, and repeated positioning is required, which reduces the detection work rhythm.

[0011] In the first aspect of the embodiments of the present application, a VR lens detection device is provided, including:

[0012] A frame, on which a transfer mechanism is provided, and a code scanning mechanism, a loading and unloading mechanism, a grasping mechanism, an attitude calibration mechanism, and a detection mechanism are provided on the frame and are respectively located on the periphery of the transfer mechanism;

[0013] The code scanning mechanism is located at the loading and unloading station and is used to obtain the two-dimensional code information of the product to be measured placed on the loading and unloading mechanism;

[0014] The loading and unloading mechanism is used to rotate the product to be measured after obtaining the two-dimensional code information from the loading and unloading station to the station where the grasping mechanism is located, and rotate the product to be measured after the detection is completed from the station where the grasping mechanism is located to the loading and unloading station;

[0015] The grasping mechanism is used to pick up and place the product to be measured transported by the loading and unloading mechanism onto the transfer mechanism, and / or pick up and place the product to be measured transported by the transfer mechanism onto the loading and unloading mechanism;

[0016] The transfer mechanism includes a product stage for positioning and lighting the product to be measured, and a multi-axis conveying module for driving the product stage to reciprocate between the grasping mechanism, the attitude calibration mechanism, and the detection mechanism in sequence;

[0017] The attitude calibration mechanism includes an attitude sensing sensor for detecting the position and attitude information of the product to be measured on the product stage, and the multi-axis conveying module corrects the position and attitude of the product to be measured according to the position and attitude information;

[0018] The detection mechanism is used to detect the product to be measured.

[0019] In some embodiments: the multi-axis conveying module includes a horizontal linear module for driving the product to be measured to move in the horizontal direction and a vertical linear module for driving the product to be measured to move in the vertical direction;

[0020] The horizontal linear module includes a first horizontal linear module that drives the product carrier and the product under test to move in the first horizontal direction, and a second horizontal linear module that drives the product under test to move in the second horizontal direction;

[0021] On the vertical linear module, there are successively connected a first rotation module that rotates around the second horizontal direction, a second rotation module that rotates around the first horizontal direction, and a third rotation module that rotates around the vertical direction.

[0022] In some embodiments: The attitude calibration mechanism includes a first base fixed on the frame. The attitude sensing sensor includes a laser area array sensor connected to the first base and used to measure the pitch angle and distance of the product under test, and a positioning camera used to obtain the azimuth information of the product under test.

[0023] In some embodiments: A temperature sensor for measuring the temperature information of the product under test is also provided on the first base.

[0024] In some embodiments: A fourth rotation module for adjusting the positioning camera to rotate around the second horizontal direction, a fifth rotation module for rotating around the first horizontal direction, and a lifting module for lifting and lowering in the vertical direction are also provided on the first base.

[0025] In some embodiments: The loading and unloading mechanism further includes a second frame fixed on the frame, and a speed reducer fixedly connected to the second frame. The input shaft of the speed reducer is connected to a driving motor;

[0026] The output shaft of the speed reducer is connected to the middle of the rotary arm. Loading and positioning mechanisms for placing and positioning the product under test are provided at both ends of the rotary arm.

[0027] In some embodiments: The grasping mechanism includes a second Y-axis linear module and a third Z-axis linear module fixed on the frame;

[0028] And an arm extending in the X-axis direction connected to the third Z-axis linear module, a pneumatic finger connected to the arm, and a cylindrical jaw rotatably connected to the pneumatic finger for clamping the product carrier;

[0029] A circular boss is provided at the bottom of the cylindrical jaw, and a fiber optic sensor for detecting the product carrier is provided on the arm.

[0030] In some embodiments: It further includes a detection hood that provides a darkroom environment for the product under test. An upper and lower loading window is opened on the detection hood, and a lifting door panel for opening and closing the upper and lower loading window is provided inside the detection hood;

[0031] On both sides of the loading and unloading window of the inspection hood, grating pair sensors are respectively provided. A control terminal is provided on the front of the inspection hood, and a fan filter is provided on the top of the inspection hood.

[0032] In the second aspect of the embodiments of the present application, a detection method for a VR lens detection device is provided. The method uses the VR lens detection device described in any of the above embodiments, and includes:

[0033] Place the product to be detected on the loading and unloading mechanism.

[0034] The loading and unloading mechanism transfers the product to be detected to the station where the grasping mechanism is located. At this time, a new product to be detected is also placed at the other end of the loading and unloading mechanism.

[0035] The grasping mechanism grasps the product to be detected placed on the loading and unloading mechanism and picks and places it on the product carrier of the transfer mechanism. At the same time, the product that has completed the detection transferred by the transfer mechanism is picked and placed on the loading and unloading mechanism for unloading.

[0036] The multi-axis conveying module transfers the product carrier and the product to be detected to the station where the attitude calibration mechanism is located.

[0037] The attitude calibration mechanism measures the pitch angle and distance of the product to be detected and obtains the orientation information of the product to be detected.

[0038] The transfer mechanism adjusts the position, attitude and temperature of the product to be detected and then transfers the product to be detected to the station where the detection mechanism is located. The detection mechanism uses the detection camera to obtain the image information of the product to be detected.

[0039] After the detection camera completes the image detection of the product to be detected, the transfer mechanism transfers the product that has completed the detection to the vicinity of the grasping mechanism. The grasping mechanism picks and places the product that has completed the detection on the transfer mechanism onto the loading and unloading mechanism.

