Defect detection device and detection equipment

Abstract

The invention relates to a defect detection device and detection equipment, the defect detection device is used for detecting to-be-detected parts of a workpiece, the to-be-detected parts are distributed in the arrangement direction, the defect detection device comprises a picking assembly and a detection module, the picking assembly comprises a first picking piece and a second picking piece which are oppositely arranged at intervals, and the first picking piece and the second picking piece are arranged on the detection module. The first picking piece and the second picking piece respectively pick different parts of a workpiece, can synchronously rotate around a reference axis, and also can synchronously translate along an arrangement direction to drive the workpiece to move to a position where any to-be-detected part is aligned with the reference axis; the arrangement direction intersects with the reference axis; the detection module comprises a detector, and the detector is used for facing the workpieces picked up by the picking assembly.

Description

Technical Field

[0001] The present application relates to the technical field of machine vision detection, and particularly to a defect detection device and a detection equipment. Background Art

[0002] In the fields of mechanical manufacturing, electronic product assembly, and automotive component production, before various electronic device products leave the factory, it is usually necessary to detect the finished or semi-finished products to screen out defective products with surface defects or assembly deviations and other defects. The current detection methods can be implemented for the final finished products or for some semi-finished products that have been partially assembled.

[0003] For semi-finished products, most of them have components that are not fixed (such as movable brackets or hanging cables, etc.). Such components are prone to move under the action of gravity or external forces to block the parts to be detected, or break themselves. Therefore, it is difficult to detect semi-finished products or finished products with the above-mentioned components. Summary of the Invention

[0004] Based on this, it is necessary to provide a defect detection device and a detection equipment for the above problems.

[0005] On the one hand, the present application provides a defect detection device. The defect detection device is used to detect the parts to be detected of a workpiece. A plurality of the parts to be detected are distributed along the arrangement direction. The defect detection device includes a picking component and a detection module. The picking component includes a first picking member and a second picking member that are arranged opposite to each other and at intervals. The first picking member and the second picking member respectively pick different parts of the workpiece. The first picking member and the second picking member can rotate synchronously around a reference axis. The first picking member and the second picking member can also translate synchronously along the arrangement direction to drive the workpiece to move to a position where any of the parts to be detected is aligned with the reference axis. The arrangement direction intersects the reference axis. The detection module includes a detector, and the detector is used to face the workpiece picked by the picking component.

[0006] In one embodiment, the picking component further includes a first driving module and a second driving module. The first driving module is connected to the side of the first picking member away from the second picking member. The second driving module is connected to the side of the second picking member away from the first picking member. The first driving module and the second driving module drive the first picking member and the second picking member to rotate synchronously around the reference axis.

[0007] In one embodiment, the first driving module includes a first rotation driver and a first displacement driver, the first displacement driver is connected to the first picking member to drive the first picking member to translate along the arrangement direction, and the first rotation driver is connected to the first displacement driver to drive the first displacement driver and the first picking member to rotate around the reference axis.

[0008] In one embodiment, the first driving module also includes a first transmission seat and a first slip ring, the first transmission seat is transmission-connected between the first rotation driver and the first displacement driver, the first transmission seat has a first through hole arranged along the reference axis; the first slip ring includes a first transmission member, and a first rotating part and a second rotating part rotationally connected, the first rotating part is used to connect to a driving source, the second rotating part is connected to the first transmission member, the first rotating part is connected to the second rotating part at any position during the rotation relative to the second rotating part to transmit a driving medium, the first transmission member passes through the first through hole and is connected to the first displacement driver and the first pickup member to transmit the driving medium to the first displacement driver and the first pickup member.

[0009] In one embodiment, the first driving module further includes a first adapter plate, opposite sides of the first adapter plate are respectively connected to the first transmission seat and the first shift driver, the first adapter plate has a first notch, and the first notch is connected to the first through hole for the first transmission member to extend out of the first through hole.

[0010] In one embodiment, the first driving module further includes a first connecting sleeve, the first connecting sleeve is inserted into the first through hole, the first connecting sleeve is transmission-connected between the first adapter plate and the second rotating part, and the first transmission member is inserted into the first connecting sleeve.

[0011] In one embodiment, some or all of the components included in the second driving module are the same as some or all of the components included in the first driving module; or, some or all of the components included in the second driving module are mirror images of some or all of the components included in the first driving module.

[0012] In one of the embodiments, the arrangement direction is perpendicular to the reference axis.

[0013] In one embodiment, the defect detection device further includes a positioning structure having a positioning groove extending along the arrangement direction for the workpiece to be inserted and placed along the arrangement direction. The bottom wall of the positioning groove abuts against the workpiece in the arrangement direction, and the first picking member and the second picking member are configured to pick up the workpiece abutting against the bottom wall of the positioning groove.

[0014] In one embodiment, the positioning structure includes a reference platform and a lifting member. The reference platform is configured to carry the workpiece, and the positioning groove is formed in the reference platform. The lifting member is connected to the reference platform to drive the reference platform close to the first picking member and the second picking member, so that the workpiece carried by the reference platform moves to a position between the first picking member and the second picking member, and to drive the reference platform away from the first picking member and the second picking member.

[0015] In one embodiment, the defect detection device further includes a positioning structure, a displacement structure, and a handling member. The positioning structure is configured to position the workpiece. The picking assembly is configured to pick up the workpiece positioned by the positioning structure. The interval between the first picking member and the second picking member is a material receiving interval. In a direction perpendicular to the reference axis, the positioning structure is located below the picking assembly and is aligned with the material receiving interval. The handling member is configured to pick up the workpiece. The detection module and the handling member are disposed on opposite sides of the displacement structure along a first direction. The displacement structure is mounted on the picking assembly and is movable along the first direction to move to a position where the detector is aligned with the material receiving interval, and to move to a position where the handling member is aligned with the material receiving interval for the handling member to place the workpiece on the positioning structure or pick up the workpiece from the positioning structure. The handling member is configured to release the workpiece after the picking assembly picks up the workpiece supported by the positioning structure.

[0016] In one embodiment, the first picking member is configured as a jaw for clamping a part of the workpiece; and / or, the second picking member is configured to adsorb and pick up another part of the workpiece.

[0017] In one embodiment, the defect detection device includes a plurality of picking assemblies spaced apart along a second direction. The detection module includes a plurality of detectors arranged in the second direction. The plurality of detectors correspond to the plurality of picking assemblies one by one; or, the plurality of detectors are spaced apart in the second direction, and the detectors are movably arranged along the second direction to move to be aligned with different picking assemblies.

[0018] On the other hand, the present application also provides a detection device, which includes the defect detection device as described above.

[0019] In the above-mentioned defect detection device, the first pick-up member and the second pick-up member respectively pick up different parts of the workpiece, that is, the first pick-up member and the second pick-up member cooperate with each other to jointly pick up the workpiece. Therefore, one of the first pick-up member and the second pick-up member can be used to pick up the movable member of the workpiece, reducing the risk of the movable member blocking the part to be inspected and interfering with the detection, and also reducing the risk of the movable member breaking and being damaged. Moreover, compared with using a single pick-up member to pick up a fixed workpiece, in the present application, the first pick-up member and the second pick-up member are arranged facing each other and at intervals, and the two jointly pick up the workpiece from the opposite sides, which can fully expand the workpiece and facilitate the part to be inspected to be fully exposed within the viewing field of the detector. On this basis, when the first pick-up member and the second pick-up member rotate synchronously, the workpiece can rotate together with a fixed unfolded posture, so that all circumferential regions of the part to be inspected of the workpiece are fully exposed within the detection viewing field of the detector for detection.

