Appearance detection device and detection equipment

Abstract

The invention relates to an appearance detection device and detection equipment, the appearance detection device comprises a bearing assembly and a detection assembly, the bearing assembly comprises a substrate and a pickup structure arranged on the substrate, the bearing assembly is provided with a through detection hole, the pickup structure comprises a positioning part and a supporting block arranged on the inner wall of the detection hole in a protruding mode, and the supporting block is used for bearing a workpiece. The positioning part is used for positioning the workpiece, so that the orthographic projection of the workpiece on the bearing assembly is located in the detection hole, and the orthographic projection and the hole wall of the detection hole are distributed at intervals; the detection assembly comprises a first detector and a second detector, the first detector is arranged above the pickup structure and faces the pickup structure, and the second detector is arranged below the pickup structure and faces the pickup structure through the detection hole. According to the picking structure, the top, the bottom and the circumferential side of the workpiece can be detected by the detection assembly at the same station, that is, the whole surface of the workpiece can be completely covered at the single station, and the requirement of a high-speed production line can be met.

Description

Technical Field

[0001] This application relates to the technical field of machine vision inspection, and particularly to an outer shape inspection device and an inspection equipment. Background Art

[0002] Before a product leaves the factory, defect inspection of the product is an important means of product quality control. Through inspection, appearance defects such as scratches, cracks, and stains can be identified, and the dimensions of each side of the product and flatness can be measured to screen out defective products. In traditional technologies, inspection devices usually use a light source and a camera in cooperation for inspection, and are equipped with a mechanical device to flip the workpiece to achieve double-sided or multi-sided inspection.

[0003] However, the single inspection of the current inspection device is difficult to cover the entire surface of the product, and it is necessary to arrange multiple workstations to step by step inspect different sides of the product, which cannot meet the requirements of high-speed production lines. Summary of the Invention

[0004] Based on this, it is necessary to provide an outer shape inspection device and an inspection equipment for the above problems.

[0005] On the one hand, this application provides an outer shape inspection device. The outer shape inspection device includes a supporting component and an inspection component. The supporting component includes a substrate and a picking structure provided on the substrate. The supporting component has a through inspection hole. The picking structure includes a positioning member and a supporting block protruding from the inner wall of the inspection hole. The supporting block is used to support the workpiece to make the workpiece suspended, and the positioning member is used to position the workpiece so that the orthographic projection of the workpiece on the supporting component is located in the inspection hole and is spaced from the hole wall of the inspection hole. The inspection component includes a first detector and a second detector. The first detector is provided above the picking structure and faces the picking structure, and the second detector is provided below the picking structure and faces the picking structure through the inspection hole.

[0006] In one embodiment, the inspection component further includes a third detector. The third detector is provided on one side of the supporting component and faces the picking structure. The picking structure can rotate around the central axis of the inspection hole to switch different sides of the workpiece to face the third detector.

[0007] In one embodiment, the outer shape inspection device further includes a rotation driving structure. The inspection hole includes a first hole formed in the substrate. The picking structure includes a connecting platform. The connecting platform penetrates through the first hole and both ends are exposed outside the first hole. The positioning member is provided at one end of the connecting platform. The rotation driving structure is connected to the end face or the outer circumference of the other end of the connecting platform to drive the connecting platform to rotate. Wherein, the inspection hole further includes a second hole formed through the connecting platform.

[0008] In one embodiment, the rotational drive structure includes a rotational drive and a transmission structure, wherein the transmission structure is disposed on a side of the substrate away from the positioning component, and the transmission structure includes a first transmission member connected to the rotational drive, and a second transmission member connected to the connecting platform, wherein the second transmission member is transmission-connected to the first transmission member, and the second transmission member is hollow.

[0009] In one embodiment, the transmission structure is configured as one of a belt drive, a rope drive, a friction wheel drive, a gear meshing drive, a rack and pinion drive, a chain drive, and a worm gear drive.

[0010] In one embodiment, the second detector has a shooting port, through which the second detector takes pictures, and the inner circumferential wall of the connecting platform and the second transmission member is recessed in an area near the shooting port to form a notch, and the notch is used for allowing the detection medium of the second detector to pass through.

[0011] In one embodiment, the picking structure includes a carrier, the detection hole includes a third channel opened on the carrier, and the support block protrudes from the inner wall of the third channel; the positioning component includes a plurality of clamps, and the plurality of clamps are provided on the substrate and arranged in a circumferential direction around the central axis of the third channel, and the plurality of clamps cooperate to fix the workpiece together.

[0012] In one embodiment, at least part of the clamp includes a support, an abutment block and a control block, the abutment block and the control block are movably arranged in the support, part of the structure of the abutment block is exposed from the support for abutting the workpiece, the abutment block has an adaptation groove, the adaptation groove includes a wedge-shaped wall, the wedge-shaped wall is inclined relative to the movement direction of the abutment block and the control block, part of the structure of the control block extends into the adaptation groove and abuts against the wedge-shaped wall to drive the abutment block to perform a clamping movement, and part of the structure of the control block is exposed from the support.