[0040] The loading and unloading mechanism rotates the product that has completed the detection to the loading and unloading window for unloading, and synchronously transfers another product to be detected to the station where the grasping mechanism is located.

[0041] Repeat the above steps to complete the automatic loading, unloading and detection of all products to be detected.

[0042] In some embodiments: The loading and unloading mechanism includes a rotary arm. When the rotary arm carries the product to be detected and rotates to the station where the grasping mechanism is located, a new product to be detected is placed at the other end of the rotary arm.

[0043] When the grasping mechanism grasps the product to be detected placed on the rotary arm, both the grasping mechanism and the transfer mechanism move in the direction approaching the station where the attitude calibration mechanism is located.

[0044] The beneficial effects brought by the technical solution provided in this application include:

[0045] The embodiment of this application provides a VR lens detection device and its detection method. Since the VR lens detection device of this application is provided with a frame, a transfer mechanism is arranged on the frame, and a code scanning mechanism, a loading and unloading mechanism, a grasping mechanism, an attitude calibration mechanism and a detection mechanism are arranged on the frame and located on the periphery of the transfer mechanism respectively; the code scanning mechanism is located at the loading and unloading station and is used to obtain the two-dimensional code information of the product under test placed on the loading and unloading mechanism; the loading and unloading mechanism is used to rotate the product under test after obtaining the two-dimensional code information from the loading and unloading station to the station where the grasping mechanism is located, and rotate the product under test after the detection is completed from the station where the grasping mechanism is located to the loading and unloading station.

[0046] The grasping mechanism is used to pick up and place the product under test transported by the loading and unloading mechanism onto the transfer mechanism, and / or pick up and place the product under test transported by the transfer mechanism onto the loading and unloading mechanism; the transfer mechanism includes a product stage for positioning and lighting the product under test, and a multi-axis conveying module for driving the product stage to reciprocate between the grasping mechanism, the attitude calibration mechanism and the detection mechanism in sequence; the attitude calibration mechanism includes an attitude sensing sensor for detecting the position and attitude information of the product under test on the product stage, and the multi-axis conveying module corrects the position and attitude of the product under test through the position and attitude information of the product under test; the detection mechanism is used to detect the product under test.

[0047] Therefore, the VR lens detection device of this application is provided with a transfer mechanism on the frame, and a code scanning mechanism, a loading and unloading mechanism, a grasping mechanism, an attitude calibration mechanism and a detection mechanism are arranged on the frame and located on the periphery of the transfer mechanism respectively. The code scanning mechanism is located at the loading and unloading station and is used to obtain the two-dimensional code information of the product under test placed on the loading and unloading mechanism for tracing and tracking the detection information of the product under test. The transfer mechanism includes a product stage for positioning and lighting the product under test, and a multi-axis conveying module for driving the product stage to reciprocate between the grasping mechanism, the attitude calibration mechanism and the detection mechanism in sequence. The multi-axis conveying module can not only automatically move the product carrier to each station, thereby improving the detection efficiency of the product under test, but also adjust the position and attitude of the product under test located on the product carrier, so that after the position and attitude of the product under test are adjusted, it enters the optical detection station for optical detection, improving the detection accuracy of the product under test.

[0048] The posture calibration mechanism includes a posture sensing sensor for detecting the position and posture information of the product to be measured on the product carrier. The multi-axis conveying module corrects the position and posture of the product to be measured based on the position and posture information. The posture sensing sensor is used to detect the current posture and distance information of the product to be measured on the product carrier, and the multi-axis conveying module of the transfer mechanism adjusts the product to be measured to the set posture and distance according to the current posture and distance information. Thus, the product to be measured can be located below the detection mechanism for detection at the set posture and set distance. The multi-axis conveying module drives the product to be measured, so that each detection area of the product to be measured moves sequentially to the direct below of the detection mechanism to complete optical detection, and each detection area of the product to be measured is within the depth of field range focused by the detection mechanism, improving the clarity of optical detection.

[0049] The loading and unloading mechanism is used to rotate the product to be measured after obtaining the QR code information from the loading and unloading station to the station where the grasping mechanism is located, and rotate the product to be measured after the detection is completed from the station where the grasping mechanism is located to the loading and unloading station, quickly and automatically completing the loading action and unloading action, reducing the working difficulty and improving the loading and unloading efficiency. The grasping mechanism is used to pick up and place the product to be measured transferred by the loading and unloading mechanism onto the transfer mechanism, and / or pick up and place the product to be measured transferred by the transfer mechanism onto the loading and unloading mechanism. The grasping mechanism is used to automatically grasp and transfer the product carrier and the product to be measured to be detected sent by the loading and unloading mechanism onto the product carrier, and automatically grasp and transfer the product to be measured completed on the product carrier to the loading and unloading mechanism, quickly and automatically completing the loading action and unloading action, reducing the working difficulty and improving the detection efficiency.

[0050] The multi-axis conveying module of the present application includes a horizontal linear module for driving the product to be measured to move in the horizontal direction and a vertical linear module for driving the product to be measured to move in the vertical direction; the horizontal linear module includes a first horizontal linear module for driving the product carrier and the product to be measured to move in the first horizontal direction and a second horizontal linear module for driving the product to be measured to move in the second horizontal direction; on the vertical linear module, there are sequentially connected a first rotating module rotating around the second horizontal direction, a second rotating module rotating around the first horizontal direction, and a third rotating module rotating around the vertical direction. The multi-axis conveying module can realize the linear movement of the product carrier and the product to be measured along the X-axis, Y-axis, and Z-axis directions, and can also rotate around the X-axis, Y-axis, and Z-axis directions. Thus, the position and posture of the product carrier and the product to be measured can be adjusted flexibly and precisely, enabling the product carrier and the product to be measured to perform optical detection at the set position and posture.