[0020] Furthermore, the workpiece may include a plurality of parts to be inspected. At this time, the first pick-up member and the second pick-up member translate synchronously along the arrangement direction, which can drive the workpiece to translate together, so as to switch different parts to be inspected to be aligned with the reference axis. With such a setting, at the same detection station, by simply translating the first pick-up member and the second pick-up member, different parts to be inspected can be detected by the detector, thus eliminating the need to add more detectors and more detection stations, reducing costs and the space occupied by the defect detection device. Description of the Drawings

[0021] Figure 1 It is a side view of the defect detection device provided by an embodiment of the present application.

[0022] Figure 2 It is a side view of an exemplary workpiece provided by an embodiment of the present application.

[0023] Figure 3 For Figure 1 It is an axonometric schematic diagram of the first pick-up member of the pick-up assembly and the first driving module in the defect detection device shown.

[0024] Figure 4 For Figure 3 It is an exploded schematic diagram of the first pick-up member and the first driving module shown.

[0025] Figure 5 For Figure 1 It is an axonometric schematic diagram of the second pick-up member of the pick-up assembly and the second driving module in the defect detection device shown.

[0026] Figure 6 For Figure 5 It is an exploded schematic diagram of the second pick-up member and the second driving module shown.

[0027] Figure 7 The Figure 3 isometric schematic view of the first pick-up member, the first connecting seat and the first adjusting member of the pick-up assembly shown.

[0028] Figure 8 The Figure 5 isometric schematic view of the second pick-up member, the second connecting seat and the second adjusting member of the pick-up assembly shown.

[0029] Figure 9 The Figure 7 is the partial enlarged view of the A position in the first pick-up member shown.

[0030] Figure 10 The Figure 1 isometric schematic view of the positioning structure in the defect detection device shown.

[0031] Figure 11 The Figure 10 is the sectional view of the reference table along the B-B line in the positioning structure shown.

[0032] Figure 12 is the isometric schematic view of the defect detection device provided by another embodiment of the present application.

[0033] Figure 13 The Figure 12 isometric schematic view of the base, the support platform, the shifting structure and the handling member in the defect detection device shown.

[0034] Figure 14 The Figure 12 isometric schematic view of the shifting structure and the detection module in the defect detection device shown.

[0035] Reference numerals: 10, defect detection device; 20, workpiece; 21, first base; 21a, body; 21b, rotating body; 22, second base; 100, picking assembly; 101, first picking structure; 102, second picking structure; 103, material holding interval; 110, first picking member; 111, first claw portion; 112, second claw portion; 113, clamping driver; 114, limiting groove; 115, positioning block; 120, second picking member; 121, receiving groove; 122, adsorption port; 130, first driving module; 131, first rotating driver; 132, first shifting driver; 133, first transmission seat; 133a, first through hole; 133b, first connecting portion; 133c, second connecting portion; 134, first slip ring member; 134a, first rotating portion; 134b, second rotating portion; 134c, first transmission member; 135, first adapter plate; 135a, first notch; 136, first connecting sleeve; 137, first connecting seat; 138, first adjusting member; 140, second driving module; 141, second rotating driver; 142, second shifting driver; 143, second transmission seat; 143a, second through hole; 143b, third connecting portion; 143c, fourth connecting portion; 144, second slip ring member; 144a, third rotating portion; 144b, fourth rotating portion; 144c, second transmission member; 145, second adapter plate; 145a, second notch; 146, second connecting sleeve; 147, second connecting seat; 148, second adjusting member; 200, detection module; 210, detector; 300, bracket; 400, positioning structure; 410, reference table; 411, positioning groove; 412, support table; 420, lifting member; 500, shifting structure; 510, gantry; 520, first carrier plate; 530, second driver; 540, second carrier plate; 550, third driver; 560, third carrier plate; 570, fourth driver; 580, fifth driver; 600, handling member; 700, base; 800, support platform; 900, first driver; O1, reference axis; O2, central axis; S1, arrangement direction; S2, position adjustment direction; L1, first direction; L2, second direction; L3, third direction. Detailed implementation manners

[0036] In order to make the above objects, features, and advantages of the present application more obvious and understandable, the following will describe the detailed implementation manners of the present application in conjunction with the accompanying drawings. Many specific details are set forth in the following description in order to fully understand 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.

[0037] 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 shown in the 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 therefore should not be construed as a limitation to the present application.

[0038] In addition, if there are terms such as "first" and "second", these terms are only used for descriptive purposes 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 the present application, if there is a term "plurality", the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise specifically defined.

[0039] In the present application, unless otherwise clearly defined and limited, if there are terms such as "install", "connect", "couple", "fix", etc., these terms should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may 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 the present application can be understood according to specific circumstances.

[0040] In the present application, unless otherwise clearly defined and limited, if there is a description such as a first feature being "on" or "under" a second feature, its meaning may be that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature may mean that the first feature is directly above or obliquely above the second feature, or merely indicates that the first feature has a higher horizontal height than the second feature. The first feature being "under", "beneath" and "underneath" the second feature may be that the first feature is directly below or obliquely below the second feature, or merely indicates that the first feature has a lower horizontal height than the second feature.

[0041] 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 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 present, the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in this application are only for illustrative purposes and do not represent the only implementation.

[0042] The detection devices in the traditional technology generally include a fixture and a detection element. The fixture clamps the workpiece to stably position the workpiece within the detection field of view of the detection element for detection by the detection element. However, there are some workpieces among the current workpieces to be detected that have incompletely fixed components, such as workpieces that are semi-finished products. For semi-finished products, some of the components included in them are not completely assembled and fixed. Therefore, during the detection process, they are prone to move under the action of gravity or external force, blocking the part to be detected, or breaking themselves. Taking the workpiece as a control circuit board as an example, flexible components such as cables can be connected to the control circuit board. For the control circuit board, this flexible component is the incompletely fixed component mentioned above. When detecting a local area (such as a solder joint or a sealed mating part, etc.) of the control circuit board, the cable may sag and block the part to be detected, making it difficult to carry out the detection smoothly. Especially when the detection process also requires the fixture to drive the workpiece to move and change the posture to be detected, for example, when the part to be detected is a rotating body and the fixture needs to drive the workpiece to rotate circumferentially to complete the detection, the risk of the above incompletely fixed component blocking the part to be detected or breaking itself will be further increased, increasing the detection difficulty.

[0043] To solve the above problems, the present application provides a defect detection device. The defect detection device includes a detector and a picking component. The picking component includes a first picking piece and a second picking piece. The first picking piece is used to pick up a part of the components of the workpiece, and the second picking piece can pick up the incompletely fixed part of the components of the workpiece to completely fix the workpiece. At the same time, the first picking piece and the second picking piece can rotate synchronously, so that all circumferential areas of the part to be detected can be exposed within the field of view of the detector. And because the first picking piece and the second picking piece rotate synchronously, during the rotation detection process, all parts of the components of the workpiece maintain a fixed relative position, so the problems of component blocking the part to be detected or component breakage will not occur. The following will combine the specification drawings and specific implementation manners to detail the defect detection device provided by each embodiment of the present application and the detection equipment including the defect detection device.

[0044] Refer to Figure 1 and Figure 2 , Figure 1 shows a side view of the defect detection device provided by an embodiment of the present application. Figure 2A side view of an exemplary workpiece provided by an embodiment of the present application. An embodiment of the present application provides a defect detection device 10 for detecting a part to be inspected of a workpiece 20, and a plurality of parts to be inspected are distributed along an arrangement direction S1. The possible defects in the part to be inspected of the workpiece 20 may include, but are not limited to, surface scratches, pits, protrusions, assembly misalignment, assembly offset, deformation, distortion, fracture, warping, delamination or peeling, etc.

