Detection system and detection method

Abstract

The invention provides a detection system and method, and the system comprises a feeding device which comprises a first transferring mechanism, a first transferring mechanism, a first carrying mechanism and a first conveying mechanism, the first transferring mechanism is used for transferring a target object, and the target object comprises a bearing part and a target part disposed in the bearing part; the first carrying mechanism is used for carrying a target object to a position opposite to the first conveying mechanism, and the first transferring mechanism is used for transferring the target object to be detected to the first conveying mechanism according to the first acquisition information; the detection device comprises a second conveying mechanism, a second transferring mechanism and a detection mechanism, the second conveying mechanism is used for conveying the target piece, and the second transferring mechanism is used for transferring the target piece to be detected to the detection mechanism according to second collection information and transferring the detected target piece meeting the target condition to the second conveying mechanism; the discharging device is used for collecting the target pieces meeting the target conditions and placing the target pieces in the empty bearing pieces.

Description

Technical Field

[0001] This disclosure relates to the field of detection technology, and in particular to a detection system and detection method. Background Technology

[0002] Electronic devices are widely used in various fields, and the motherboard is an important component of electronic devices. The motherboard needs to be tested before assembling electronic devices.

[0003] In related technologies, placing the motherboard to be tested on the testing instrument and picking up and putting away the motherboard after testing usually requires manual intervention, which is labor-intensive for operators and has poor testing efficiency. Summary of the Invention

[0004] In view of the above problems, this disclosure provides a detection system and detection method.

[0005] The first aspect of this disclosure provides a detection system, comprising:

[0006] The feeding device, detection device, and unloading device are arranged sequentially.

[0007] The feeding device includes a first transfer mechanism, a first transfer mechanism, a first handling mechanism, and a first conveying mechanism. The first transfer mechanism is used to transfer the target object, which includes a carrier and a target piece placed inside the carrier. The first handling mechanism is used to move the target object on the first transfer mechanism to a position opposite to the first conveying mechanism. The first transfer mechanism is used to transfer the target piece to be detected onto the first conveying mechanism according to the first collected information.

[0008] The detection device includes a second conveying mechanism, a second transfer mechanism, and a detection mechanism. The second conveying mechanism is used to convey the target component. The detection mechanism is used to detect the target component to determine whether the target component meets the target conditions. The second transfer mechanism is used to transfer the target component to be detected to the detection mechanism according to the second collected information and to transfer the target component that meets the target conditions after detection to the second conveying mechanism.

[0009] The feeding device is used to collect the target parts that meet the target conditions and to place the target parts into an empty carrier.

[0010] According to embodiments of this disclosure, the first transfer mechanism includes:

[0011] A first conveying component is used to convey the target object along a first direction;

[0012] The second conveying component is disposed in the conveying direction of the first conveying component and is used to convey the target object along a second direction, wherein the second direction is set at an angle to the first direction.

[0013] According to embodiments of this disclosure, the feeding device further includes a first lifting mechanism, the first lifting mechanism comprising:

[0014] Lifting components;

[0015] A support frame, connected to the lifting component, the lifting component being used to drive the support frame to move in a third direction; and

[0016] The third conveying component is mounted on the support frame and is used to carry the target object;

[0017] When the first conveying component conveys the target object to the first target position along the first direction, the conveying surface of the second conveying component moves along the third direction to be coplanar with the conveying surface of the first conveying component, and the conveying surface of the third conveying component moves along the third direction to be coplanar with the conveying surface of the second conveying component. The second conveying component receives the target object at the first target position and conveys the target object onto the third conveying component.

[0018] The first conveying mechanism is used to move the carrier on the third conveying component to a position opposite to the first conveying mechanism.

[0019] According to an embodiment of this disclosure, the third conveying component is used to carry a plurality of stacked carriers, a plurality of target components are placed inside the carriers, and the lifting component is used to lift the plurality of carriers sequentially in the vertical direction to a second target position.

[0020] The first conveying mechanism is used to move the carrier at the second target position to a position opposite to the first conveying mechanism.

[0021] According to an embodiment of this disclosure, the first collected information includes image information of the target object. The first transfer mechanism determines the position information of the carrier and the position information of the target object relative to the carrier based on the image information, and transfers the target object to be detected onto the first conveying mechanism.

[0022] According to embodiments of this disclosure, the detection device further includes:

[0023] A first image acquisition unit is located at the movable end of the second transfer mechanism and is used to acquire first image information of the target component on the second conveying mechanism. The second transfer mechanism grasps the target component based on the first image information.

[0024] The second image acquisition unit is located on one side of the second conveying mechanism and is used to acquire second image information of the target part grasped by the second transfer mechanism. The second transfer mechanism corrects the position of the target part based on the second image information and transfers the corrected target part to the detection mechanism. The second acquisition information includes the first image information and the second image information.

[0025] The material storage mechanism is provided in contrast to the second transfer mechanism for collecting target parts that do not meet the target conditions.

[0026] According to embodiments of this disclosure, the unloading device includes a second transfer mechanism, a second handling mechanism, a third transfer mechanism, and a third conveying mechanism;

[0027] The conveying surface of the third conveying mechanism and the conveying surface of the second conveying mechanism are coplanar, and the third conveying mechanism is used to receive the target parts that meet the target conditions after being detected on the second conveying mechanism;

[0028] The third transfer mechanism is used to transfer the target piece on the third conveying mechanism to the carrier held by the second handling mechanism according to the third collected information. The second handling mechanism is used to place the carrier carrying the target piece on the second transfer mechanism. The third collected information includes image information of the target piece.