[0051] The attitude calibration mechanism of the present application includes a first base fixed on the frame. The attitude sensing sensor includes a laser area array sensor connected to the first base and used to measure the pitch angle and distance of the product under test, and a positioning camera used to obtain the azimuth information of the product under test. The laser area array sensor is not only used to measure the distance between the product under test and the laser area array sensor, but also can detect the pitch angle of the product under test. Furthermore, the position height and pitch angle of the product under test are adjusted by the multi-axis conveying module, so that the position height of the product under test is within the depth of field focused by the inspection camera, and the surface of the product under test is perpendicular to the central axis of the inspection camera. The positioning camera is used to obtain the image information of the product under test, and the tilt angle between the edge contour of the product under test and the X-axis or Y-axis is extracted from the obtained image information, and then the tilt angle of the product under test is corrected by the multi-axis conveying module.

[0052] A temperature sensor for measuring the temperature information of the product under test is also provided on the first base of the attitude calibration mechanism of the present application. The temperature sensor is used to obtain the temperature information of the product under test before optical inspection, and then the temperature control module on the product carrier can be controlled to enable the product under test to perform optical inspection at a set temperature, thereby simulating the accuracy of optical inspection of the product under test under actual use temperature conditions. A fourth rotation module for adjusting the positioning camera to rotate around the second horizontal direction, a fifth rotation module for rotating around the first horizontal direction, and a lifting module for moving up and down in the vertical direction are also provided on the first base, so that the positioning camera can detect the tilt angle of the product under test in a set attitude.

[0053] The loading and unloading mechanism of the present application further includes a second frame fixed on the frame, and a speed reducer fixedly connected to the second frame. The input shaft of the speed reducer is connected with a driving motor; the output shaft of the speed reducer is connected to the middle of the swing arm. Loading and positioning mechanisms for the product under test are provided at both ends of the swing arm. The driving motor and the speed reducer are used to drive the swing arm to rotate forward and backward within the range of 0 to 180°. Loading and positioning mechanisms for fixing and carrying the product carrier are provided at both ends of the swing arm. One end of the swing arm is used to place the product carrier and the product under test to be inspected, and is transferred to the station where the grasping mechanism is located through the loading and unloading window. The other end of the swing arm is used to place the product carrier and the product under test that have completed the inspection, and is transferred from the station where the grasping mechanism is located to the loading and unloading window. The loading and positioning mechanisms at both ends of the swing arm are used to fix and carry the product carrier to prevent the product carrier from shaking or falling during the rotation of the swing arm.

[0054] The grasping mechanism of the present application includes a second Y-axis linear module and a third Z-axis linear module fixed on the frame; and an arm connected to the third Z-axis linear module and extending in the X-axis direction, a pneumatic finger connected to the arm, and a cylindrical jaw rotatably connected to the pneumatic finger for gripping the product carrier; a circular boss is provided at the bottom of the cylindrical jaw, and a fiber optic sensor for detecting the product carrier is provided on the arm. The pneumatic finger is used to drive the cylindrical jaw to clamp or release the product carrier, and the circular boss on the cylindrical jaw is adaptively matched with the arc-shaped groove on the product carrier, enabling rapid clamping. The pneumatic finger is connected to the arm. The arm moves following the second Y-axis linear module and the third Z-axis linear module, and thus switches the pneumatic finger back and forth between the station where the loading and unloading mechanism is located and the station where the transfer mechanism is located.

[0055] The present application further includes a detection hood, which provides a darkroom environment for the product to be measured. There is a loading and unloading window opened on the detection hood, and a lifting door panel for opening and closing the loading and unloading window is provided inside the detection hood; grating pair sensors are respectively provided on both sides of the loading and unloading window of the detection hood, a control terminal is provided on the front of the detection hood, and a fan filter is provided on the top of the detection hood. The detection hood is used to cover the above-mentioned various mechanisms, so that each mechanism and the product to be measured are all subjected to optical detection in the darkroom environment inside the detection hood, preventing the influence of natural light on the optical detection of the product to be measured. The loading and unloading window on the detection hood is used for the loading and unloading operations of the product to be measured and the product carrier, and the lifting door panel closes the loading and unloading window during the optical detection process. Description of the Drawings

[0056] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0057] Figure 1 It is a schematic structural diagram of hiding the detection hood for the embodiment of the present application;

[0058] Figure 2 It is a schematic structural diagram of the transfer mechanism for the embodiment of the present application;

[0059] Figure 3 It is a three-dimensional diagram of the structure of the multi-axis conveying module for the embodiment of the present application;

[0060] Figure 4 It is a three-dimensional diagram of the structure of the attitude calibration mechanism for the embodiment of the present application;

[0061] Figure 5 It is a three-dimensional diagram of the structure of the loading and unloading mechanism for the embodiment of the present application;

[0062] Figure 6It is a three-dimensional structure diagram of the grasping mechanism in the embodiment of the present application;

[0063] Figure 7 It is a schematic structural diagram of the fixture in the embodiment of the present application;

[0064] Figure 8 It is a schematic structural diagram of the inspection hood in the embodiment of the present application.

