Detection device
By using multiple detection mechanisms and light sources of different colors in the multihedral detection device, combined with a rotatable bearing mechanism and a movable pickup piece, the problem of multihedral detection in the prior art is solved, and efficient and accurate fully automated detection is achieved.
Patent Information
- Application Number
- CN202510451342.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-04-11
- Publication Date
- 2025-07-11
AI Technical Summary
In the prior art, polyhedral detection can usually only be used to shoot one surface of the polyhedral at a time, resulting in a long shooting process, complex sequence and time-consuming process.
Multiple detection mechanisms are adopted, including image acquisition parts and light sources of different colors, and images of polyhedrals are acquired by detection mechanisms arranged at different angles, and defect detection information is determined by a controller, and fully automated detection is achieved by combining a rotatable bearing mechanism and a movable pickup piece.
It realizes clear shooting of multiple faces of a polyhedral at the same time, improves detection efficiency and accuracy, reduces human errors, and realizes a fully automated detection process.
Smart Images
Figure CN120293844A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the technical field of workpiece vision inspection, and particularly to a detection device. Background Art
[0002] With the continuous progress of society and the rapid development of technology, the demand for many products is increasing, and the requirements are also getting higher. There have emerged some polyhedral components with complex structures and small sizes, which require rapid and accurate inspection.
[0003] Currently, when inspecting polyhedrons, usually only one optical camera can be used to take pictures of one face of the polyhedron at a time. In this way, the shooting process is long, the shooting sequence is complex, and the workpiece inspection takes a long time. Summary of the Invention
[0004] Based on this, this application provides a detection device to achieve more efficient inspection of multiple faces of a polyhedron.
[0005] An embodiment of this application provides a detection device, which includes:
[0006] A carrying mechanism for carrying a polyhedron;
[0007] A plurality of detection mechanisms, each detection mechanism includes an image acquisition component and a light source. The image acquisition component is used to acquire an image of the polyhedron, and the light source is used to emit light towards the polyhedron. The colors of the light emitted by all the light sources are at least two different; and
[0008] A controller connected to the image acquisition component; the controller is configured to determine the defect detection information of the polyhedron according to the image of the polyhedron acquired by the image acquisition component.
[0009] In one embodiment, the carrying mechanism includes a rotatably arranged carrying part, and the carrying part has a first carrying surface and a second carrying surface, and the first carrying surface and the second carrying surface are arranged at an angle;
[0010] The carrying part has a first state for carrying the polyhedron by means of the first carrying surface, and a second state for carrying the polyhedron by means of the second carrying surface.
[0011] In one embodiment, the first carrying surface and the second carrying surface are perpendicular to each other.
[0012] In one embodiment, the detection device further includes a movably arranged taking part;
[0013] The carrying mechanism is on the movement track of the taking part.
[0014] In one embodiment, the detection device further includes a feeding mechanism and a discharging mechanism;
[0015] The picking member is electrically connected to the controller, and the controller is further configured to control the picking member to pick up the polyhedron from the feeding mechanism to the carrying mechanism, and to control the picking member to pick up the polyhedron from the carrying mechanism and store it in the discharging mechanism according to the defect detection information of the polyhedron.
[0016] In one embodiment, the feeding mechanism includes:
[0017] A first storage member for storing and outputting the polyhedron to be detected;
[0018] A first carrying member disposed between the carrying mechanism and the first storage member for receiving the polyhedron output by the first storage member; and
[0019] A first detecting member disposed on the carrying side of the first carrying member, the first detecting member is electrically connected to the controller, and the first detecting member is configured to detect whether there is a polyhedron on the first carrying member;
[0020] Wherein, the controller is further configured to control the picking member to pick up the polyhedron from the first carrying member to the carrying mechanism according to the detection information that the first detecting member detects that there is a polyhedron on the first carrying member.