[0045] The defect detection device 10 includes a picking component 100 and a detection module 200. The picking component 100 includes a first picking member 110 and a second picking member 120. The first picking member 110 and the second picking member 120 face each other and are spaced apart. The first picking member 110 and the second picking member 120 pick different parts of the workpiece 20 respectively. The first picking member 110 and the second picking member 120 can rotate synchronously around a reference axis O1, and the first picking member 110 and the second picking member 120 can also translate synchronously along the arrangement direction S1 to drive the workpiece 20 to move to a position where any part to be inspected is aligned with the reference axis O1. The arrangement direction S1 intersects the reference axis O1. The detection module 200 includes a detector 210, and the detector 210 faces the workpiece 20 picked by the picking component 100.

[0046] In the above-mentioned defect detection device 10, the first picking member 110 and the second picking member 120 pick different parts of the workpiece 20 respectively, that is, the first picking member 110 and the second picking member 120 cooperate with each other to pick the workpiece 20 together. Therefore, one of the first picking member 110 and the second picking member 120 can be used to pick the movable component of the workpiece 20, reducing the risk of the movable component blocking the part to be inspected and interfering with the detection, and being able to reduce the risk of the movable component breaking and being damaged. Moreover, compared with using a single picking member to pick the fixed workpiece 20, in the present application, the first picking member 110 and the second picking member 120 face each other and are spaced apart, and the two pick the workpiece 20 together from opposite sides, which can fully expand the workpiece 20 and facilitate the part to be inspected to be fully exposed within the field of view of the detector 210. On this basis, when the first picking member 110 and the second picking member 120 rotate synchronously, the workpiece 20 can rotate together with a fixed unfolded posture, so that all circumferential regions of the part to be inspected of the workpiece 20 are fully exposed within the detection field of view of the detector 210 for detection.

[0047] Further, the workpiece 20 may include a plurality of parts to be inspected. At this time, the first picking member 110 and the second picking member 120 are synchronously translated along the arrangement direction S1, and can drive the workpiece 20 to be translated together, so as to switch different parts to be inspected to be aligned with the reference axis O1. It is easy to understand that the first picking member 110 and the second picking member 120 perform a rotational movement with the reference axis O1 as the axis of rotation. Therefore, the workpiece 20 picked up by the first picking member 110 and the second picking member 120 is also the same. Thus, when the part to be inspected is aligned with the reference axis O1, when the part to be inspected rotates around the reference axis O1, the areas at various positions in the circumferential direction of the part to be inspected can be evenly exposed to the detection field of view of the detector 210, realizing a full inspection of the part to be inspected of the workpiece 20. In this embodiment, it is arranged like this, and by simply translating the first picking member 110 and the second picking member 120 at the same detection station, different parts to be inspected can be detected by the detector 210, so that there is no need to add more detectors 210 and more detection stations, which can reduce costs and reduce the space occupied by the defect detection device 10.

[0048] Please continue to refer to Figure 1 , in one embodiment, the picking assembly 100 further includes a first driving module 130 and a second driving module 140. The first driving module 130 is used to drive the first picking member 110, and the second driving module 140 is used to drive the second picking member 120. The first driving module 130 is connected to the side of the first picking member 110 away from the second picking member 120, and the second driving module 140 is connected to the side of the second picking member 120 away from the first picking member 110. The first driving module 130 and the second driving module 140 drive the first picking member 110 and the second picking member 120 to rotate synchronously around the reference axis O1. In this embodiment, since the first driving module 130 is connected to the side of the first picking member 110 away from the second picking member 120, and the second driving module 140 is connected to the side of the second picking member 120 away from the first picking member 110, the workpiece 20 is clamped within the interval between the first picking member 110 and the second picking member 120. Therefore, during the circumferential rotation detection process, the detector 210 located in the outer peripheral area of the workpiece 20 can detect the workpiece 20 with almost no occlusion. Denote the first picking member 110 and the first driving module as the first picking structure 101, and denote the second picking member 120 and the second driving module as the second picking structure 102. Briefly, configuring the first picking structure 101 and the second picking structure 102 to pick up the workpiece 20 from both sides of the workpiece 20 and synchronously drive the workpiece 20 to rotate can also reduce the occlusion of the workpiece 20 during the rotation detection process, and improve the comprehensiveness and effectiveness of the detection of the workpiece 20.

[0049] Regarding the first pick-up member 110 and the second pick-up member 120 driving the workpiece 20 to rotate synchronously, it should be noted that, overall, the driving actions of the first pick-up structure 101 and the second pick-up structure 102 are the same, the rotational driving forces received by the workpiece 20 are synchronous, and they cause the workpiece 20 to rotate in the same direction. However, when considering the first pick-up structure 101 and the second pick-up structure 102 separately, the driving directions output by the two are opposite, which is because they are located on the opposite sides of the workpiece 20 instead of the same side. In each embodiment, without contradiction, the synchronous driving of the workpiece 20 to rotate by the first pick-up structure 101 and the second pick-up structure 102 is described overall, and will not be elaborated one by one in each embodiment.

[0050] Regarding the reference axis O1 described in each embodiment, it should be noted that in each embodiment of the present application, the workpiece 20 is configured to be rotatable within the field of view of the detector 210, so that various regions in the circumferential direction of the part to be inspected can be fully exposed to the detector 210, facilitating full and effective detection. Among them, the rotation axis of the workpiece 20 is the reference axis O1. At the same time, since the workpiece 20 includes multiple parts to be inspected, the present application also configures the first pick-up member 110 and the second pick-up member 120 to be translatable, so that any part to be inspected can be in a position aligned with the reference axis O1. It is easy to understand that, compared with eccentric rotation, when the part to be inspected is aligned with the reference axis O1, the part to be inspected can rotate concentrically with the reference axis O1, improving the uniformity of detection. Specifically, the rotation axis of the rotational motion output by the first driving module 130 and the rotation axis of the rotational motion output by the second driving module 140 coincide, and the coincident rotation axis is the reference axis O1. When the first pick-up member 110 and the second pick-up member 120 are translated, the reference axis O1 remains stationary.

[0051] Please refer to Figure 2 , as an example, the workpiece 20 includes a first base 21 and a second base 22. The second base 22 is connected to one side of the first base 21 in a cantilever shape. The first base 21 includes a body 21a and a rotating body 21b. The rotating body 21b is disposed on the body 21a, and the rotating body 21b is the part to be inspected of the workpiece 20. In each embodiment, the alignment of the part to be inspected with the reference axis O1 means that the central axis O2 of the rotating body 21b coincides with the reference axis O1. Since the workpiece 20 includes multiple rotating bodies 21b, the multiple rotating bodies 21b are distributed along the arrangement direction S1. Therefore, the first pick-up member 110 and the second pick-up member 120 translating synchronously along the arrangement direction S1 can switch the positions of the rotating bodies 21b, and any rotating body 21b can be in a position where its central axis O2 coincides with the reference axis O1, facilitating uniform detection.

[0052] The rotating body 21b included in the first base body 21 in this application is the part to be inspected. Therefore, this application mainly introduces the inspection of the workpiece 20 by the defect detection device 10 with the first base body 21 as the main object. However, it should be emphasized that this application does not limit the first base body 21 and the second base body 22 of the workpiece 20 to have differences in primary and secondary, functional superiority or inferiority, and importance.

[0053] Furthermore, since the second base body 22 is connected to one side of the first base body 21 in a cantilever shape, the stability of the connection between the second base body 22 and the first base body 21 is insufficient. Therefore, during the inspection of the rotating body 21b, there is a problem that the second base body 22 moves and blocks the rotating body 21b, or there is a risk that the second base body 22 breaks. In the defect detection device 10 provided in this application, the first pick-up member 110 can pick up the first base body 21, and the second pick-up member 120 can pick up the second base body 22, and the two can rotate synchronously around the reference axis O1. Therefore, during the process of rotating and inspecting the rotating body 21b, the first base body 21 and the second base body 22 always maintain a fixed relative position under the driving of the first pick-up member 110 and the second pick-up member 120, reducing the risk of the second base body 22 blocking the rotating body 21b or the second base body 22 breaking and being damaged, which is convenient for inspecting the rotating body 21b.