[0013] In one embodiment, a plurality of the clamps are spaced apart on the substrate in a circumferential direction around the central axis of the third channel, a plurality of the third detectors are located on the same side of the supporting assembly, and the plurality of the third detectors are respectively directed toward the workpiece picked up by the picking structure through the gaps between the clamps.

[0014] In one embodiment, the number of the picking structures is at least two and all of them are arranged on the substrate. The substrate is movably arranged so that each of the picking structures can move to the detection position respectively. The first detector, the second detector and the third detector face the picking structure at the detection position. When one of the picking structures is at the detection position, at least another picking structure is at the transfer position. The picking structure at the transfer position can be loaded with the workpiece or the workpiece can be removed therefrom.

[0015] In one embodiment, the shape detection device further includes a switching driving structure. The switching driving structure is rotatably connected to the substrate to drive the substrate to rotate so that each of the picking structures can move to the detection position respectively.

[0016] This application also provides a detection device, and the detection device includes the shape detection device as described above.

[0017] In the above-mentioned shape detection device, the supporting block protrudes from the inner wall of the detection hole. Therefore, when the supporting block supports the workpiece, the workpiece can be in a suspended state. At the same time, under the positioning action of the positioning component, the orthographic projection of the workpiece on the supporting component is located in the detection hole and is spaced from the hole wall of the detection hole. Thus, the top surface and at least part of the side circumferential surface of the workpiece can be directly exposed in the detection area of the first detector located above; the bottom surface and at least part of the side circumferential surface of the workpiece can be exposed in the detection area of the second detector through the interval between the detection hole and the hole wall of the detection hole and the workpiece. Based on this, when the picking structure is at the same working station, the first detector and the second detector cooperate with each other to detect the top, bottom and circumferential side parts of the workpiece, that is, the workpiece can be comprehensively detected at a single working station, which can meet the requirements of a high-speed production line. Description of the Drawings

[0018] Figure 1 It is an isometric schematic diagram of the shape detection device provided by an embodiment of this application.

[0019] Figure 2 is Figure 1 an isometric schematic diagram of the detection component in the shown shape detection device.

[0020] Figure 3 is Figure 1 an isometric schematic diagram of the supporting component, the rotation driving structure and the switching driving structure in the shown shape detection device.

[0021] Figure 4 is Figure 3 an isometric schematic diagram of the shown supporting component and rotation driving structure from another perspective.

[0022] Figure 5 is Figure 4Explosion schematic diagram of the shown supporting component and rotational drive structure.

[0023] Figure 6 For Figure 5 Partial enlarged view of location A in the shown supporting structure.

[0024] Figure 7 For Figure 3 Top view of the shown supporting component and rotational drive structure.

[0025] Figure 8 Top view of the exemplary workpiece provided by an embodiment of the present application.

[0026] Figure 9 For Figure 5 Axonometric schematic diagram of the picking structure in the shown pressing plate and supporting component.

[0027] Figure 10 For Figure 9 Axonometric schematic diagram of the fixture in the shown picking structure.

[0028] Figure 11 For Figure 10 Cross-sectional view of the shown fixture along line B - B.

[0029] Figure 12 For Figure 2 Axonometric schematic diagram of the displacement structure, first detector and second detector in the shown detection component.

[0030] Figure 13 Axonometric schematic diagram of the detection device provided by an embodiment of the present application.

[0031] Reference Numerals: 10, detection device; 11, external shape detection device; 12, handling device; 13, base; 20, workpiece; 21, local feature; 100, supporting component; 101, detection hole; 102, first duct; 103, second duct; 104, third duct; 110, substrate; 120, picking structure; 120a, positioning component; 1210, fixture; 1211, support; 1211a, receiving groove; 1212, abutting block; 1212a, adapting groove; 1212b, wedge-shaped wall; 1213, control block; 1213a, connecting body; 1213b, rolling body; 1213c, contact pin; 1214, resetting member; 1220, connecting platform; 1221, notch; 1222, connecting end; 1223, supporting platform end; 1230, bearing; 1240, carrier seat; 1241, supporting block; 200, detection component; 201, shooting port; 202, light-emitting port; 210, first detector; 220, second detector; 230, third detector; 240, shifting structure; 241, mounting frame; 242, slide rail; 250, first vertical frame; 260, guide rail; 300, rotation driving structure; 310, rotation driver; 320, transmission structure; 321, first transmission member; 322, second transmission member; 323, connecting transmission member; 400, switching driving structure; 410, bracket; 420, switching driving member; 510, pressing plate; 520, second vertical frame; 530, opening driver. Detailed Embodiment

[0032] To make the above objects, features, and advantages of the present application more apparent and understandable, the following detailed description of the specific embodiments of the present application is provided in conjunction with the accompanying drawings. Many specific details are set forth in the following description to facilitate a thorough 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 spirit of the present application. Therefore, the present application is not limited by the specific embodiments disclosed below.

[0033] In the description of the present application, it should be understood that if 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. appear, the orientation or positional relationship indicated by these terms is based on the orientation or positional relationship shown in the accompanying drawings. These are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present application.