[0021] In one embodiment, the first storage member further includes an output member for outputting the polyhedron to be detected;
[0022] Wherein, the controller is further configured to control the output member to output the polyhedron to be detected to the first carrying member according to the detection information that the first detecting member detects that there is no polyhedron on the first carrying member.
[0023] In one embodiment, the discharging mechanism includes:
[0024] A second carrying member and a third carrying member, the second carrying member is used for receiving the polyhedron that meets the preset standard picked up from the carrying mechanism, and the third carrying member is used for receiving the polyhedron that does not meet the preset standard picked up from the carrying mechanism, and the carrying sides of the second carrying member and the third carrying member are on the same side;
[0025] A second storage member for storing and inputting the polyhedron that meets the preset standard located at the second carrying member;
[0026] A third storage member for storing and inputting the polyhedron that does not meet the preset standard located at the third carrying member;
[0027] A second detecting member disposed on the carrying sides of the second carrying member and the third carrying member, the second detecting member is electrically connected to the controller, and the second carrying member is configured to detect whether there is a polyhedron on the second carrying member or the third carrying member;
[0028] Wherein, the second carrying member is disposed between the carrying mechanism and the second storage member, and the third carrying member is disposed between the carrying mechanism and the third storage member;
[0029] The controller is further configured to control the picking member to pick up the polyhedron from the carrying mechanism to the second carrier or the third carrier according to the detection information of the second detecting member.
[0030] In one embodiment, at least one image acquisition member is configured to be movable relative to the detection mechanism.
[0031] In one embodiment, the number of the detection mechanisms is greater than the number of the faces of the polyhedron.
[0032] In the above detection device, a carrying mechanism for carrying a polyhedron, a plurality of detection mechanisms and a controller are included. Among them, the detection mechanism includes an image acquisition member for acquiring an image of the polyhedron and a light source for emitting light towards the polyhedron, and the colors of the light emitted by all the light sources of the plurality of detection mechanisms are at least two different. Since the detection mechanisms are arranged at different angles and face the polyhedron from different directions, the image acquisition member can capture images of different faces of the polyhedron. By setting the colors of the light emitted by all the light sources to be at least two different, the colors of the light sources can be determined according to the material of the detected material and the characteristics of the detection position. When all the light sources emit light on the polyhedron, the light source corresponding to the position can be adopted according to the position where the detection mechanism is located, so that the image acquisition member can acquire a clearer image of the polyhedron. The controller determines the defect detection information of the polyhedron according to the image of the polyhedron acquired by the image acquisition device. In this way, it is possible to more efficiently detect whether there are defects on multiple faces of the polyhedron. Description of the Drawings
[0033] Figure 1 It is a schematic three-dimensional structure diagram of a detection device in some embodiments of the present application.
[0034] Figure 2 is Figure 1 a schematic three-dimensional structure diagram of the polyhedron of the detection device in
[0035] Figure 3 is Figure 1 a schematic three-dimensional structure diagram of the detection mechanism in the detection device in
[0036] Figure 4 is Figure 1 a partial enlarged view of the detection device in
[0037] Figure 5 is Figure 1 in Figure 1 a schematic three-dimensional structure diagram of some embodiments of the first storage member in the detection device in
[0038] Figure 6 shows Figure 1Schematic perspective view of still other embodiments of the first storage member of the detection device in
[0039] The reference numerals in the specific embodiments are as follows:
[0040] Detection device 100, polyhedron D, bearing part 111, first bearing surface M1, second bearing surface M2, detection mechanism 120, image acquisition member 121, light source 122, picking member 130, first storage member 141, output member S, first bearing member 142, first detection member 143, second bearing member 151, third bearing member 152, second storage member 153, third storage member 154, second detection member 155, tray P, first track G1, second track G2;
[0041] Rotating platform X, transmission and conveying part SS, first feeding channel T1, second feeding channel T2, cylinder q;
[0042] First direction F1, second direction F2, third direction F3;
[0043] First axis l1, second axis l2. Specific embodiments
[0044] To make the above objects, features, and advantages of the present application more apparent and understandable, the following describes the specific embodiments of the present application in detail with reference to 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.