[0065] Reference numerals:

[0066] 1. Product to be measured; 2. Product carrier; 10. Frame; 11. Granite base; 12. Granite column; 20. Transfer mechanism; 21. Product carrier platform; 22. Multi-axis conveying module; 30. Detection mechanism; 31. Detection camera; 32. Second Z-axis linear module; 33. Fixed bracket; 40. Pose calibration mechanism; 41. First base; 42. Laser area array sensor; 43. Positioning camera; 44. Temperature sensor;

[0067] 50. Loading and unloading mechanism; 51. Second frame; 52. Reducer; 53. Driving motor; 54. Rotary arm; 60. Grasping mechanism; 61. Third frame; 62. Second Y-axis linear module; 63. Third Z-axis linear module; 64. Arm; 65. Pneumatic finger; 66. Cylindrical jaw; 67. Circular boss; 68. Fiber optic sensor; 70. Inspection hood; 71. Loading and unloading window; 72. Grating pair sensor; 73. Control terminal; 74. Fan filter; 80. Scanning code mechanism;

[0068] 221. First horizontal linear module; 222. Second horizontal linear module; 223. Vertical linear module; 224. First rotating module; 225. Second rotating module; 226. Third rotating module; 227. Connecting plate. Detailed implementation manners

[0069] To make the objectives, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are some, but not all, of the embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present application without creative efforts shall fall within the scope of protection of the present application.

[0070] The embodiments of the present application provide a VR lens detection device and its detection method, which can solve the problems of large detection error and low detection efficiency of the optical product to be measured of VR glasses in the related art.

[0071] See Figure 1 and Figure 2As shown in the figure, in the first aspect of the embodiments of the present application, a VR lens detection device is provided, including:

[0072] In the first aspect of the embodiments of the present application, a VR lens detection device is provided, including:

[0073] A frame 10, on which a transfer mechanism 20 is provided, and a code scanning mechanism 80, a loading and unloading mechanism 50, a grasping mechanism 60, an attitude calibration mechanism 40, and a detection mechanism 30 are provided on the frame 10 and are respectively located on the periphery of the transfer mechanism 20.

[0074] The station where the detection mechanism 30 is located is the optical detection station, the station where the attitude calibration mechanism 40 is located is the attitude calibration station, the station where the grasping mechanism 60 is located is the grasping station, the station where the transfer mechanism 20 is located is the stage movement station, and the station where the loading and unloading mechanism 50 is located is the loading and unloading station.

[0075] The code scanning mechanism 80 is located at the loading and unloading station. The code scanning mechanism 80 is used to obtain the two-dimensional code information of the product under test 1 placed on the loading and unloading mechanism 50, and is used to trace and trace the detection information of the product under test.

[0076] The loading and unloading mechanism 50 is used to rotate the product under test 1 after obtaining the two-dimensional code information from the loading and unloading station to the station where the grasping mechanism 60 is located, and rotate the product under test 1 after the detection is completed from the station where the grasping mechanism 60 is located to the loading and unloading station.

[0077] The grasping mechanism 60 is used to pick up and place the product under test 1 transported by the loading and unloading mechanism 50 onto the transfer mechanism 20, and the grasping mechanism 60 is also used to pick up and place the product under test 1 transported by the transfer mechanism 20 onto the loading and unloading mechanism 50.

[0078] The transfer mechanism 20 includes a product stage 21 for positioning and lighting the product under test, and a multi-axis conveying module 22 for driving the product stage 21 to reciprocate between the grasping mechanism 60, the attitude calibration mechanism 40, and the detection mechanism 30.

[0079] The attitude calibration mechanism 40 includes an attitude sensing sensor for detecting the position and attitude information of the product under test 1 on the product stage 21. The multi-axis conveying module 22 corrects the position and attitude of the product under test 1 according to the position and attitude information of the product under test 1.

[0080] The detection mechanism 30 is used to detect the product under test. The detection mechanism 30 includes a detection camera 31 for detecting the product under test 1 on the product stage 21. The detection camera 31 is used to obtain the image information of each detection area on the product under test 1 after being lit.

[0081] The VR lens detection device according to the embodiment of the present application is provided with a transfer mechanism on the frame 10, and a code scanning mechanism 80, a loading and unloading mechanism 50, a grasping mechanism 60, an attitude calibration mechanism 40, and a detection mechanism 30 which are arranged on the frame 10 and are respectively located on the peripheral side of the transfer mechanism 20. The code scanning mechanism 80 is located at the loading and unloading station, and is used to obtain the two-dimensional code information of the product 1 to be detected placed on the loading and unloading mechanism 50, for tracing and tracking the detection information of the product 1 to be detected.

[0082] The transfer mechanism 20 includes a product stage 21 for positioning and lighting the product to be detected, and a multi-axis conveying module 22 for driving the product stage 21 to reciprocate between the grasping mechanism 60, the attitude calibration mechanism 40, and the detection mechanism 30 in sequence. The multi-axis conveying module 22 can not only automatically move the product carrier 2 to each station, thereby improving the detection efficiency of the product 1 to be detected, but also adjust the position and attitude of the product 1 to be detected on the product carrier 2, so that after the position and attitude of the product 1 to be detected are adjusted, it enters the optical detection station for optical detection, improving the detection accuracy of the product 1 to be detected.

[0083] The attitude calibration mechanism 40 includes an attitude sensing sensor for detecting the position and attitude information of the product to be detected on the product stage 21. The multi-axis conveying module 22 corrects the position and attitude of the product 1 to be detected according to the position and attitude information of the product to be detected. This attitude sensing sensor is used to detect the current attitude and distance information of the product 1 to be detected on the product carrier, and adjusts the product 1 to be detected to the set attitude and distance according to the current attitude and distance information through the multi-axis conveying module 22 of the transfer mechanism 20, so that the product 1 to be detected can be detected below the detection mechanism at the set attitude and set distance.