[0034] 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 defined.

[0035] In this application, unless otherwise clearly specified and limited, 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 limited. 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.

[0036] In this application, unless otherwise clearly specified and limited, 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 be that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is at a higher level than the second feature in terms of horizontal height. The first feature being "under", "beneath" and "underneath" the second feature can be that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is at a lower level than the second feature in terms of horizontal height.

[0037] It should be noted that if an element is referred to as "fixed to" or "disposed on" another element, it can be directly on the other element or there may 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 any, the terms "vertical", "horizontal", "up", "down", "left", "right" and similar expressions used in this application are only for the purpose of illustration and do not represent the only implementation manner.

[0038] Refer to Figure 1 , Figure 1The axonometric schematic diagram of the appearance detection device provided by an embodiment of the present application is shown. The appearance detection device 11 provided by an embodiment of the present application is used for defect detection and appearance measurement of workpieces, etc. The appearance detection device 11 includes a plurality of detectors. The appearance detection device 11 can comprehensively detect the outer surface of the workpiece at a single station, improve the detection efficiency, and meet the requirements of a high-speed production line. The workpiece can be, for example, a structure such as an electronic device housing, a middle frame, or a bracket.

[0039] Please refer to Figures 1 to 4 , in one embodiment, the appearance detection device 11 includes a supporting component 100 and a detection component 200. The supporting component 100 is used to support the workpiece, and the detection component 200 is used to detect the workpiece supported by the supporting component 100.

[0040] Combined with Figures 4 to 6 , the supporting component 100 has a through detection hole 101. The supporting component 100 includes a substrate 110 and a picking structure 120. The picking structure 120 is arranged on the substrate 110. The picking structure 120 includes a positioning component 120a and a supporting block 1241. The supporting block 1241 protrudes from the inner wall of the detection hole 101. The supporting block 1241 is used to support the workpiece 20, making the workpiece 20 suspended. The positioning component 120a is used to position the workpiece 20, so that the orthographic projection of the workpiece 20 on the supporting component 100 is located within the detection hole 101 and is spaced from the hole wall of the detection hole 101. The detection component 200 includes a first detector 210 and a second detector 220. The first detector 210 is arranged above the picking structure 120 and faces the picking structure 120. The second detector 220 is arranged below the picking structure 120 and faces the picking structure 120 through the detection hole 101.

[0041] In the above appearance detection device 11, the supporting block 1241 protrudes from the inner wall of the detection hole 101. Therefore, when the supporting block 1241 supports the workpiece 20, the workpiece 20 can be in a suspended state. At the same time, under the positioning action of the positioning component 120a, the orthographic projection of the workpiece 20 on the supporting component 100 is located within the detection hole 101 and is spaced from the hole wall of the detection hole 101. Thus, the top surface and at least part of the side circumferential surface of the workpiece 20 can be directly exposed in the detection area of the first detector 210 located above; the bottom surface and at least part of the side circumferential surface of the workpiece 20 can be exposed to the detection area of the second detector 220 through the detection hole 101 and the gap between the hole wall of the detection hole 101 and the workpiece 20. Based on this, when the picking structure 120 is at the same station, the first detector 210 and the second detector 220 can cooperate with each other to detect the top, bottom, and circumferential side parts of the workpiece 20, that is, the workpiece 20 can be comprehensively detected at a single station, which can meet the requirements of a high-speed production line.

[0042] Furthermore, the shape detection device 11 provided in the present application can complete the comprehensive detection of the workpiece at a single station, which can relatively reduce the number of stations and the occupied space. In other words, the shape detection device 11 provided in the present application can have a smaller volume.

[0043] Please refer to Figure 5 and Figure 6 , in one embodiment, the picking structure 120 further includes a carrier 1240. The detection hole 101 includes a first channel 102, a second channel 103, and a third channel 104. The first channel 102 is opened on the substrate 110, and the third channel 104 is opened on the carrier 1240. The supporting block 1241 can protrude from the inner wall of the third channel 104, that is, the supporting block 1241 is provided on the carrier 1240. The first channel 102 communicates with the third channel 104. The carrier 1240 and the second detector 220 are located on different sides of the substrate 110. The second detector 220 detects the workpiece 20 located on the carrier 1240 through the first channel 102 and the third channel 104. The positioning member 120a includes a plurality of jigs 1210. The plurality of jigs 1210 are provided on the substrate 110 and are arranged in a circumferential direction around the central axis of the third channel 104. The plurality of jigs 1210 cooperate to jointly fix the workpiece 20. With such an arrangement, the plurality of jigs 1210 cooperate with each other to be able to position the workpiece 20 to a position in the central region corresponding to the detection hole 101 in a suspended manner, so that the workpiece 20 is spaced apart from the hole wall of the detection hole 101, facilitating the second detector 220 below to detect the side surface of the workpiece 20 through this interval.