[0045] In the description of the present application, it should be understood that if there are terms such as "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., the orientation or positional relationship indicated by these terms is based on the orientation or positional relationship in the accompanying drawings, and 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, and thus should not be construed as a limitation to the present application.
[0046] In addition, if the terms "first" and "second" appear, these terms are for descriptive purposes only and should not be construed 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 such feature. In the description of this application, if the term "plurality" appears, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise specifically and clearly defined.
[0047] In this application, unless otherwise clearly specified and defined, if terms such as "installed", "connected", "joined", "fixed", etc. appear, these terms should 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 elements or the interaction relationship between two elements, 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.
[0048] In this application, unless otherwise clearly specified and defined, if there is a description such as a first feature being "on" or "under" a second feature, the 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 indicates 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 indicates that the first feature is at a lower horizontal level than the second feature.
[0049] 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 illustrative purposes and do not represent the only implementation.
[0050] Please refer to Figure 1 and Figure 2 , Figure 1 shows a schematic perspective view of the detection device 100 in some embodiments of this application. Figure 2 shows Figure 1Schematic diagram of the three-dimensional structure of the polyhedron D of the detection device 100 therein. The detection device 100 provided by an embodiment of the present application includes a carrying mechanism for carrying the polyhedron D, a plurality of detection mechanisms 120, and a controller.
[0051] Reference may be made in conjunction with Figure 3 , Figure 3 which shows Figure 1 a schematic diagram of the three-dimensional structure of the detection mechanism 120 in the detection device 100 therein.
[0052] The detection mechanism 120 includes an image acquisition member 121 and a light source 122. The image acquisition member 121 can be used to acquire an image of the polyhedron D. The light source 122 emits light towards the polyhedron D to provide necessary illumination so that the image of the polyhedron D when being photographed by the detection mechanism 120 is clearly visible and can be identified in detail. At least two of the colors of the light emitted by all the light sources 122 are different, and the color of the light can be determined according to the material of the detected object and the characteristics of the detection position. In this way, the plurality of detection mechanisms 120 face the plurality of faces of the polyhedron D, and the light sources 122 of different colors can highlight the characteristics of different faces and different angles of the polyhedron D, making the details of each face of the polyhedron D clearer and making the details of the structure of the polyhedron D clearer, so as to be able to simultaneously and clearly photograph the plurality of faces of the polyhedron D.
[0053] Specifically, in the present application, the "image acquisition member 121" can be an AOI camera. An AOI camera refers to an Automated Optical Inspection camera, which is a high-precision imaging device used for automatically detecting defects on circuit boards and other electronic components in the electronics manufacturing industry. The system of an AOI camera is usually equipped with different types of light sources 122, such as white light, infrared light, ultraviolet light, etc., in order to better illuminate different characteristics of the detected object.
[0054] The "polyhedron D" refers to a geometric body composed of planar polygons, and these polygons are connected to each other at the edges to form a closed three-dimensional shape. Each edge of the polyhedron D is the common boundary of two faces, and each vertex is the common vertex of several faces. The polyhedron D is divided into regular polyhedron D, semi-regular polyhedron D, and irregular polyhedron D. All the faces of a regular polyhedron D are polygons of the same type, and all the vertices are equivalent. For example, a cube. For a semi-regular polyhedron D, some of its faces are polygons of the same type, but not all of its faces are the same. For example, a truncated cube. The shapes and sizes of the faces of an irregular polyhedron D are different from each other, and the arrangement of the vertices is not necessarily equivalent. For example, any polyhedron D composed of different polygonal faces.