[0084] The multi-axis conveying module 22 drives the product 1 to be detected, so that each detection area of the product 1 to be detected moves to the lower part of the detection mechanism 30 in sequence to complete optical detection, and each detection area of the product 1 to be detected is within the depth of field focused by the detection mechanism 30, improving the clarity of optical detection.

[0085] The loading and unloading mechanism 50 is used to rotate the product 1 to be detected after obtaining the two-dimensional code information from the loading and unloading station to the station where the grasping mechanism 60 is located, and rotate the product 1 to be detected after the detection is completed from the station where the grasping mechanism 60 is located to the loading and unloading station, quickly and automatically completing the loading action and the unloading action, reducing the working difficulty and improving the loading and unloading efficiency.

[0086] The grasping mechanism 60 is used to pick and place the product under test transferred by the loading and unloading mechanism 50 onto the transfer mechanism 20, and / or pick and place the product under test 1 transferred by the transfer mechanism 20 onto the loading and unloading mechanism 50. The grasping mechanism 60 is used to automatically grasp and transfer the product carrier 2 to be detected and the product under test 1 sent by the loading and unloading mechanism 50 onto the product stage 21, and automatically grasp and transfer the product under test 1 that has completed the detection on the product stage 21 onto the loading and unloading mechanism 50, quickly and automatically completing the loading and unloading actions, reducing the work difficulty, and improving the detection efficiency.

[0087] In some alternative embodiments, refer to Figures 1 to 3 As shown, the embodiment of the present application provides a VR lens detection device. The product stage 21 of the device is located at the top of the multi-axis conveying module 22, and a bearing mechanism for fixing and positioning the product carrier 2 is provided on the product stage 21. The multi-axis conveying module 22 includes a horizontal linear module for driving the product under test 1 to move in the horizontal direction and a vertical linear module 223 for driving the product under test 1 to move in the vertical direction. The horizontal linear module includes a first horizontal linear module 221 for driving the product stage 21 and the product under test 1 to move in the first horizontal direction and a second horizontal linear module 222 for driving the product under test 1 to move in the second horizontal direction.

[0088] On the vertical linear module 223, a first rotating module 224 rotating around the second horizontal direction, a second rotating module 225 rotating around the first horizontal direction, and a third rotating module 226 rotating around the vertical direction are connected in sequence. The first horizontal direction is the X-axis direction, the second horizontal direction is the Y-axis direction, and the vertical direction is the Z-axis direction. A connecting plate 227 is connected between the second horizontal linear module 222 and the vertical linear module 223, and the connecting plate 227 makes the Z-direction height of the vertical linear module 223 lower than that of the second horizontal linear module 222.

[0089] The multi-axis conveying module 22 of the embodiment of the present application can realize the linear movement of the product carrier 2 and the product under test 1 in the X-axis, Y-axis, and Z-axis directions, and can also rotate around the X-axis, Y-axis, and Z-axis directions. Furthermore, the position and posture of the product carrier 2 and the product under test 1 can be adjusted flexibly and precisely, so that the product carrier 2 and the product under test 1 can perform optical detection in a set position and posture.

[0090] The connecting plate 227 makes the Z-direction height of the vertical linear module 223 lower than that of the second horizontal linear module 222, thereby significantly reducing the position height of the product carrier 2 and the product under test 1 on the product stage 21, reducing the center of gravity height of the product carrier 2 and the product under test 1, and thus being more stable during the movement process.

[0091] In some alternative embodiments, refer to Figure 1As shown in the figure, an embodiment of the present application provides a VR lens detection device. The frame 10 of the device includes a horizontally arranged granite base 11 and a granite column 12 vertically connected to the granite base 11. The detection mechanism 30 further includes a second Z-axis linear module 32 fixed on the side wall of the granite column 12 for driving the detection camera 31 to move along the Z-axis. A fixed bracket 33 connecting the detection camera 31 is provided on the second Z-axis linear module 32. The second Z-axis linear module 32 can adjust the height of the detection camera 31, and thus can achieve automatic focusing of the detection camera 31.

[0092] The frame 10 of the embodiment of the present application is provided with a granite base 11 and a granite column 12. The frame 10 uses granite material as the support, positioning and installation structure of the above-mentioned various modules because the granite material has stable material properties, can ensure no deformation for a long time, has a small expansion coefficient, high mechanical precision, rust prevention, magnetic prevention and insulation. It has no deformation, high hardness and strong wear resistance. The granite base 11 and the granite column 12 are suitable for the on-site working environment and the characteristic of maintaining their own precision permanently for a long time, which can further improve the detection precision and working stability.

[0093] In some alternative embodiments, refer to Figure 1 and Figure 4 As shown in the figure, an embodiment of the present application provides a VR lens detection device. The attitude calibration mechanism 40 of the device includes a first base 41 fixed on the frame 10. The attitude sensing sensor includes a laser area array sensor 42 connected to the first base 41 and used to measure the pitch angle and distance of the product under test 1, and a positioning camera 43 used to obtain the azimuth information of the product under test.

[0094] The laser area array sensor 42 is not only used to measure the distance between the product under test 1 and the laser area array sensor 42, but also can detect the pitch angle of the product under test 1. Then, the position height and pitch angle of the product under test 1 are adjusted through the multi-axis conveying module 22, so that the position height of the product under test 1 is within the depth of field range where the detection camera 31 is focused, and the surface of the product under test 1 is perpendicular to the central axis of the detection camera 31.