[0054] It is easy to understand that this application does not specifically limit the form of the rotating body 21b. The rotating body 21b can be a disc-shaped structure, a columnar structure, a ring-shaped structure, etc. The rotating body 21b can be integrally provided with the main body 21a to form the first base body 21, or can be separately provided from the main body 21a and be installed on the main body 21a.

[0055] Please continue to refer to Figure 1 , in one embodiment, the defect detection device 10 includes a bracket 300, and the pick-up assembly 100 is arranged on the bracket 300 and can be conveniently driven by the bracket 300 to drive the workpiece 20 to move.

[0056] In one embodiment, the first pick-up member 110 can be translated under the drive of the first drive module 130, that is, the first drive module 130 can not only drive the first pick-up member 110 to rotate, but also drive the first pick-up member 110 to translate. Similarly, the second pick-up member 120 can be translated under the drive of the second drive module 140, that is, the second drive module 140 can not only drive the second pick-up member 120 to rotate, but also drive the second pick-up member 120 to translate.

[0057] Please refer to Figures 4 to 6, in one embodiment, since the first driving module 130 is used to drive the first picking member 110 to translate and rotate, and the second driving module 140 is used to drive the second picking member 120 to translate and rotate, the driving required to be output by the first driving module 130 and the second driving module 140 is the same, and the two drive synchronously. Therefore, some or all of the components included in the second driving module 140 may be the same as some or all of the components included in the first driving module 130. Alternatively, since the first driving module 130 and the second driving module 140 pick up the workpiece 20 from opposite sides of the workpiece 20, some or all of the components included in the second driving module 140 may be a mirror structure of some or all of the components included in the first driving module 130. The plane perpendicular to the reference axis O1 and located between the first picking member 110 and the second picking member 120 can be used as the symmetry plane of the two.

[0058] Please refer to Figure 3 and Figure 4 , in one embodiment, the first driving module 130 includes a first rotation driver 131 and a first shift driver 132. The first shift driver 132 is connected to the first picking member 110 to drive the first picking member 110 to translate along the arrangement direction S1. The first rotation driver 131 is connected to the first shift driver 132 to drive the first shift driver 132 and the first picking member 110 to rotate around the reference axis O1.

[0059] Refer to Figure 5 and Figure 6 , the second driving module 140 includes a second rotation driver 141 and a second shift driver 142. The second shift driver 142 is connected to the second picking member 120 to drive the second picking member 120 to translate along the arrangement direction S1. The second rotation driver 141 is connected to the second shift driver 142 to drive the second shift driver 142 and the second picking member 120 to rotate around the reference axis O1.

[0060] It can be understood that the first rotation driver 131 and the second rotation driver 141 output motions synchronously so that the first picking member 110 and the second picking member 120 rotate synchronously. The first shift driver 132 and the second shift driver 142 output motions synchronously so that the first picking member 110 and the second picking member 120 translate synchronously.

[0061] Please refer to Figure 3 and Figure 4 , in combination with Figure 7, in one embodiment, the first pick-up member 110 is configured as a jaw for gripping a part of the workpiece 20 (i.e., the first base body 21), and picks up and fixes the first base body 21 in a gripping manner, facilitating driving the first base body 21 to rotate and translate. Further, the first pick-up member 110 can grip the body 21a to reduce the possible occlusion of the rotating body 21b. The first pick-up member 110 may include a first jaw portion 111, a second jaw portion 112, and a clamping driver 113. The clamping driver 113 is connected to the first jaw portion 111 and the second jaw portion 112 to drive the two to open and close for gripping the first base body 21.

[0062] Please refer to Figure 5 and Figure 6 , in one embodiment, the second pick-up member 120 is configured to adsorb and pick up another part of the workpiece 20, i.e., the second base body 22. The second pick-up member 120 can be used to pick up the unfixed component of the workpiece 20 (i.e., the second base body 22). The second base body 22 usually has mobility (e.g., is a flexible body) or has relatively thin, fine, or narrow structural features. Therefore, the second base body 22 is prone to shaking or breaking. Then, the second pick-up member 120 adsorbs and picks up the second base body 22, which can stably pick up the second base body 22 and drive the second base body 22 to rotate and translate. Of course, the second pick-up member 120 can also be configured to pick up the workpiece 20 by other means such as clamping. In this case, the second pick-up member 120 includes a pick-up driver (not shown in the figure, the same below), and the pick-up driver is used to provide the driving force for gripping the workpiece 20.

[0063] The above-mentioned drivers such as the first rotation driver 131, the second rotation driver 141, the first shift driver 132, the second shift driver 142, the clamping driver 113, and the pick-up driver can be configured to include but are not limited to cylinders, hydraulic cylinders, motors, and magnetostrictive drivers, etc.

[0064] Since the above-mentioned various types of drivers usually need to be connected to a power supply, a gas generator (such as an air pump) or a liquid generator (such as a hydraulic pump), etc., and the first pickup member 110 and the second pickup member 120 need to drive the workpiece 20 to rotate a full circle to achieve axial detection, the transmission cable of the driver is at risk of twisting, winding and winding during the full circle rotation. In order to reduce the phenomenon of twisting, winding and winding of the transmission cable, the first drive module 130 and the second drive module 140 can also include a slip ring structure (or a rotary joint), the slip ring structure includes two rotating parts, and the slip ring structure allows the two rotating parts to maintain the transmission drive medium (such as the current output by the power supply, the airflow output by the air pump, and the liquid output by the hydraulic pump) during the relative rotation. Taking the driving medium as current as an example, the slip ring structure is configured as an electric slip ring, which includes a rotating metal ring (conductive ring) and a stationary brush (such as a carbon brush or a precious metal contact), and the two form a conductive path through physical contact, and remain in contact even when they rotate relative to each other. The same is true when the driving medium is other media, so it will not be repeated.

[0065] For further information, see Figure 3 and Figure 4 In one embodiment, the first driving module 130 further includes a first transmission seat 133 and a first slip ring 134, wherein the first slip ring 134 is the slip ring structure as described above. The first transmission seat 133 is transmission-connected between the first rotation driver 131 and the first displacement driver 132, and the first transmission seat 133 has a first through hole 133a which is arranged through along the reference axis O1. The first slip ring 134 includes a first rotating portion 134a, a second rotating portion 134b and a first transmission member 134c, wherein the first rotating portion 134a is used to be connected to a driving source, and the second rotating portion 134b is connected to the first transmission member 134c. The first rotating portion 134a is rotationally connected to the second rotating portion 134b, and the first rotating portion 134a is in conduction with the second rotating portion 134b at any position during the rotation relative to the second rotating portion 134b to transmit the driving medium. The first transmission member 134c passes through the first through hole 133a and is connected to the first shift driver 132 and the first pickup member 110 to transmit the driving medium to the first shift driver 132 and the first pickup member 110. Since the second rotating portion 134b is configured to rotate relative to the first rotating portion 134a, when the first shift driver 132 and the first pickup member 110 rotate, the second rotating portion 134b can also rotate accordingly without being restricted by the position of the first rotating portion 134a, thereby reducing the possibility of winding and twisting of the first transmission member 134c.

[0066] Furthermore, in this embodiment, the first rotation driver 131 and the first displacement driver 132 are directly connected to each other in a relative configuration, and the hollow first transmission seat 133 is transmission-connected between the first rotation driver 131 and the first displacement driver 132, which can provide a layout space for the first transmission member 134c. Since the first through hole 133a is extended along the reference axis O1, the first transmission member 134c can pass through the first through hole 133a along the reference axis O1, thereby reducing the probability of the first transmission member 134c swinging and shaking during the rotation of the first pickup member 110, reducing the wear of the first transmission member 134c, and facilitating the transmission of the driving medium.