[0055] For the regular polyhedron D, a single detection mechanism 120 may also be able to achieve a complete and clear detection. For the semi-regular polyhedron D, the polyhedron D with a large number of faces, and the irregular polyhedron D, it is difficult for the existing single detection device to achieve a complete and clear detection of each face of the polyhedron D, which has a great impact on the detection accuracy of the polyhedron D. However, the detection mechanism 120 provided in this application can achieve simultaneous clear photographing of multiple faces of the polyhedron D in this case.
[0056] The color of the light emitted by the light source 122 can be set according to the position of the detection mechanism 120 relative to the polyhedron D to adapt to the photographing requirements of the detection mechanism 120 at different angular positions, reduce the interference of different polyhedron D backgrounds, make the image of the polyhedron D obtained by the image acquisition member 121 clearer, and improve the detection accuracy of the detection mechanism 120.
[0057] The controller is connected to the image acquisition member 121 to automate the detection process of the polyhedron D. The controller is configured to determine the defect detection information of the polyhedron D according to the image of the polyhedron D obtained by the image acquisition member 121. Implementing a fully automated detection process can reduce human errors and improve the detection accuracy.
[0058] In this way, the entire detection process does not require manual operation. During the detection process, multiple detection mechanisms 120 face multiple faces of the polyhedron D. Light sources 122 of different colors can highlight the features of different faces and different angles of the polyhedron D, making the details of each face of the polyhedron D clearer. Moreover, multiple detection mechanisms 120 are aligned with the same position of the polyhedron D and can be focused on each other, so as to achieve simultaneous clear photographing of multiple faces of the polyhedron D. There is no need to separately photograph each face of the polyhedron D, and the detection is faster and more efficient.
[0059] Specifically in this application, the color of the light source 122 is determined by the actual material and the defects to be detected. In order to obtain a clear photograph, precise focusing is required. Multiple detection mechanisms 120 are aligned with the same position, and the detection mechanism can be set as a camera.
[0060] Two groups of horizontally side-shooting cameras and one group of bottom-up shooting cameras are adopted. They can achieve a mutual focusing effect. For example, the side-shooting cameras can measure the plane to be detected at the bottom. Using the motor on the Z-axis, the measurement results of the side-shooting cameras are used for correction to accurately align the surface of the material to be detected with the bottom-up shooting cameras. Similarly, the bottom-up shooting cameras also position the side-shooting cameras. The XY-axis motors move to focus on the polyhedron D. This design is faster and more accurate than using the photo clarity to determine whether to focus.
[0061] In some embodiments of this application, please continue to refer to Figure 1。The bearing mechanism includes a rotatably arranged bearing part 111. And the bearing part 111 has a first bearing surface M1 and a second bearing surface M2. The first bearing surface M1 and the second bearing surface M2 are arranged at an angle.
[0062] Wherein, the angle between the first bearing surface M1 and the second bearing surface M2 can be less than 180 degrees or greater than 180 degrees.
[0063] The bearing part 111 has a first state for bearing the polyhedron D by means of the first bearing surface M1, and a second state for bearing the polyhedron D by means of the second bearing surface M2. Thus, when the polyhedron D is on the first bearing surface M1 and the detection mechanism 120 has completed the detection of each surface of the polyhedron D, the polyhedron D can be rotated by the bearing part 111 from the first bearing surface M1 to the second bearing surface M2, and then the polyhedron D on the second bearing surface M2 can be detected. Since the polyhedron D is on the first bearing surface M1, the side of the polyhedron D facing the first bearing surface M1 will be blocked. After the bearing part 111 rotates, the polyhedron D will be on the second bearing surface M2, and the previously blocked part of the polyhedron D will be exposed to realize the detection of more surfaces of the polyhedron D.