[0044] Furthermore, the picking structure 120 further includes a connecting platform 1220. The connecting platform 1220 can be provided on one side of the base 13, and the carrier 1240 and the positioning member 120a are both provided on the connecting platform 1220. The second channel 103 is opened on the connecting platform 1220. At this time, the first channel 102, the second channel 103, and the third channel 104 are sequentially communicated, and the second detector 220 sequentially detects the workpiece 20 located on the carrier 1240 through the first channel 102, the second channel 103, and the third channel 104. Of course, the first channel 102, the second channel 103, and the third channel 104 are not limited to the relative position relationship configured to be sequentially communicated. For example, the relative position relationship in which the first channel 102 and the second channel 103 partially overlap will be mentioned below.

[0045] Please refer to Figure 6, in one embodiment, the number of supporting blocks 1241 is multiple. The multiple supporting blocks 1241 are spaced on the inner wall of the third channel 104 in the circumferential direction around the central axis of the third channel 104 to jointly support the workpiece 20 and make the workpiece 20 suspended. Further, the supporting blocks 1241 can be arranged on the side of the carrier 1240 away from the substrate 110, so that the workpiece 20 supported by the supporting blocks 1241 can be located outside the detection hole 101, which is convenient for positioning and also convenient for the lateral detection by the third detector 230 mentioned below.

[0046] Please refer to Figure 3 and Figure 4 , in one embodiment, the detection assembly 200 further includes a third detector 230. The third detector 230 is arranged on one side of the supporting assembly 100 and faces the picking structure 120. The picking structure 120 can rotate around the central axis of the detection hole 101 to switch different sides of the workpiece 20 to face the third detector 230. Thus, the third detector 230 can also detect the side surface of the workpiece 20 to supplement the detection of the side surface of the workpiece 20 and improve the detection accuracy. At the same time, the third detector 230 faces the picking structure 120 from the side, and can perform targeted detection on the detailed features of the side surface of the workpiece 20 picked up by the picking structure 120, reducing the risk of insufficient detection.

[0047] Further, the picking structure 120 can rotate around the central axis of the first channel 102. In some embodiments, the central axes of the first channel 102, the second channel 103 and the third channel 104 coincide, and the picking structure 120 rotates around the common central axis of the three.

[0048] Please continue to refer to Figure 5, in one embodiment, the outer shape detection device 11 further includes a rotation driving structure 300. The rotation driving structure 300 is disposed on the substrate 110 and is used to drive the picking structure 120 to rotate. The connecting platform 1220 penetrates through the first channel 102 and both ends are exposed outside the first channel 102. The positioning member 120a is disposed at one end of the connecting platform 1220, that is, a plurality of jigs 1210 are disposed at one end of the connecting platform 1220. The rotation driving structure 300 is connected to the other end of the connecting platform 1220 to drive the connecting platform 1220 to rotate. Further, the jigs 1210 can be disposed at the end of the connecting platform 1220 close to the first detector 210 (i.e., the upper end of the connecting platform 1220), and the end of the connecting platform 1220 close to the second detector 220 (i.e., the lower end of the connecting platform 1220) is connected to the rotation driving structure 300. Further still, the rotation driving structure 300 is connected to the end face or the outer periphery of the connecting platform 1220 to avoid the area where the first channel 102 and the second channel 103 are located, reducing the occlusion of the detection by the second detector 220. It can be understood that in this embodiment, the connecting platform 1220 penetrates through the first channel 102, so the first channel 102 and the second channel 103 at least partially overlap, and the second detector 220 can photograph the workpiece through the overlapped first channel 102 and second channel 103.

[0049] Combined with Figure 5 , it is easy to understand that, compared with directly arranging the jigs 1210 and the carrier 1240 oppositely on the substrate 110, by providing the connecting platform 1220 for supporting the jigs 1210, the jigs 1210 do not have to be located in the outer peripheral area of the first channel 102, that is, the distribution of the jigs 1210 is not limited by the radial dimension of the first channel 102, facilitating the flexible setting of the distribution position of the jigs 1210 to adapt to the positioning of the workpiece.

[0050] Please refer to Figure 4 and Figure 5 , in one embodiment, the rotation driving structure 300 includes a rotation driver 310 and a transmission structure 320. The rotation driver 310 is connected to the transmission structure 320 to drive the transmission structure 320 to move. The transmission structure 320 is connected to the picking structure 120 to drive the picking structure 120 to rotate, so that different sides of the workpiece picked up by the picking structure 120 can be rotated to face the third detector 230.

[0051] The transmission structure 320 is disposed on a side of the substrate 110 facing away from the positioning member 120a. The transmission structure 320 includes a first transmission member 321 and a second transmission member 322, and the first transmission member 321 is in transmission connection with the second transmission member 322. The first transmission member 321 is connected to the rotary driver 310, and the second transmission member 322 is connected to the connecting table 1220, so that the movement can be transmitted from the rotary driver 310 to the connecting table 1220. The second transmission member 322 is hollow to reduce the possible blockage and occlusion of the first passage 102 and the second passage 103. It can be understood that the hollow area of the second transmission member 322 can also be regarded as a partial area of the detection hole 101.