[0067] It can be understood that the driving medium transmitted by the first transmission member 134c can be adaptively designed according to the driving mode of each driver (i.e., the first shift driver 132 and the clamping driver 113, etc.) arranged on the side of the first transmission seat 133 close to the second pickup member 120. When the driving media required by each driver are different, the number of the first transmission members 134c can be multiple, and the multiple first transmission members 134c respectively transmit different driving media. For example, the multiple first transmission members 134c can include ventilation pipes and cables, etc. It should be emphasized that the first transmission member 134c is not limited to being connected to the driver. Other components located on the side of the first transmission seat 133 close to the second pickup member 120 and requiring transmission cables can also transmit the corresponding medium through the first transmission member 134c.

[0068] See also Figure 3 and Figure 4 In one embodiment, the first transmission seat 133 can be configured as a hollow reducer. The first transmission seat 133 includes a first connection portion 133b and a second connection portion 133c, the first connection portion 133b is connected to the first rotation driver 131, and the second connection portion 133c is connected to the first displacement driver 132. The first connection portion 133b and the second connection portion 133c are distributed in a direction intersecting with the reference axis O1, and the first through hole 133a penetrates the second connection portion 133c. In other words, along the reference axis O1, the first connection portion 133b and the second connection portion 133c are arranged in a staggered manner, and the second connection portion 133c is located on the reference axis O1, that is, the first connection portion 133b avoids the area where the reference axis O1 is located on the first transmission seat 133, for the first slip ring 134 to be arranged, so that the first transmission member 134c can penetrate the first through hole 133a along the reference axis O1.

[0069] Furthermore, a transmission structure (not shown, the same below) that is transmission-connected between the first connection portion 133b and the second connection portion 133c may be provided in the first transmission seat 133, so that the second connection portion 133c and the first connection portion 133b are arranged in a staggered manner along the reference axis O1. For example, the transmission structure may be configured as a bevel gear transmission.

[0070] Please continue to refer to Figure 3 and Figure 4 In one embodiment, the first shift driver 132 may cover one end of the first through hole 133a, making the first shift driver 132 closer to the reference axis O1, reducing the offset of the first shift driver 132 and the first pick-up member 110 relative to the reference axis O1, and reducing the eccentric wobbling that may occur during the rotation of the first shift driver 132 and the first pick-up member 110, which is convenient for detection. Further, the first driving module 130 further includes a first adapter plate 135. The opposite sides of the first adapter plate 135 are respectively connected to the first transmission seat 133 and the first shift driver 132. The first adapter plate 135 has a first notch 135a, and the first notch 135a communicates with the first through hole 133a for the first transmission member 134c to extend out of the first through hole 133a. Since the first adapter plate 135 is connected between the first transmission seat 133 and the first shift driver 132, and the first adapter plate 135 has a first notch 135a and the first notch 135a communicates with the first through hole 133a, it is convenient for the first transmission member 134c to be led out from the first through hole 133a on the basis of the position where the first shift driver 132 is close to the reference axis O1.

[0071] Please refer to Figure 4 In one embodiment, the second rotating part 134b and the second connecting part 133c rotate synchronously, that is, the second rotating part 134b rotates synchronously with the first adapter plate 135, the first shift driver 132 and the first pick-up member 110. An external driver may be configured to drive the second rotating part 134b and the second connecting part 133c to rotate synchronously. Alternatively, the first driving module 130 may also be configured to include a first connecting sleeve 136. The first connecting sleeve 136 is disposed through the first through hole 133a, and the first connecting sleeve 136 is drivingly connected between the first adapter plate 135 and the second rotating part 134b, so that the second rotating part 134b rotates synchronously with the first adapter plate 135. The first connecting sleeve 136 is hollow and communicates with the first notch 135a. The first transmission member 134c is disposed through the first connecting sleeve 136 and extends out through the first notch 135a to be connected to the first shift driver 132, the clamping driver 113, etc.

[0072] Please refer to Figure 5 and Figure 6In one embodiment, similar to the first driving module 130, the second driving module 140 further includes a second transmission seat 143 and a second slip ring 144, and the second slip ring 144 is also a slip ring structure as described above. The second transmission seat 143 is transmission-connected between the second rotation driver 141 and the second displacement driver 142, and the second transmission seat 143 has a second through hole 143a that is arranged through along the reference axis O1. The second slip ring 144 includes a third rotating portion 144a, a fourth rotating portion 144b and a second transmission member 144c, the third rotating portion 144a is used to connect with the driving source, and the fourth rotating portion 144b is connected with the second transmission member 144c. The third rotating portion 144a is rotationally connected with the fourth rotating portion 144b, and the third rotating portion 144a is connected with the fourth rotating portion 144b at any position during the rotation relative to the fourth rotating portion 144b to transmit the driving medium. The second transmission member 144c is provided with a second through hole 143a and is connected to the second shift driver 142 and the second pickup member 120 to transmit the driving medium to the second shift driver 142 and the second pickup member 120. Since the fourth rotating portion 144b connected to the second transmission member 144c can rotate relative to the third rotating portion 144a connected to the driving source, when the second shift driver 142 and the second pickup member 120 rotate, the fourth rotating portion 144b can also rotate accordingly, thereby reducing the probability of the second transmission member 144c being wound or twisted. Further, in this embodiment, the second rotation driver 141 is directly connected to the second shift driver 142 in a relative configuration, and a hollow second transmission seat 143 is provided as an intermediate connection structure to be transmission-connected between the second rotation driver 141 and the second shift driver 142, so as to provide a layout space for the second transmission member 144c. Since the second through hole 143a is extended along the reference axis O1, the second transmission member 144c can pass through the second through hole 143a along the reference axis O1, reducing the probability of the second transmission member 144c swinging and shaking during the rotation of the second picking member 120, reducing the wear of the second transmission member 144c, and facilitating the transmission of the driving medium.

[0073] It is understandable that the driving medium transmitted by the second transmission member 144c can be adaptively designed according to the driving mode of each driver (i.e., the second shift driver 142, etc.) arranged on the side of the second transmission seat 143 close to the second pickup member 120. When the driving media required by each driver are different, the number of second transmission members 144c can be multiple, and the multiple second transmission members 144c respectively transmit different driving media. For example, the multiple second transmission members 144c can include ventilation pipes and cables, etc. It should be emphasized that the second transmission member 144c is not limited to being connected to the driver. Other components located on the side of the second transmission seat 143 close to the first pickup member 110 and requiring transmission cables can also transmit the corresponding medium through the second transmission member 144c.

[0074] See alsoFigure 6 , in one embodiment, the second transmission seat 143 may also be configured as a hollow speed reducer. The second transmission seat 143 includes a third connection portion 143b and a fourth connection portion 143c. The third connection portion 143b is connected to the second rotary driver 141, and the fourth connection portion 143c is connected to the second displacement driver 142. The third connection portion 143b and the fourth connection portion 143c are distributed in a direction intersecting the reference axis O1, and the second through hole 143a penetrates through the fourth connection portion 143c. That is, along the reference axis O1, the third connection portion 143b and the fourth connection portion 143c are arranged in a staggered manner, and the fourth connection portion 143c is located on the reference axis O1, that is, the third connection portion 143b avoids the area where the reference axis O1 is located on the second transmission seat 143 for arranging the second slip ring member 144, facilitating the second transmission member 144c to penetrate into the second through hole 143a along the reference axis O1.

[0075] Furthermore, a transmission structure drivingly connected between the third connection portion 143b and the fourth connection portion 143c may be provided inside the second transmission seat 143, facilitating the staggered arrangement of the fourth connection portion 143c and the third connection portion 143b along the reference axis O1. For example, the transmission structure may be configured as a bevel gear transmission.