[0064] In some embodiments of the present application, please refer to Figure 4 , Figure 4 which shows Figure 1 a partial enlarged view of the detection device 100 at E in
[0065] In some other embodiments, it is also possible to detect more faces. The angle between the first bearing surface M1 and the second bearing surface M2 can be an acute angle or an obtuse angle. Compared with the case where the first bearing surface M1 and the second bearing surface M2 are perpendicular to each other, if the first bearing surface M1 and the second bearing surface M2 are arranged at an acute angle, then when the polyhedron D is on one of the first bearing surface M1 or the second bearing surface M2, another surface may produce a shadow due to the illumination of the light source 122, or if the angle between the first bearing surface M1 and the second bearing surface M2 is too small, another surface will directly block some parts of the polyhedron D, affecting the detection quality. And setting the first bearing surface M1 and the second bearing surface M2 perpendicular to each other reduces the risk of this problem. If the first bearing surface M1 and the second bearing surface M2 are arranged at an obtuse angle, then during the movement of the polyhedron D from the first bearing surface M1 to the second bearing surface M2 or from the second bearing surface M2 to the first bearing surface M1, due to the excessive angle, it may be difficult for the polyhedron D to accurately fall onto the first bearing surface M1 or the second bearing surface M2, and there is a risk of falling out of the detection device 100. And making the first bearing surface M1 and the second bearing surface M2 perpendicular to each other can reduce the risk of this problem.
[0066] In some embodiments of the present application, please continue to refer to Figure 1 With Figure 2 . The detection device 100 further includes a movable picking member 130. The picking member 130 can pick up the polyhedron D and can move with the polyhedron D. By having the bearing mechanism on the movement trajectory of the picking member 130, the picking member 130 can bring the polyhedron D to the bearing mechanism to perform the detection process of the following steps.
[0067] Among them, the picking member 130 can move in the first direction F1, the second direction F2, and the third direction F3, and can rotate around the first axis, where the extending direction of the first axis l1 is parallel to the first direction F1. In this way, the picking member 130 can better adjust the position of the polyhedron D. In the present application, the picking member 130 is a suction nozzle. For the polyhedron D that needs to be measured at multiple angles, the rotatable suction nozzle can drive the polyhedron D to rotate together to realize the detection of more faces of the polyhedron D. And the suction nozzle is easier to operate for a smaller polyhedron D.
[0068] And in the present application, when the bearing part 111 is in the first state, the normal direction of the first bearing surface M1 is the same as the normal direction of the second bearing surface M2 when the bearing part 111 is in the second state, and both are parallel to the first direction F1. In this way, it is more convenient for the picking member 130 to pick up or put down the polyhedron D on the first bearing surface M1 or the second bearing surface M2.
[0069] In some embodiments of the present application, please refer to Figure 1 With Figure 2。The detection device 100 further includes a loading mechanism and an unloading mechanism. The picking member 130 is electrically connected to the controller. The controller is further configured to control the picking member 130 to pick up the polyhedron D from the loading mechanism to the carrying mechanism, and to control the picking member 130 to pick up the polyhedron D from the carrying mechanism and store it in the unloading mechanism according to the defect detection information of the polyhedron D.
[0070] In the process of the controller controlling the picking member 130, by electrically connecting the controller and the picking member 130, the automation of the picking member 130 is realized. Through the automatic controller to operate the picking member 130 in loading, carrying and unloading, the overall detection efficiency is improved, and the transfer time of the polyhedron D is shortened. And the controller can determine the defect detection information of the polyhedron D according to the image of the polyhedron D obtained by the image acquisition member 121, and then control the picking member 130 to transfer the detected polyhedron D to the unloading mechanism. The whole process realizes full automation, reduces manual intervention, and improves the accuracy of detection.