[0052] In one embodiment, the transmission structure 320 is configured as one of belt drive, rope drive, friction wheel drive, gear meshing drive, gear rack drive, chain drive, and worm and worm wheel drive. As an example, the transmission structure 320 can be configured as a belt drive, such as a synchronous belt drive. At this time, the transmission structure 320 further includes a connecting transmission member 323. The first transmission member 321 is configured as a driving pulley, the second transmission member 322 is configured as a hollow driven pulley, and the connecting transmission member 323 is configured as a transmission belt. Since the second transmission member 322 is a hollow driven pulley, the second detector 220 located below the picking structure 120 can detect the bottom of the workpiece located above through the hollow area of the driven pulley. For another example, the transmission structure 320 can be configured as a gear drive. At this time, the first transmission member 321 can be configured as a driving gear, the second transmission member 322 can be configured as a hollow driven gear, and the first transmission member 321 meshes with the second transmission member 322 to drive the picking structure 120 to rotate through the second transmission member 322. Similarly, since the second transmission member 322 is hollow, the second detector 220 can detect the bottom of the workpiece located above through the hollow area of the driven pulley.

[0053] Please refer to Figure 4 , and in combination with Figure 1 , in one embodiment, the rotary driver 310 can be disposed on a side of the substrate 110 close to the first detector 210, and the output shaft of the rotary driver 310 passes through the substrate 110 and is connected to the transmission structure 320. With such a setting, the installation space on the substrate 110 can be fully utilized.

[0054] Please refer to Figure 2, in one embodiment, the first detector 210, the second detector 220, and the third detector 230 may be configured as laser detectors. Taking the second detector 220 as an example, the second detector 220 has a shooting port 201, and the second detector 220 shoots through the shooting port 201. Further, as a laser detector, the second detector can integrate a laser source component and a shooting component. At this time, the second detector further includes a light outlet 202, and the laser source component emits laser light from the light outlet 202 (such as Figure 2 shown by the reference numeral L2 in Figure 2 ), and the shooting component shoots through the shooting port 201 (the shooting field of view is shown by the reference numeral L1 in Figure 2 ). The laser of the laser source component intersects with the extending direction of the shooting field of view of the shooting component, and the detection area of the second detector 220 is formed at the overlapping intersection of the two. If either the laser of the laser source component (refer to L2) or the shooting field of view is blocked by other components, the detector cannot complete the detection. Therefore, in order to avoid the occlusion of either the intersecting laser or the shooting field of view, a notch 1221 is further recessed in the area of the inner circumferential wall of the connecting table 1220 and the second transmission member 322 close to the shooting port 201. The notch 1221 allows the detection medium of the second detector 220 to pass through for detection, and the detection medium can be the laser of the laser source component and the light rays directed at the shooting component, etc. With the above-described notch 1221 configured, when the laser of the laser source component and / or the shooting field of view of the shooting component are not blocked, the second detector 220 can be installed closer to the substrate 110, facilitating detection, and at the same time, the overall volume of the shape detection device 11 can be reduced. It can be understood that since the picking structure 120 can rotate, the second detector 220 can perform detection when the notch 1221 of the connecting table 1220 and the second transmission member 322 is close to the shooting port 201, facilitating the shooting component to obtain an image of the workpiece through the notch 1221. It should be noted that this application does not limit the sequence of detection of the second detector 220 and the rotation of the picking structure 120, and can be designed accordingly according to requirements.

[0055] Of course, in other embodiments, each detector can also be configured as other types of vision detection elements. When the detector is other vision detection elements, the detector can still perform detection through the notch 1221, enabling the detector to be installed closer to the substrate 110.

[0056] In each embodiment, since the transmission structure 320 and the fixture 1210 are respectively located on opposite sides of the substrate 110, it is necessary to configure the connecting platform 1220 to pass through the first channel 102 to play an intermediate transmission role, and configure the connecting platform 1220 with a second channel 103 to avoid forming an obstruction. In another embodiment, the rotary driver 310 and the transmission structure 320 can both be disposed on one side of the substrate 110 close to the first detector 210. At this time, the picking structure 120 can be directly connected to the transmission structure 320 on one side of the substrate 110 close to the first detector 210. Therefore, the second channel 103 and the first channel 102 may not have an overlapping area and are in communication with each other.

[0057] Please refer to Figure 5 , in one embodiment, the picking structure 120 further includes a bearing 1230. The bearing 1230 is embedded in the first channel 102, and the connecting platform 1220 is connected to the inner ring of the bearing 1230 to rotate smoothly relative to the substrate 110. The connecting platform 1220 includes a connecting end 1222 and a supporting platform end 1223, and the connecting end 1222 and the supporting platform end 1223 are arranged opposite to each other. The connecting end 1222 is located on one side of the substrate 110 facing the second detector 220, and the connecting end 1222 is connected to the transmission structure 320. The supporting platform end 1223 is located at one end of the substrate 110 facing the first detector 210, and the supporting platform end 1223 has a larger end face area relative to the connecting end 1222. A plurality of fixtures 1210 are arranged on the end face of the supporting platform end 1223.