[0076] Please continue to refer to Figure 5 and Figure 6 , in one embodiment, the second displacement driver 142 may cover one end of the second through hole 143a, making the second displacement driver 142 closer to the reference axis O1, reducing the offset amount of the second displacement driver 142 and the second pick-up member 120 relative to the reference axis O1, and reducing the eccentric shaking that may occur during the rotation of the second displacement driver 142 and the second pick-up member 120, facilitating detection. Furthermore, the second drive module 140 further includes a second adapter plate 145. The opposite sides of the second adapter plate 145 are respectively connected to the second transmission seat 143 and the second displacement driver 142. The second adapter plate 145 has a second notch 145a, and the second notch 145a communicates with the second through hole 143a for the second transmission member 144c to extend out of the second through hole 143a. The second adapter plate 145 with the second notch 145a is connected between the second transmission seat 143 and the second displacement driver 142, facilitating the second transmission member 144c to be led out of the second through hole 143a on the basis of satisfying the position where the second displacement driver 142 is close to the reference axis O1.

[0077] Please refer to Figure 6, in one embodiment, the fourth rotating part 144b rotates synchronously with the fourth connecting part 143c, that is, the fourth rotating part 144b rotates synchronously with the second adapter plate 145, the second shifting driver 142 and the second picking member 120. An external driver can be configured to drive the fourth rotating part 144b to rotate synchronously with the fourth connecting part 143c. Alternatively, the second driving module 140 can also be configured to include a second connecting sleeve 146. The second connecting sleeve 146 is disposed through the second through hole 143a, and the second connecting sleeve 146 is drivingly connected between the second adapter plate 145 and the fourth rotating part 144b, so that the fourth rotating part 144b rotates synchronously with the second adapter plate 145. The second connecting sleeve 146 is hollow and communicates with the second notch 145a. The second transmission member 144c is disposed through the second connecting sleeve 146 and extends out through the second notch 145a to be connected to the second shifting driver 142 and the like.

[0078] Please refer to again Figure 1 , in one embodiment, in the first driving module 130, it can be that the first transmission seat 133 is connected to the bracket 300, and other components are mounted on the bracket 300 through the first transmission seat 133. Of course, the first rotating driver 131 and the first slip ring member 134 can also be connected to the bracket 300. In the second driving module 140, it can be that the second transmission seat 143 is connected to the bracket 300, and other components are mounted on the bracket 300 through the second transmission seat 143. Of course, the second rotating driver 141 and the second slip ring member 144 can also be connected to the bracket 300.

[0079] In one embodiment, the arrangement direction S1 is perpendicular to the reference axis O1.

[0080] Please refer to Figure 7 and in combination with Figure 4 , in one embodiment, the picking assembly 100 further includes a first connecting seat 137 and a first adjusting member 138. The first connecting seat 137 is connected between the first shifting driver 132 and the first picking member 110. The first adjusting member 138 is movably disposed on the first connecting seat 137 along the adjusting direction S2 and abuts against the first picking member 110 to adjust the position of the first picking member 110 in the adjusting direction S2, so that it has a structural basis for making the central axis O2 of the rotating member coincide with the reference axis O1. The adjusting direction S2 is perpendicular to the reference axis O1, and the adjusting direction S2 is perpendicular to the arrangement direction S1.

[0081] Please refer to Figure 8 and in combination with Figure 6, in one embodiment, similar to the first picking structure 101, the picking assembly 100 further includes a second connecting seat 147 and a second adjusting member 148. The second connecting seat 147 is connected between the second shifting driver 142 and the second picking member 120. The second adjusting member 148 is also movably disposed on the second connecting seat 147 along the displacement direction S2 and abuts against the second picking member 120 to adjust the position of the second picking member 120 in the displacement direction S2, so as to have a structural basis for making the central axis O2 of the rotating member coincide with the reference axis O1.

[0082] The first adjusting member 138 and the second adjusting member 148 can be configured as bolts. The first adjusting member 138 is in threaded cooperation with the first connecting seat 137 and abuts against the first picking member 110. The position of the first picking member 110 in the displacement direction S2 is adjusted by screwing the first adjusting member 138. The second adjusting member 148 is in threaded cooperation with the second connecting seat 147 and abuts against the second picking member 120. The position of the second picking member 120 in the displacement direction S2 is adjusted by screwing the second adjusting member 148.

[0083] Please refer to Figure 7 , and in combination with Figure 9 , in one embodiment, at least one of the sides of the first claw portion 111 and the second claw portion 112 facing each other is recessed with a limiting groove 114. The limiting groove 114 is used to accommodate a part of the structure of the first base body 21 clamped by the first picking member 110, that is, the limiting groove 114 is used to accommodate a part of the structure of the body 21a, so that the central axis O2 of the rotating member coincides with the reference axis O1 and is maintained at this position.

[0084] Furthermore, the first picking member 110 includes a positioning block 115. The positioning block 115 is disposed outside one of the first claw portion 111 and the second claw portion 112 and extends towards the other. The positioning block 115 is used to abut against the first base body 21 to support the first base body 21, reduce the probability of the first base body 21 shaking and skewing during rotation and translation, and improve its position stability.

[0085] Please refer to again Figure 8 , in one embodiment, the second picking member 120 has a receiving groove 121 for placing the second base body 22. A plurality of through holes (not shown in the figure, the same below) are provided in the second picking member 120. The plurality of through holes are used to communicate with an air flow generator through the second transmission member 144c. The plurality of through holes form an adsorption port 122 on the bottom wall of the receiving groove 121. The adsorption port 122 is used to adsorb the second base body 22 by being blocked by the second base body 22.

[0086] Please refer to Figure 10, in one embodiment, the defect detection device 10 further includes a positioning structure 400, and the positioning structure 400 is disposed on the bracket 300. The positioning structure 400 is used to position the workpiece 20 so that the workpiece 20 has a definite position. The picking component 100 is used to pick up the workpiece 20 positioned by the positioning structure 400, that is, the positioning structure 400 positions the workpiece 20 before the picking component 100 picks up the workpiece 20. Thus, after the picking component 100 picks up the workpiece 20, it can adjust the position of the workpiece 20 based on preset parameters to make the central axis O2 of the rotating body 21b coincide with the reference axis O1.

[0087] Please refer to Figure 10 and Figure 11 , the positioning structure 400 has a positioning groove 411, and the positioning groove 411 extends along the arrangement direction S1 for the workpiece 20 to be inserted and placed along the arrangement direction S1. The bottom wall of the positioning groove 411 abuts against the workpiece 20 in the arrangement direction S1 to position the workpiece 20 in the arrangement direction S1 and determine the position of the part to be inspected (i.e., the rotating body 21b) in the arrangement direction S1, facilitating subsequent adjustment of the central axis O2 of each rotating body 21b to coincide with the reference axis O1. The first picking member 110 and the second picking member 120 are used to pick up the workpiece 20 (i.e., the positioned workpiece 20) that abuts against the bottom wall of the positioning groove 411.

[0088] It is easy to understand that since the rotating body 21b is disposed on the main body 21a, the first base body 21 can be configured to be inserted into the positioning groove 411 along the arrangement direction S1 to position the first base body 21, facilitating the rotating body 21b to have a definite position in the arrangement direction S1. The first picking member 110 is used to pick up the first base body 21 (i.e., the positioned first base body 21) that abuts against the bottom wall of the positioning groove 411, and the second picking member 120 is used to pick up the second base body 22 after the first base body 21 abuts against the bottom wall of the positioning groove 411.