[0095] The positioning camera 43 is used to obtain the image information of the product under test 1. The inclination angle between the edge contour of the product under test 1 and the X-axis or Y-axis is extracted from the obtained image information, and then the inclination angle of the product under test 1 is corrected by using the multi-axis conveying module 22.

[0096] A temperature sensor 44 for measuring the temperature information of the product under test 1 is also provided on the first base. The temperature sensor 44 is used to obtain the temperature information of the product under test 1 before optical detection, and then the temperature control module 214 on the product stage 21 can be controlled to perform optical detection on the product under test 1 at a set temperature, thereby simulating the accuracy of optical detection of the product under test 1 under actual use temperature conditions.

[0097] A fourth rotation module for adjusting the positioning camera 43 to rotate around the second horizontal direction, a fifth rotation module for rotating around the first horizontal direction, and a lifting module for moving up and down in the vertical direction are also provided on the first base 41. Then, the positioning camera 43 can detect the tilt angle of the product under test 1 in a set posture, improving the positioning accuracy of the positioning camera 43.

[0098] The laser area array sensor 42 in the embodiment of the present application is not only used to measure the distance between the product under test 1 and the laser area array sensor 42, but also can detect the pitch angle of the product under test 1. Then, the position height and pitch angle of the product under test 1 are adjusted by the multi-axis conveying module 22, so that the position height of the product under test 1 is within the depth of field focused by the detection camera 31, and the surface of the product under test 1 is perpendicular to the central axis of the detection camera 31.

[0099] The positioning camera 43 is used to obtain the image information of the product under test 1, and the tilt angle between the edge contour of the product under test 1 and the X-axis or Y-axis is extracted from the obtained image information. Then, the tilt angle of the product under test 1 is corrected by the multi-axis conveying module 22. The temperature sensor 44 is used to obtain the temperature information of the product under test 1, and then the temperature control module 214 can be controlled to heat or cool the product under test 1, so that the product under test 1 performs optical detection at a set temperature.

[0100] In some alternative embodiments, refer to Figure 1 and Figure 5 As shown, the embodiment of the present application provides a VR lens detection device. The loading and unloading mechanism 50 of the device further includes a second frame 51 fixed to the frame 10, and a speed reducer 52 fixedly connected to the second frame 51. The input shaft of the speed reducer 52 is connected to a driving motor 53; the output shaft of the speed reducer 52 is connected to the middle of the swing arm 54, and loading and positioning mechanisms for placing and positioning the product under test 1 are provided at both ends of the swing arm 54.

[0101] The drive motor 53 and the speed reducer 52 are used to drive the slewing arm 54 to rotate forward and backward within the range of 0 to 180°. Loading mechanisms for fixing and carrying the product carrier 2 are provided at both ends of the slewing arm 54. One end of the slewing arm 54 is used to place the product carrier 2 to be detected and the product under test 1, and is transferred to the station where the grasping mechanism 60 is located through the loading and unloading window. The other end of the slewing arm 54 is used to place the product carrier 2 and the product under test 1 that have completed the detection, and is transferred from the station where the grasping mechanism 60 is located to the loading and unloading window. The loading mechanisms at both ends of the slewing arm 54 are used to fix and carry the product carrier 2, preventing the product carrier 2 from shaking or falling during the rotation of the slewing arm 54.

[0102] The loading mechanism includes positioning pins and limit blocks fixed at both ends of the slewing arm 54, and a magnetic adsorption mechanism for adsorbing the product carrier 2 on the top surface of the slewing arm 54. Guide holes and limit grooves adapted to the positioning pins and limit blocks, as well as magnets or magnetic metals that mutually adsorb with the magnetic adsorption mechanism, are provided at the bottom of the product carrier 2.

[0103] In some alternative embodiments, referring to Figure 1 、 Figure 6 、 Figure 7 as shown, an embodiment of the present application provides a VR lens detection device. The grasping mechanism 60 of the device includes a third frame 61 fixed on the frame 10. A second Y-axis linear module 62 and a third Z-axis linear module 63 are connected to the third frame 61; and an arm 64 extending in the X-axis direction and connected to the third Z-axis linear module 63, a pneumatic finger 65 connected to the arm 64, and a cylindrical gripper 66 for gripping the product carrier 2 rotatably connected to the pneumatic finger 65; a circular boss 67 is provided at the bottom of the cylindrical gripper 66, and a fiber optic sensor 68 for detecting the product carrier 2 is provided on the arm 64.

[0104] The pneumatic finger 65 is used to drive the cylindrical gripper 66 to clamp or release the product carrier 2. The circular boss 67 on the cylindrical gripper 66 is adaptively matched with the arc-shaped groove on the product carrier 2, enabling rapid clamping. The pneumatic finger 65 is connected to the arm 64. The arm 64 moves following the second Y-axis linear module 62 and the third Z-axis linear module 63, and thus switches the pneumatic finger 65 back and forth between the station where the loading and unloading mechanism 50 is located and the station where the transfer mechanism 20 is located.

[0105] In some alternative embodiments, referring to Figure 1 、 Figure 8 as shown, an embodiment of the present application provides a VR lens detection device. The device further includes a detection hood 70. The detection hood 70 provides a darkroom environment for the product under test 1. A loading and unloading window 71 is opened on the detection hood 70. A rotating mechanism drives the turntable to rotate to rotate the product carrier 2 back and forth between the grasping station and the loading and unloading window. A lifting door panel for opening and closing the loading and unloading window 71 is provided inside the detection hood 70.