[0058] Furthermore, a carrier 1240 is arranged on the end face of the supporting platform end 1223 and is aligned with one end of the second channel 103 to facilitate the communication between the second channel 103 and the third channel 104.

[0059] Please refer to Figure 7 , in combination with Figure 1 , in one embodiment, a plurality of fixtures 1210 are arranged at intervals in the circumferential direction around the central axis of the third channel 104 on the substrate 110. A plurality of third detectors 230 are located on the same side of the supporting assembly 100, and the plurality of third detectors 230 respectively face the workpiece picked up by the picking structure 120 through the intervals between the fixtures 1210. In this embodiment, the number of fixtures 1210, the number of third detectors 230, and the interval between adjacent fixtures 1210 can be configured according to the detection requirements of the workpiece for easy detection. Please refer to 6 and Figure 8 , as an example, the workpiece 20 can be generally a thin plate-like structure, and local structures are respectively provided at the four corners of the workpiece 20. The shape detection device 11 needs to detect and measure the outer surface of the workpiece 20, and at the same time needs to focus on detecting the local features 21 at the four corners. At this time, the number of fixtures 1210 can be 4, and the 4 fixtures 1210 are respectively located at the top, bottom, left, and right. The number of third detectors 230 is 2, and the 2 third detectors 230 respectively start fromFigure 8 The left upper interval and the right upper interval shown capture the circumferential side of the workpiece 20, and focus on capturing the local features 21 in the upper left corner and the upper right corner. After the shooting is completed, the rotation driving structure 300 drives the picking structure 120 to rotate, so that the areas originally located in the lower left and lower right are switched to the upper right and upper left, and then the two third detectors 230 repeat the shooting to complete the detection of the outer circumferential side and the local features 21 at the four corners. The optical axes of the two third detectors 230 are as shown by the reference numeral L in Figure 7 and Figure 8 the figure.

[0060] In one embodiment, some of the plurality of jigs 1210 are movably provided on the substrate 110, or some components included in some of the jigs 1210 can move relative to the substrate 110 to loosen or clamp the workpiece.

[0061] Please refer to Figures 9 to 11 , in one embodiment, at least some of the jigs 1210 include a support 1211, an abutting block 1212, a control block 1213 and a reset member 1214. The abutting block 1212 and the control block 1213 are movably inserted through the support 1211, and part of the structure of the abutting block 1212 is exposed outside the support 1211 for abutting against the workpiece. The abutting block 1212 has an adaptation groove 1212a, and the adaptation groove 1212a includes a wedge-shaped wall 1212b, and the wedge-shaped wall 1212b is inclined relative to the moving directions of both the abutting block 1212 and the control block 1213. Part of the structure of the control block 1213 extends into the adaptation groove 1212a and abuts against the wedge-shaped wall 1212b to drive the abutting block 1212 to perform a clamping movement. Part of the structure of the control block 1213 is exposed outside the support 1211 to facilitate operating the movement of the control block 1213 from the outside to drive the abutting block 1212 to abut against the workpiece. The reset member 1214 elastically abuts between the support 1211 and the abutting block 1212. The control block 1213 is used to drive the abutting block 1212 to retract into the support 1211, and the reset member 1214 is used to push the abutting block 1212 to extend out of the support 1211. Thus, the reset member 1214 is provided so that the abutting block 1212 always has a tendency to move out of the support 1211, that is, there is always a tendency to abut against the workpiece. At the same time, configuring the reset member 1214 can also make the abutting block 1212 abut tightly against the workpiece when the control block 1213 is not operated.

[0062] Please refer to Figure 10 , in one embodiment, a receiving groove 1211a is provided on the side of the support 1211 where the abutting block 1212 is exposed. One end of the reset member 1214 abuts against the abutting block 1212, and the other end is provided in the receiving groove 1211a to improve the position stability of the reset member 1214. The reset member 1214 can be configured as a compression spring.

[0063] Please refer to Figure 11, Further, the control block 1213 includes a connecting body 1213a, a rolling body 1213b, and a contact pin 1213c. The rolling body 1213b and the connecting body 1213a are disposed within the support 1211. The rolling body 1213b is rotatably connected to one end of the connecting body 1213a to rollingly cooperate with the wedge-shaped wall 1212b. The contact pin 1213c is connected to the other end of the connecting body 1213a and extends out of the support 1211 for easy external operation.

[0064] Please refer to Figure 9 , In one embodiment, the outer shape detection device 11 further includes a pressing plate 510. The pressing plate 510 can press down the control block 1213 to drive the abutting block 1212 to retract. Still taking the number of the jigs 1210 as 4 as an example, the 4 jigs 1210 are arranged in pairs opposite to each other. Two of the circumferentially adjacent jigs 1210 are configured to have the ability to telescopically clamp the workpiece, and the other two jigs 1210 are fixedly disposed on the substrate 110 and do not have a moving function. At this time, when the workpiece needs to be placed into or taken out of the picking structure 120, the pressing plate 510 can be controlled to press down the two jigs 1210 with the ability to telescopically clamp, so that the jigs 1210 are loosened. After the workpiece is filled, the pressing plate 510 can be controlled to rise, and the reset member 1214 will drive the abutting block 1212 to extend outwards, and the plurality of jigs 1210 cooperate with each other to jointly clamp the workpiece.