[0089] Please continue to refer to 10 and Figure 11 , the positioning structure 400 includes a reference table 410 and a lifting component 420. The reference table 410 is used to carry the workpiece 20, and the positioning groove 411 is opened on the reference table 410. The lifting component 420 is connected to the reference table 410 to drive the reference table 410 to approach the first picking member 110 and the second picking member 120, so that the workpiece 20 carried by the reference table 410 moves to the position between the first picking member 110 and the second picking member 120 for the first picking member 110 and the second picking member 120 to pick up. The lifting component 420 can also drive the reference table 410 away from the first picking member 110 and the second picking member 120 to avoid the picking component 100 after the workpiece 20 is picked up by the picking component 100, facilitating the picking component 100 to drive the workpiece 20 to move to complete the detection.

[0090] Please refer to Figure 11 , in combination withFigure 1 In one embodiment, the interval between the first pick-up member 110 and the second pick-up member 120 is denoted as the material receiving interval 103, and the positioning structure 400 is aligned with the material receiving interval 103 along the arrangement direction S1. Moreover, the lifting member 420 lifts the reference table 410 along the arrangement direction S1, that is, regardless of before and after lifting, the reference table 410 is always aligned with the material receiving interval 103. The reference table 410 further includes a supporting table 412, and the supporting table 412 is used to support the second base body 22 when the first base body 21 is inserted into the positioning groove 411, reducing the probability of unexpected movement of the second base body 22 during the positioning process and facilitating the accurate picking of the second base body 22.

[0091] Furthermore, the lifting member 420 can drive the reference table 410 to move to the lifting position and the material avoiding position. When the reference table 410 is in the lifting position, the workpiece 20 supported by the reference table 410 is within the material receiving interval 103. And when the reference table 410 is in the lifting position, the top surface of the supporting table 412 is coplanar with one side surface of the second pick-up member 120 for supporting the workpiece 20, and the two jointly support the second base body 22. Of course, in some embodiments, the supporting table 412 can also independently support the second base body 22, and can be adaptively designed according to the size of the material receiving interval 103. When the reference table 410 is in the material avoiding position, there is a preset interval between the reference table 410 and the first pick-up member 110 and the second pick-up member 120 in the arrangement direction S1, providing an unobstructed movement space for the first pick-up member 110 and the second pick-up member 120.

[0092] It can be understood that the workpiece 20 can be automatically loaded onto the reference table 410 by a manipulator or manually loaded onto the reference table 410. Combining Figure 1 Furthermore, since the first picking structure 101 and the second picking structure 102 pick two parts of the workpiece 20 from opposite sides respectively, the positioning structure 400 and the loading position can be distributed on the other two vertically arranged sides. That is to say, the manipulator (or manual labor) can load the workpiece 20 onto the reference table 410 from the other side opposite to the positioning structure 400, and the manipulator releases the workpiece 20 after the picking assembly 100 picks up the workpiece 20. With such a setting, during the entire process of the workpiece 20 being loaded onto the positioning structure 400 and being picked up by the picking assembly 100, the workpiece 20 is always in a limited state, thus ensuring the position accuracy of the workpiece 20 and facilitating the picking assembly 100 to adjust the part to be inspected of the workpiece 20 to be aligned with the reference axis O1, that is, to adjust the position of the rotating body 21b of the workpiece 20 so that its central axis O2 coincides with the reference axis O1.

[0093] Please refer to Figure 12 and Figure 13 and in combination with Figure 1, in one embodiment, in the direction of the vertical reference axis O1, the positioning structure 400 is located below the picking component 100 and aligned with the material receiving interval 103. The defect detection device 10 further includes a shifting structure 500 and a handling member 600. The handling member 600 is used to pick up the workpiece 20. The detection module 200 and the handling member 600 are arranged on opposite sides of the shifting structure 500 along the first direction L1. The shifting structure 500 is mounted on the picking component 100 and is movable along the first direction L1 to move to a position where the detector 210 is aligned with the material receiving interval 103, facilitating the detector 210 to detect the workpiece 20 located in the material receiving interval 103. The shifting structure 500 can also move along the first direction L1 to a position where the handling member 600 is aligned with the material receiving interval 103, for the handling member 600 to place the workpiece 20 on the positioning structure 400 or pick up the workpiece 20 from the positioning structure 400. Further, the opening of the positioning groove 411 faces upward, and the shifting structure 500 can directly place the workpiece 20 into the positioning groove 411 or take out the workpiece 20 from the positioning groove 411.

[0094] The handling member 600 is used to release the workpiece 20 after the picking component 100 picks up the workpiece 20 supported by the positioning structure 400, so that during the entire process of the workpiece 20 being loaded onto the positioning structure 400 by the handling member 600 and then picked up by the picking component 100, the workpiece 20 is always in a limited state, ensuring the position accuracy of the workpiece 20. It can be understood that in this embodiment, the first picking member 110 and the second picking member 120 are arranged on both sides of the material receiving interval 103 along the reference axis O1, the positioning structure 400 is located below the material receiving interval 103 in the direction of the vertical reference axis O1 (i.e., the arrangement direction S1), and the handling member 600 is located above the material receiving interval 103 in the direction of the vertical reference axis O1 (i.e., the arrangement direction S1) when aligned with the material receiving interval 103. The various regions outside the material receiving interval 103 (i.e., the position of the workpiece 20 during detection) are reasonably utilized, improving the position accuracy of the workpiece 20 during handling and facilitating the accurate detection of the workpiece 20 while meeting the requirements of motion detection.

[0095] Please refer to again Figure 12 , in one embodiment, the defect detection device 10 includes a plurality of picking components 100, and the plurality of picking components 100 are arranged at intervals along the second direction L2, and the second direction L2 is perpendicular to the first direction L1. The detection module 200 includes a plurality of detectors 210, and the plurality of detectors 210 are arranged in the second direction L2. The plurality of detectors 210 can correspond to the plurality of picking components 100 one by one to detect the workpieces 20 picked up by the respective picking components 100.

[0096] Alternatively, in another embodiment, a plurality of detectors 210 are arranged at intervals in the second direction L2, and the detectors 210 are movably arranged along the second direction L2 so as to move to align with different picking components 100. Thus, one detector 210 can detect the workpieces 20 picked up by two or more adjacent picking components 100. When the detection requirements are met, the number of detectors 210 is relatively reduced, and the cost of the defect detection device 10 can be reduced. Further, the number of the picking components 100 can be 8, and the number of the detectors 210 can be 4. The 4 detectors 210 can detect the workpieces 20 picked up by the picking components 100 arranged at the first, third, fifth, and seventh positions. After shifting along the second direction L2, the 4 detectors 210 detect the workpieces 20 picked up by the picking components 100 arranged at the second, fourth, sixth, and eighth positions. Of course, the numbers of the picking components 100 and the detectors 210 can also be adjusted to other numbers according to requirements, as well as other corresponding relationships, which will not be elaborated here one by one.

[0097] In one embodiment, a plurality of picking components 100 can be arranged at intervals on the bracket 300. A plurality of detectors 210 can be arranged at intervals on the shifting structure 500.

[0098] In one embodiment, the number of the positioning structures 400 is the same as that of the picking components 100, and they are respectively arranged below the material receiving intervals 103 of the respective picking components 100 in a one-to-one correspondence.

[0099] Please refer to Figure 12 , in one embodiment, the defect detection device 10 further includes a base 700 and a support 800, and the bracket 300 and the support 800 are arranged on the base 700. The shifting structure 500 is arranged on the support 800, and the shifting structure 500 is erected by the support 800 and straddles a plurality of picking components 100. Combining Figure 13 , further, the defect detection device 10 further includes a first driver 900. The shifting structure 500 is slidably matched with the support 800, and the first driver 900 is connected to the shifting structure 500 to drive the shifting structure 500 to slide relative to the support 800 along the first direction L1.