[0071] In some embodiments of the present application, please refer to Figure 1 。The loading mechanism includes a first storage member 141, a first carrying member 142 and a first detection member 143. Among them, the first storage member 141 is used to store and output the polyhedron D to be detected. The first carrying member 142 is arranged between the carrying mechanism and the first storage member 141, and is used to receive the polyhedron D output by the first storage member 141. The first detection member 143 is arranged on the carrying side of the first carrying member 142, and the first detection member 143 is electrically connected to the controller. The first detection member 143 is configured to detect whether there is a polyhedron D on the first carrying member 142, and control the picking member to pick up the polyhedron D from the first carrying member 142 to the carrying mechanism according to the detection information that the first detection member 143 detects that there is a polyhedron D on the first carrying member 142. Among them, the structure of the first carrying member 142 can be a fixed carrying platform, or the D belt part of the pulley carrying the polyhedron shown in FIG. 1 under the first detection member 143 in a static state. Specifically in the present application, the first detection member 143 can be a CCD camera. A CCD camera refers to a camera that uses a Charge-Coupled Device as a photosensitive element. A CCD is a sensor that can convert optical signals into electrical signals.
[0072] In this way, the polyhedron D can be stored in the first storage member 141 and can be output to the first carrying member 142. The controller can control the first detection member 143 to detect whether the polyhedron D is on the first carrying member 142. If it is detected that there is a polyhedron D on the first carrying member 142, the controller can control the picking member 130 to pick up the polyhedron D on the first carrying member 142 to the carrying mechanism and wait for the detection mechanism 120 to detect.
[0073] Compared with directly taking the polyhedron D from the first storage member 141, the positions of the multiple polyhedra D in the first storage member 141 are uncertain. Each time the picking member 130 reaches the first storage member 141, it needs to pick from different positions in the first storage member 141, which takes a long time. After adopting the above settings, the picking member 130 only needs to reach the first carrier member 142 each time, pick up a polyhedron D at the first carrier member 142 and then transfer it to the detection mechanism 120 for placing, without first going to the first storage member 141 to pick up one of the stacked multiple polyhedra D, thus improving the detection efficiency of the polyhedron D.
[0074] In some embodiments of the present application, please refer to Figure 1 and Figure 2 . The blanking mechanism includes a second carrier member 152 for receiving the polyhedron D that meets the preset standard picked up from the carrier mechanism, and a third carrier member 152 for receiving the polyhedron D that does not meet the preset standard picked up from the carrier mechanism. In this way, all the polyhedra D after detection can be stored again, and the polyhedra D that meet the preset standard and the polyhedra D that do not meet the preset standard can be stored separately according to the detection results, so that when the polyhedron D is needed, it can be picked up and used in the second storage member 153. The polyhedron that meets the preset standard is available for use, and the polyhedron that does not meet the preset standard cannot be used. The preset standard is specifically based on the obtained defect detection information.
[0075] The loading side of the third carrier member 152 and the loading side of the second carrier member 152 are on the same side, and the blanking mechanism further includes a second detection member 155, which is arranged on the loading side of the second carrier member 152 and the third carrier member 152. The second detection member 155 is electrically connected to the controller, and the second detection member 155 is configured to detect whether there is a polyhedron D on the second carrier member 152 or the third carrier member 152. It can be realized that the second detection member 155 can detect whether the polyhedron D reaches the second carrier member 152 or the third carrier member 152 at one time. Similarly, the second detection member 155 can also be set as a CCD camera.
[0076] Among them, the second carrier member 152 is arranged between the carrier mechanism and the second storage member 153, and the third carrier member 152 is arranged between the carrier mechanism and the third storage member 154. And the controller is further configured to control the picking member 130 to pick up the polyhedron D from the carrier mechanism to the second carrier member 152 or the third carrier member 152 according to the detection information of the second detection member 155.