[0065] In one embodiment, the pressing plate 510 can be configured as a T shape to facilitate pressing down the control blocks 1213 of 2 jigs 1210 simultaneously.

[0066] Please refer to again Figure 3 , Figure 7 , In one embodiment, the number of the picking structures 120 is at least two, and at least two picking structures 120 are all disposed on the substrate 110. The substrate 110 is movably arranged so that each picking structure 120 can move to the detection position respectively. It should be noted that the first detector 210, the second detector 220, and the third detector 230 described in each embodiment face the picking structure 120, which means that the three face the picking structure 120 at the detection position. It can be understood that the number of the rotary drive structures 300 can be the same as the number of the picking structures 120 to correspondingly drive each picking structure 120 to rotate self.

[0067] Further, when one of the picking structures 120 is at the detection position, at least another picking structure 120 is at the transfer position. The picking structure 120 at the transfer position can receive the filled workpiece 20 or receive the removed workpiece 20. With such a setting, the detection time of the detection component 200 can be fully utilized to improve the detection efficiency.

[0068] In one embodiment, the plurality of picking structures 120 can have exactly the same structure.

[0069] Please continue to refer to Figure 3 and Figure 7 In one embodiment, the profile detection device 11 further includes a switching drive structure 400. The switching drive structure 400 is rotatably connected to the substrate 110 to drive the substrate 110 to rotate, so that each picking structure 120 moves to the detection position respectively. The switching drive structure 400 is used to drive the substrate 110 to rotate. The intermittent rotation of the substrate 110 can enable each picking structure 120 to alternately move to the detection position and the transfer position, so as to continuously detect different workpieces.

[0070] As an example, the number of the picking structures 120 can be two, and the two picking structures 120 are respectively arranged at both ends of the substrate 110. As described above, when one of the picking structures 120 is in the detection position, the other picking structure 120 is in the transfer position, and the picking structure 120 in the transfer position can receive the loaded workpiece or remove the workpiece.

[0071] Please refer to Figure 3 In one embodiment, the switching drive structure 400 includes a bracket 410 and a switching drive member 420. The switching drive member 420 is arranged on the bracket 410 and connected to the substrate 110 to drive the substrate 110 to rotate. The part where the switching drive member 420 is connected to the substrate 110 is located between the two picking structures 120, so that the positions of the two picking structures 120 can be interchanged when the substrate 110 rotates.

[0072] Please refer to Figure 12 In one embodiment, the first detector 210 and the second detector 220 are used to detect the top surface and the bottom surface of the workpiece. Both surfaces are regions with relatively large surface areas. Therefore, the first detector 210 and the second detector 220 can be configured to be movably arranged to perform line scanning detection on the workpiece. Further, the detection assembly 200 further includes a shifting structure 240. The shifting structure 240 is connected to the first detector 210 and / or the second detector 220 to drive the first detector 210 and / or the second detector 220 to move for line scanning detection.

[0073] Please refer to Figure 12 In one embodiment, the shifting structure 240 includes a mounting frame 241, a slide rail 242 and a shifting driver (not shown in the figure, the same below). The mounting frame 241 is slidably matched with the slide rail 242, and the first detector 210 and / or the second detector 220 are respectively arranged on the mounting frame 241. The shifting driver is connected to the mounting frame 241 to drive the mounting frame 241 to move, so that the first detector 210 and / or the second detector 220 perform line scanning detection on the workpiece.

[0074] Further, the first detector 210 and the second detector 220 are spaced apart longitudinally on the mounting frame 241.

[0075] Please refer to again Figure 2 In one embodiment, the detection component 200 further includes a first vertical frame 250, a guide rail 260, and an adjustment driver (not shown in the figure, the same below). The third detector 230 is disposed on the first vertical frame 250. The first vertical frame 250 holds up the third detector 230, facilitating the third detector 230 to detect the workpiece from the side at approximately the same height as the substrate 110. Further, the guide rail 260 is disposed on the first vertical frame 250. The third detector 230 is slidably engaged with the guide rail 260, and the adjustment driver is connected to the third detector 230 to drive the third detector 230 to slide, so as to be able to adjust the position of the third detector 230. The guide rail 260 can be arranged to extend longitudinally.

[0076] Please refer to again Figure 1 In one embodiment, the profile detection device 11 further includes an opening driver 530 and a second vertical frame 520. The opening driver 530 is disposed on the second vertical frame 520 and connected to the pressing plate 510. The opening driver 530 is used to drive the pressing plate 510 to press down and rise, so as to drive the control block 1213 and the abutting block 1212 to move, and to open and clamp the fixture 1210.