[0106] The detection hood 70 is an appearance covering and protecting part that covers the above-mentioned various modules, enabling optical detection of each module and the product under test 1 in a darkroom environment inside the detection hood 70 to prevent the influence of natural light on the optical detection of the product under test 1. The loading and unloading window on the detection hood 70 is used for the loading and unloading operations of the product under test 1 and the product carrier 2, and the lifting door panel closes the loading and unloading window 71 during the optical detection process.

[0107] On both sides of the loading and unloading window of the detection hood 70, there are respectively installed grating pair sensors 72. On the front of the detection hood 70, there is a control terminal 73, and on the top of the detection hood 70, there is a fan filter 74. The grating pair sensors 72 are used to detect whether there are obstacles (such as arms or robotic arms) inside the loading and unloading window 71. When the grating pair sensors 72 detect that there are no obstacles inside the loading and unloading window 71, a door closing instruction can be sent to the lifting door panel.

[0108] The control terminal 73 on the front of the detection hood 70 is a touch display screen, and the control terminal 73 is used to control the detection instruction or output the detection result. The fan filter 74 on the top of the detection hood 70 forms a dust-free environment for the internal space of the detection hood 70.

[0109] See Figures 1 to 8 As shown, in the second aspect of the embodiment of the present application, a detection method for a VR lens detection device is provided. The method uses the VR lens detection device described in any of the above embodiments, and the method includes the following steps:

[0110] S101. Place the product under test 1 to be detected on the loading and unloading mechanism 50, and the loading and unloading mechanism 50 includes a rotary arm 54 for carrying the product under test 1.

[0111] S102. When the loading and unloading mechanism 50 transfers the product under test 1 to the station where the grasping mechanism 60 is located, at this time, a new product under test 1 to be detected is also placed at the other end of the rotary arm 54.

[0112] S103. The grasping mechanism 60 grasps the product under test 1 to be detected placed on the loading and unloading mechanism 50 and picks and places it on the product carrier 21 of the transfer mechanism 20. At the same time, the grasping mechanism 60 picks and places the product under test 1 that has completed the detection and is transferred by the transfer mechanism 20 onto the loading and unloading mechanism 50 for unloading;

[0113] When the grasping mechanism 60 grasps the product under test 1 placed on the rotary arm 54, both the grasping mechanism 60 and the transfer mechanism 20 move towards the direction approaching the station where the attitude calibration mechanism 40 is located.

[0114] S104. The multi-axis conveying module 22 transfers the product carrier 21 and the product under test 1 to the station where the attitude calibration mechanism 40 is located.

[0115] S105. The attitude calibration mechanism 40 measures the pitch angle and distance of the product under test 1, and obtains the azimuth information of the product under test 1.

[0116] S106. After the transfer mechanism 20 adjusts the position, attitude and temperature of the product under test 1, it transfers the product under test 1 to the station where the detection mechanism 30 is located. The detection mechanism 30 uses the detection camera 31 to obtain the image information of the product under test 1.

[0117] S107. After the detection camera 31 completes the image detection of the product under test 1, the transfer mechanism 20 transfers the product under test 1 that has completed the detection to the vicinity of the grasping mechanism 60. The grasping mechanism 60 picks and places the product under test 1 that has completed the detection on the transfer mechanism 20 onto the loading and unloading mechanism 50.

[0118] S108. The loading and unloading mechanism 50 rotates the product under test 1 that has completed the detection to the loading and unloading window for unloading, and synchronously transfers another product under test 1 to the station where the grasping mechanism 60 is located.

[0119] S109. Repeat the above steps S101 to S108 to complete the automatic loading and unloading and detection of all products under test 1.

[0120] In the description of the present application, it should be noted that the orientation or positional relationship indicated by terms such as "upper" and "lower" is based on the orientation or positional relationship shown in the drawings. It is 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. Therefore, it should not be construed as a limitation to the present application. Unless otherwise clearly specified and defined, the terms "installation", "connection" and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; 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 elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.

[0121] It should be noted that in this application, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the presence of additional identical elements in the process, method, article or device comprising the said element.

[0122] The above are only specific embodiments of this application, enabling those skilled in the art to understand or implement this application. Various modifications to these embodiments will be obvious to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application will not be limited to these embodiments shown herein, but rather will conform to the broadest scope consistent with the principles and novel features claimed herein.

Claims

1. A VR lens detection device, characterized in that, Including: A frame (10) is provided with a transfer mechanism (20) thereon, and a code scanning mechanism (80), a loading and unloading mechanism (50), a grasping mechanism (60), an attitude calibration mechanism (40) and a detection mechanism (30) which are arranged on the frame (10) and are respectively located on the periphery of the transfer mechanism (20); The code scanning mechanism (80) is located at the loading and unloading station and is used for obtaining the two-dimensional code information of the product under test placed on the loading and unloading mechanism (50); The loading and unloading mechanism (50) is used for rotating the product under test after obtaining the two-dimensional code information from the loading and unloading station to the station where the grasping mechanism (60) is located, and rotating the product under test after completion of detection from the station where the grasping mechanism (60) is located to the loading and unloading station; The grasping mechanism (60) is used for picking and placing the product under test transferred by the loading and unloading mechanism (50) onto the transfer mechanism (20), and / or picking and placing the product under test transferred by the transfer mechanism (20) onto the loading and unloading mechanism (50); The transfer mechanism (20) includes a product carrier (21) for positioning and lighting the product under test, and a multi-axis conveying module (22) for driving the product carrier (21) to reciprocate between the grasping mechanism (60), the attitude calibration mechanism (40) and the detection mechanism (30) in sequence; The attitude calibration mechanism (40) includes an attitude perception sensor for detecting the position and attitude information of the product under test on the product carrier (21), and the multi-axis conveying module (22) corrects the position and attitude of the product under test according to the position and attitude information of the product under test; The detection mechanism (30) is used for detecting the product under test (1).