[0077] Thus, after the controller determines the defect detection information of the polyhedron D based on the image of the polyhedron D acquired by the image acquisition member 121, the controller controls the picking member 130 to pick up the polyhedron D on the carrying mechanism to the second carrying member 152 or the third carrying member 152. Furthermore, the second storage member 153 can further store the polyhedron D that meets the preset standard on the second carrying member 152, or the third storage member 154 stores the polyhedron D that does not meet the preset standard on the third carrying member 152. In this way, the picking member 130 only needs to reach the position each time, pick up one polyhedron D at the detection mechanism 120 and then move to the second carrying member 152 to put it down, without having to go to the second storage member 153 first to put down the polyhedron D, which improves the detection efficiency of the polyhedron D. Similarly, the picking member 130 only needs to reach the position each time, pick up one polyhedron D at the detection mechanism 120 and then move to the third carrying member 152 to put it down, without having to go to the third storage member 154 first to put down the polyhedron D, further improving the detection efficiency of the polyhedron D. Similarly, specifically in the present application, the second carrying member 152 and the third carrying member 152 are located at the belt portion of the pulley that is in a stationary state under the second detection member 146 and carries the polyhedron D.
[0078] In some embodiments, the second storage member 153 includes a movable first input member and a first storage bin. The first input member can adopt a track, a pulley, etc. The track can transport and input the polyhedron D from the second carrying member 152 into the storage bin. Similarly, the third storage member 154 also includes a movable second input member and a second storage bin, and can also transport the polyhedron D from the third carrying member 152 to the second storage bin through a track.
[0079] In some embodiments of the present application, continue to refer to Figure 1 and in combination with reference to Figure 5 . Figure 5 shows Figure 1 a schematic three-dimensional structure diagram of some embodiments of the first storage member 141 of the detection device 100 in
[0080] When the first detection member 143 identifies that there is no polyhedron D, the polyhedron D may be at the second carrying member 152 or the third carrying member 152 during subsequent operations. At this time, the polyhedron D can be output again through the output member S, further improving the efficiency.
[0081] In some embodiments, it is possible to continue to refer to Figure 1 and in combination with reference to Figure 6 , Figure 6shows Figure 1 A schematic three-dimensional structure diagram of still some embodiments of the first storage member 141 of the detection device 100 in
[0082] In some other embodiments, the output member S includes a rotating platform X that can rotate about a second axis l2 parallel to a second direction F2. The rotating platform X includes a plurality of conveying portions, and each conveying portion can store a polyhedron D. Among the plurality of conveying portions, there is a transmission conveying portion SS with an opening.
[0083] A first feeding channel T1 and a second feeding channel T2 are also formed in the output member S. Among them, one end of the first feeding channel T1 communicates with the opening of the transmission conveying portion SS, and the other end communicates with the second feeding channel T2. One end of the second feeding channel T2 communicates with the first feeding channel T1, and the other end communicates with the first carrier 142. The conveying member further includes a cylinder q that can drive the polyhedron D from the transmission conveying portion SS to the first feeding channel T1, and can also drive the polyhedron D from the first feeding channel T1 to the second feeding channel T2 and then be conveyed to the first carrier 142. The cylinder q therein can be electrically connected to the controller to realize automatic driving of the polyhedron D to be output to the first carrier 142. This structure is simple and reliable.
[0084] In some embodiments of the present application, please refer to Figure 1 Configure at least one image acquisition member 121 to be able to move relative to the detection mechanism 120. To facilitate adjusting the image acquisition member 121 to find the position where the image acquisition member 121 can display and acquire the clearest image.
[0085] In some embodiments of the present application, please refer to Figure 1 and Figure 2 The number of detection mechanisms 120 is greater than the number of faces of the polyhedron D. For example, if the number of faces of the polyhedron D is 10, then the number of detection mechanisms 120 needs to be set greater than 10. In this way, according to each face having a corresponding detection mechanism 120, the polyhedron D can be comprehensively photographed.
[0086] In addition, in some embodiments of the present application, please refer to Figure 1 and Figure 2 The detection mechanism 120 further includes a dust suction member disposed between the second carrier 152 and the second storage member 153 to perform dust suction treatment on the polyhedron D that meets the preset standard, so that the polyhedron D is cleaner for storage and use.