[0077] Please refer to Figure 13 In one embodiment of the present application, a detection device 10 is further provided. The detection device 10 includes all the features of the profile detection device 11 described in the respective embodiments. Therefore, the detection device 10 also includes all the beneficial effects of the profile detection device 11. Further, the detection device 10 further includes a base 13, a handling device 12, a loading bin (not shown in the figure, the same below), and an unloading bin (not shown in the figure, the same below). The profile detection device 11, the handling device 12, the loading bin, and the unloading bin are all disposed on the base 13. The handling device 12 is used to transport the workpiece from the loading bin to the picking structure 120 at the transfer position, and the handling device 12 is used to transport the workpiece from the picking structure 120 at the transfer position to the unloading bin.

[0078] The technical features of the above-described embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above-described 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 described in this specification.

[0079] The above-described embodiments only represent several implementation manners of the present application. The description is relatively specific and detailed, but it should not be construed as a limitation on the scope of the patent application. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several deformations and improvements can still be made, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application should be subject to the appended claims.

Claims

1. An appearance detection device, characterized in that, The shape detection device comprises: A supporting assembly, comprising a substrate and a picking structure disposed on the substrate, wherein the supporting assembly has a through detection hole, the picking structure comprises a positioning component and a support block protruding from the inner wall of the detection hole, the support block is used to support a workpiece so that the workpiece is suspended in the air, and the positioning component is used to position the workpiece so that the orthographic projection of the workpiece on the supporting assembly is located in the detection hole and is spaced apart from the hole wall of the detection hole; The detection component includes a first detector and a second detector. The first detector is arranged above the pickup structure and faces the pickup structure, and the second detector is arranged below the pickup structure and faces the pickup structure through the detection hole.

2. The shape detection device according to claim 1, wherein The detection assembly also includes a third detector, which is arranged on one side of the supporting assembly and faces the picking structure. The picking structure can rotate around the central axis of the detection hole to switch different sides of the workpiece toward the third detector.

3. The shape detection device according to claim 2, characterized in that It also includes a rotation drive structure, the detection hole includes a first hole opened in the substrate, the pick-up structure includes a connecting platform, the connecting platform passes through the first hole and both ends are exposed in the first hole, the positioning component is arranged at one end of the connecting platform, and the rotation drive structure is connected to the end surface or the periphery of the other end of the connecting platform to drive the connecting platform to rotate; Wherein, the detection hole also includes a second channel penetrating and opened in the connecting platform.

4. The shape detection device according to claim 3, characterized in that The rotary drive structure includes a rotary drive and a transmission structure. The transmission structure is arranged on a side of the substrate away from the positioning component. The transmission structure includes a first transmission member connected to the rotary drive and a second transmission member connected to the connecting platform. The second transmission member is transmission-connected to the first transmission member, and the second transmission member is hollow.

5. The shape detection device according to claim 4, characterized in that The second detector has a shooting port through which the second detector shoots. The inner circumferential wall of the connecting platform and the second transmission member is concave to form a notch near the shooting port, and the notch is used for the detection medium of the second detector to pass through.

6. The shape detection device according to claim 4, characterized in that The transmission structure is configured as one of a belt drive, a rope drive, a friction wheel drive, a gear meshing drive, a rack and pinion drive, a chain drive and a worm gear drive.

7. The shape detection device according to claim 2, characterized in that The picking structure includes a carrier, the detection hole includes a third channel opened on the carrier, and the support block protrudes from the inner wall of the third channel; the positioning component includes a plurality of clamps, and the plurality of clamps are provided on the substrate and arranged in a circumferential direction around the central axis of the third channel, and the plurality of clamps cooperate to fix the workpiece together.

8. The shape detection device according to claim 7, characterized in that, At least a part of the fixture includes a support, a contact block and a control block. The contact block and the control block are movably disposed through the support. A part of the structure of the contact block is exposed outside the support for contacting the workpiece. The contact block has a fitting groove, and the fitting groove includes a wedge-shaped wall. The wedge-shaped wall is inclined relative to the movement directions of both the contact block and the control block. A part of the structure of the control block extends into the fitting groove and contacts the wedge-shaped wall to drive the contact block to perform a clamping movement. A part of the structure of the control block is exposed outside the support.

9. The shape detection device according to claim 7, characterized in that A plurality of the fixtures are arranged at intervals in the circumferential direction around the central axis of the third channel on the substrate. A plurality of the third detectors are located on the same side of the supporting assembly. The plurality of third detectors respectively face the workpiece picked up by the picking structure through the intervals between the fixtures.

10. The shape detection device according to any one of claims 2 to 9, characterized in that The number of the picking structures is at least two and they are all arranged on the substrate. The substrate is movably arranged so that each of the picking structures can move to the detection position respectively. The first detector, the second detector and the third detector face the picking structure at the detection position. When one of the picking structures is at the detection position, at least another picking structure is at the transfer position. The picking structure at the transfer position can be loaded with the workpiece or the workpiece can be removed therefrom.

11. The shape detection device according to claim 10, wherein, It further includes a switching driving structure. The switching driving structure is rotatably connected to the substrate to drive the substrate to rotate so that each of the picking structures can move to the detection position respectively.

12. A detection device, characterized in that, The detection device includes the appearance detection device according to any one of claims 1 to 11.

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