2. A VR lens detection device according to claim 1, wherein: The multi-axis conveying module (22) includes a horizontal linear module for driving the product under test to move in the horizontal direction and a vertical linear module (223) for driving the product under test to move in the vertical direction; The horizontal linear module includes a first horizontal linear module (221) for driving the product carrier and the product under test to move in the first horizontal direction and a second horizontal linear module (222) for driving the product under test to move in the second horizontal direction; On the vertical linear module (223), a first rotating module (224) rotating around the second horizontal direction, a second rotating module (225) rotating around the first horizontal direction and a third rotating module (226) rotating around the vertical direction are sequentially connected.

3. A VR lens detection device according to claim 1, wherein: The attitude calibration mechanism (40) includes a first base (41) fixed on the frame (10), and the attitude perception sensor includes a laser area array sensor (42) connected to the first base (41) and used for measuring the pitch angle and distance of the product under test, and a positioning camera (43) for obtaining the azimuth information of the product under test.

4. A VR lens detection device according to claim 3, wherein: A temperature sensor (44) for measuring the temperature information of the product under test is further provided on the first base (41).

5. A VR lens detection device according to claim 3, wherein: A fourth rotation module for adjusting the positioning camera (43) to rotate around the second horizontal direction, a fifth rotation module for rotating around the first horizontal direction, and a lifting module for lifting and lowering in the vertical direction are further provided on the first base (41).

6. A VR lens detection device according to claim 1, wherein: The loading and unloading mechanism (50) further includes a second rack (51) fixed on the rack (10), and a speed reducer (52) fixedly connected to the second rack (51), and an input shaft of the speed reducer (52) is connected with a driving motor (53); An output shaft of the speed reducer (52) is connected to the middle of a swing arm (54), and loading mechanisms for placing and positioning the product to be measured are provided at both ends of the swing arm (54).

7. A VR lens detection device according to claim 1, wherein: The grasping mechanism (60) includes a second Y-axis linear module (62) and a third Z-axis linear module (63) fixed on the rack (10); And an arm (64) connected to the third Z-axis linear module (63) and extending in the X-axis direction, a pneumatic finger (65) connected to the arm (64), and a cylindrical jaw (66) rotatably connected to the pneumatic finger (65) for clamping the product carrier (2); A circular boss (67) is provided at the bottom of the cylindrical jaw (66), and a fiber optic sensor (68) for detecting the product carrier (2) is provided on the arm (64).

8. A VR lens detection device according to claim 1, wherein: It further includes a detection hood (70), the detection hood (70) provides a dark room environment for the product to be measured, a loading and unloading window (71) is opened on the detection hood (70), and a lifting door panel for opening and closing the loading and unloading window (71) is provided inside the detection hood (70); Grating pair sensors (72) are respectively provided on both sides of the loading and unloading window (71) of the detection hood (70), a control terminal (73) is provided on the front of the detection hood (70), and a fan filter (74) is provided on the top of the detection hood (70).

9. A detection method for a VR lens detection device, characterized in that, The method uses the VR lens detection device according to any one of claims 1 to 8, and includes: Placing the product to be measured on the loading and unloading mechanism (50); The loading and unloading mechanism (50) transfers the product to be measured to the station where the grasping mechanism (60) is located, and at this time, a new product to be measured is also placed at the other end of the loading and unloading mechanism (50); The grasping mechanism (60) grasps the product to be measured placed on the loading and unloading mechanism (50) and picks and places it on the product stage (21) of the transfer mechanism (20), and at the same time picks and places the product to be measured that has been detected and transferred by the transfer mechanism (20) onto the loading and unloading mechanism (50) for unloading; The multi-axis conveying module (22) transfers the product stage (21) and the product to be measured to the station where the attitude calibration mechanism (40) is located; The attitude calibration mechanism (40) measures the pitch angle and distance of the product under test and obtains the azimuth information of the product under test; The transfer mechanism (20) adjusts the position, attitude and temperature of the product under test and then transfers the product under test to the station where the detection mechanism (30) is located. The detection mechanism (30) uses the detection camera (31) to obtain the image information of the product under test; After the detection camera (31) completes the image detection of the product under test, the transfer mechanism (20) transfers the product under test that has completed the detection to the vicinity of the grasping mechanism (60). The grasping mechanism (60) picks and places the product under test that has completed the detection on the transfer mechanism (20) onto the loading and unloading mechanism (50); The loading and unloading mechanism (50) rotates the product under test that has completed the detection to the loading and unloading window (71) for unloading, and synchronously transfers another product under test to the station where the grasping mechanism (60) is located; Repeat the above steps to complete the automatic loading and unloading and detection of all products under test.

10. The detection method of a VR lens detection device according to claim 9, characterized in that : The loading and unloading mechanism (50) includes a rotary arm (54). When the rotary arm (54) carries the product under test and rotates to the station where the grasping mechanism (60) is located, a new product under test is placed at the other end of the rotary arm (54); When the grasping mechanism (60) grasps the product under test placed on the rotary arm, both the grasping mechanism (60) and the transfer mechanism (20) move in the direction approaching the station where the attitude calibration mechanism (40) is located.

Images