[0087] The technical features of the above embodiments can be combined arbitrarily. For the sake of concise 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.
[0088] The above embodiments only express 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 modifications 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 shall be subject to the appended claims.
Claims
1. A detection device, characterized in that, Including: A carrying mechanism for carrying a polyhedron; A plurality of detection mechanisms, each detection mechanism including an image acquisition member and a light source, the image acquisition member being configured to acquire an image of the polyhedron, and the light source being configured to emit light toward the polyhedron, with the colors of the light emitted by all the light sources being at least two different; And A controller connected to the image acquisition member; The controller is configured to determine defect detection information of the polyhedron based on the image of the polyhedron acquired by the image acquisition member.
2. The detection device according to claim 1, wherein The carrying mechanism includes a rotatably arranged carrying portion having a first carrying surface and a second carrying surface, and the first carrying surface and the second carrying surface are arranged at an angle; The carrying portion has a first state for carrying the polyhedron by means of the first carrying surface and a second state for carrying the polyhedron by means of the second carrying surface.
3. The detection device according to claim 2, wherein, The first carrying surface and the second carrying surface are perpendicular to each other.
4. The detection device according to any one of claims 1 to 3, characterized in that The detection device further includes a removably arranged picking member; The carrying mechanism is on the movement trajectory of the picking member.
5. The detection device according to claim 4, characterized in that, The detection device further includes a loading mechanism and an unloading mechanism; The picking member is electrically connected to the controller, and the controller is further configured to control the picking member to pick up the polyhedron from the loading mechanism to the carrying mechanism, and to control the picking member to pick up the polyhedron from the carrying mechanism and store it in the unloading mechanism according to the defect detection information of the polyhedron.
6. The detection device according to claim 5, wherein The loading mechanism includes: A first storage member for storing and outputting the polyhedron to be detected; A first carrying member arranged between the carrying mechanism and the first storage member for receiving the polyhedron output by the first storage member; and A first detection member arranged on the carrying side of the first carrying member, the first detection member being electrically connected to the controller, and the first detection member being configured to detect whether there is a polyhedron on the first carrying member; Wherein, the controller is further configured to control the picking member to pick up the polyhedron from the first carrying member to the carrying mechanism according to the detection information that the first detection member detects that there is a polyhedron on the first carrying member.
7. The detection device according to claim 6, characterized in that The first storage member further includes an output member for outputting the polyhedron to be detected; Wherein, the controller is further configured to control the output member to output the polyhedron to be detected to the first carrying member according to the detection information that the first detection member detects that there is no polyhedron on the first carrying member.
8. The detection device according to claim 5, characterized in that, The unloading mechanism includes: A second carrying member and a third carrying member, the second carrying member being configured to receive the polyhedron that meets the preset standard picked up from the carrying mechanism, and the third carrying member being configured to receive the polyhedron that does not meet the preset standard picked up from the carrying mechanism, and the carrying sides of the second carrying member and the third carrying member are on the same side; A second storage member for storing and inputting the polyhedron that meets the preset standard located at the second carrying member; A third storage member for storing and inputting the polyhedron that does not meet the preset standard located at the third carrying member; The second detection member is disposed on the bearing sides of the second bearing member and the third bearing member. The second detection member is electrically connected to the controller. The second bearing member is configured to detect whether the polyhedron exists on the second bearing member or the third bearing member. Wherein, the second bearing member is disposed between the bearing mechanism and the second storage member, and the third bearing member is disposed between the bearing mechanism and the third storage member. The controller is further configured to control the picking member to pick up the polyhedron from the bearing mechanism to the second bearing member or the third bearing member according to the detection information of the second detection member.
9. The detection device according to any one of claims 1 to 3, characterized in that, At least one of the image acquisition members is configured to be movable relative to the detection mechanism.
10. The detection device according to any one of claims 1 to 3, characterized in that, The number of the detection mechanisms is greater than the number of faces of the polyhedron.