[0100] Please refer to Figure 14 , the shifting structure 500 includes a gantry 510, a first carrier plate 520, and a second driver 530. The second driver 530 and the first carrier plate 520 are arranged on the gantry 510, and the first carrier plate 520 is movable relative to the gantry 510. The detection module 200 is arranged on the first carrier plate 520, and the second driver 530 is connected to the first carrier plate 520 to drive the first carrier plate 520 and the detection module 200 arranged on the first carrier plate 520 to translate along the second direction L2 so that each detector 210 moves to the position corresponding to the workpiece 20 picked up by a different picking component 100.

[0101] Further, the shifting structure 500 further includes a plurality of second carrier boards 540 and a plurality of third drivers 550. The plurality of third drivers 550 are all disposed on the first carrier board 520, and the plurality of third drivers 550 are connected to the plurality of second carrier boards 540 in a one-to-one correspondence to drive each second carrier board 540 to move independently along the third direction L3. A plurality of detectors 210 are disposed on the plurality of second carrier boards 540 in a one-to-one correspondence to move along the third direction L3 with the second carrier boards 540 to adjust the relative position between the detectors 210 and the pickup assembly 100. The third direction L3 is perpendicular to the first direction L1 and perpendicular to the second direction L2. The third direction L3 may be parallel to the arrangement direction S1.

[0102] Please refer to Figure 13 , in one embodiment, the shifting structure 500 further includes a third carrier board 560 and a fourth driver 570. The handling member 600 is disposed on the third carrier board 560. The fourth driver 570 and the third carrier board 560 are both disposed on the gantry 510. In the first direction L1, the third carrier board 560 and the first carrier board 520 are respectively located on opposite sides of the gantry 510. The fourth driver 570 is connected to the third carrier board 560 to drive the third carrier board 560 to move along the third direction L3. Further, the number of the handling members 600 is plural, and the plurality of handling members 600 are movably disposed on the third carrier board 560 along the second direction L2. The shifting structure 500 further includes a fifth driver 580 for driving the plurality of handling members 600 to move along the second direction L2. With such an arrangement, the handling member 600 can move flexibly to various positions, facilitating the loading and unloading of the workpiece 20.

[0103] It is easy to understand that in other embodiments, the shifting structure 500 may also be configured to drive the detector 210 and the handling member 600 to move on three mutually orthogonal axes in space in other forms.

[0104] An embodiment of the present application further provides a detection device. The detection device includes the defect detection device 10 as described in each of the embodiments. Therefore, the detection device also has the beneficial effects of the defect detection device as described in each of the embodiments.

[0105] 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 recorded in this specification.

[0106] The above-described embodiments merely represent several implementation manners of the present application. The description thereof is relatively specific and detailed, but it should not be construed as a limitation to 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 fall within 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 defect detection device, characterized in that, Used to detect a part to be inspected of a workpiece, wherein a plurality of the parts to be inspected are distributed along an arrangement direction, and the defect detection device comprises: A picking assembly, comprising a first picking member and a second picking member arranged facing each other and spaced apart, wherein the first picking member and the second picking member respectively pick up different parts of the workpiece, the first picking member and the second picking member can rotate synchronously around a reference axis, and the first picking member and the second picking member can also translate synchronously along the arrangement direction to drive the workpiece to move to a position where any of the parts to be inspected is aligned with the reference axis, and the arrangement direction intersects with the reference axis; The detection module includes a detector, wherein the detector is used to face the workpiece picked up by the picking component.

2. The defect detection device according to claim 1, wherein, The picking assembly also includes a first driving module and a second driving module, the first driving module is connected to a side of the first picking member away from the second picking member, the second driving module is connected to a side of the second picking member away from the first picking member, the first driving module and the second driving module drive the first picking member and the second picking member to rotate synchronously around the reference axis.

3. The defect detection device according to claim 2, characterized in that, The first driving module includes a first rotation driver and a first displacement driver. The first displacement driver is connected to the first picking member to drive the first picking member to translate along the arrangement direction. The first rotation driver is connected to the first displacement driver to drive the first displacement driver and the first picking member to rotate around the reference axis.

4. The defect detection device according to claim 3, wherein The first drive module further comprises a first transmission seat and a first slip ring, the first transmission seat is transmission-connected between the first rotation driver and the first displacement driver, and the first transmission seat has a first through hole penetrating along the reference axis; The first slip ring comprises a first transmission member, and a first rotating part and a second rotating part rotatably connected, the first rotating part is used to be connected to a driving source, the second rotating part is connected to the first transmission member, the first rotating part is connected to the second rotating part at any position during the rotation relative to the second rotating part to transmit a driving medium, the first transmission member passes through the first through hole and is connected to the first shift driver and the first pickup member to transmit the driving medium to the first shift driver and the first pickup member.

5. The defect detection device according to claim 4, wherein The first driving module also includes a first adapter plate, the opposite sides of which are respectively connected to the first transmission seat and the first shift driver, and the first adapter plate has a first notch, which is connected to the first through hole to allow the first transmission member to extend out of the first through hole.

6. The defect detection device according to claim 5, characterized in that, The first driving module also includes a first connecting sleeve, the first connecting sleeve is inserted into the first through hole, the first connecting sleeve is transmission-connected between the first adapter plate and the second rotating part, and the first transmission member is inserted into the first connecting sleeve.

7. The defect detection device according to any one of claims 2 to 6, characterized in that, Some or all of the components included in the second driving module are the same as some or all of the components included in the first driving module; or Some or all of the components included in the second driving module are mirror structures of some or all of the components included in the first driving module.

8. The defect detection device according to claim 1, wherein The arrangement direction is perpendicular to the reference axis.

9. The defect detection device according to claim 1, characterized in that, It further includes a positioning structure having a positioning groove extending along the arrangement direction for the workpiece to be inserted and placed along the arrangement direction. The bottom wall of the positioning groove abuts against the workpiece in the arrangement direction, and the first picking member and the second picking member are used to pick up the workpiece abutting against the bottom wall of the positioning groove.

10. The defect detection device according to claim 9, wherein, The positioning structure includes a reference table and a lifting member. The reference table is used to carry the workpiece, and the positioning groove is formed in the reference table. The lifting member is connected to the reference table to drive the reference table close to the first picking member and the second picking member, so that the workpiece carried by the reference table moves to a position between the first picking member and the second picking member; and to drive the reference table away from the first picking member and the second picking member.

11. The defect detection device according to claim 1, wherein It further includes a positioning structure, a shifting structure and a handling member. The positioning structure is used to position the workpiece. The picking assembly is used to pick up the workpiece positioned by the positioning structure. The interval between the first picking member and the second picking member is a material receiving interval. In a direction perpendicular to the reference axis, the positioning structure is located below the picking assembly and is aligned with the material receiving interval. The handling member is used to pick up the workpiece. The detection module and the handling member are arranged on opposite sides of the shifting structure along a first direction. The shifting structure is mounted on the picking assembly and is movable along the first direction to move to a position where the detector is aligned with the material receiving interval; and to move to a position where the handling member is aligned with the material receiving interval for the handling member to place the workpiece on the positioning structure or take the workpiece away from the positioning structure. The handling member is used to release the workpiece after the picking assembly picks up the workpiece supported by the positioning structure.

12. The defect detection device according to claim 1, wherein The first picking member is configured as a jaw for clamping a part of the workpiece; and / or The second picking member is configured to adsorb and pick up another part of the workpiece.

13. The defect detection device according to claim 1, wherein, The defect detection device includes a plurality of picking assemblies arranged at intervals along a second direction. The detection module includes a plurality of detectors arranged in the second direction. A plurality of the detectors correspond to a plurality of the picking assemblies one by one. Or A plurality of the detectors are arranged at intervals in the second direction, and the detectors are movably arranged along the second direction to move to a position aligned with different picking assemblies.

14. A detection device, characterized in that, The detection equipment includes the defect detection device according to any one of claims 1 to 13.

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