[0029] The second transfer mechanism is used to transfer the carrier containing the target part to the unloading area.

[0030] According to an embodiment of this disclosure, the unloading device further includes a second lifting mechanism, which is disposed between the third conveying mechanism and the second transfer mechanism;

[0031] The second transport mechanism is used to place the carrier onto the second lifting mechanism;

[0032] The second lifting mechanism is used to transfer multiple carriers carrying the target component to the second transfer mechanism.

[0033] According to an embodiment of this disclosure, the feeding device further includes a first target conveyor line, which is disposed below the first conveying mechanism, and the first handling mechanism is used to place the empty carrier on the first target conveyor line.

[0034] The detection device further includes a second target conveyor line, which is located below the second conveyor mechanism and is connected end to end to the first target conveyor line;

[0035] The feeding device also includes a third target conveyor line, which is located below the third conveying mechanism of the feeding device and is connected end to end to the second target conveyor line.

[0036] The first target conveyor line is used to convey the empty carrier to the second target conveyor line, and the second target conveyor line is used to convey the empty carrier to the third target conveyor line;

[0037] The second conveying mechanism of the unloading device is used to clamp the carrier above the third target conveyor line and move the empty carrier to a position opposite to the third conveying mechanism.

[0038] A second aspect of this disclosure provides a detection method, comprising:

[0039] Acquire first collection information of the target object, and transfer the target object to the first conveying mechanism based on the first collection information;

[0040] Acquire second acquisition information of the target component, and transfer the target component to the testing mechanism based on the second acquisition information;

[0041] Obtain the test results from the testing organization to determine whether the target component meets the target conditions;

[0042] Based on the test results, the target part that meets the target conditions is transported to the unloading device. Attached Figure Description

[0043] To gain a more complete understanding of this disclosure and its advantages, reference will now be made to the following description taken in conjunction with the accompanying drawings, wherein:

[0044] Figure 1 A schematic front view of a detection system according to an embodiment of the present disclosure is shown;

[0045] Figure 2 A top view of a detection system according to an embodiment of the present disclosure is shown schematically;

[0046] Figure 3 A schematic diagram of a feeding device according to an embodiment of the present disclosure is shown;

[0047] Figure 4 A second schematic diagram of a feeding device according to an embodiment of the present disclosure is shown;

[0048] Figure 5 A schematic diagram of one of the structures of a first transfer mechanism according to an embodiment of the present disclosure is shown;

[0049] Figure 6A second schematic diagram of the structure of the first transfer mechanism according to an embodiment of the present disclosure is shown.

[0050] Figure 7 A schematic diagram of the structure of a first conveying mechanism according to an embodiment of the present disclosure is shown;

[0051] Figure 8 A schematic diagram of the structure of a first transfer mechanism according to an embodiment of the present disclosure is shown.

[0052] Figure 9 A schematic diagram of the structure of a first conveying mechanism according to an embodiment of the present disclosure is shown;

[0053] Figure 10 A schematic diagram illustrating a first lifting mechanism carrying a target object according to an embodiment of the present disclosure is shown.

[0054] Figure 11 A schematic diagram of the structure of a first lifting mechanism according to an embodiment of the present disclosure is shown.

[0055] Figure 12 A top view of a detection apparatus according to an embodiment of the present disclosure is shown schematically;

[0056] Figure 13 A partial schematic diagram of a detection apparatus according to an embodiment of the present disclosure is shown schematically;

[0057] Figure 14 A schematic diagram of a feeding device according to an embodiment of the present disclosure is shown;

[0058] Figure 15 A schematic diagram of the structure of a second conveying mechanism according to an embodiment of the present disclosure is shown.

[0059] Figure 16 A schematic diagram of a first target conveyor line according to an embodiment of the present disclosure is shown;

[0060] Figure 17 A flowchart illustrating a detection method according to an embodiment of the present disclosure is shown schematically.

[0061] Figure label:

[0062] 10. Feeding device; 11. First transfer mechanism; 111. First conveying component; 112. Second conveying component; 12. First handling mechanism; 121. First moving component; 122. First clamping component; 13. First transfer mechanism; 131. Second moving component; 1311. First sliding module; 1312. Second sliding module; 1313. Third sliding module; 132. First transfer component; 133. First camera; 14. First conveying mechanism; 141. First conveyor belt; 15. First lifting mechanism; 151. Mounting frame; 152. Lifting component; 153. Bearing frame; 154. Third conveying component; 16. First target conveying line; 2 0. Detection device; 21. Second conveying mechanism; 211. Second conveyor belt; 22. Second transfer mechanism; 221. Robotic arm; 222. Adsorption component; 223. First image acquisition unit; 224. Second image acquisition unit; 23. Detection mechanism; 24. Material storage mechanism; 25. Second target conveying line; 30. Unloading device; 31. Second transfer mechanism; 32. Second handling mechanism; 321. Third moving component; 322. Second clamping component; 33. Third transfer mechanism; 34. Third conveying mechanism; 341. Third conveyor belt; 35. Second lifting mechanism; 36. Third target conveying line; 40. Target object; 41. Bearing component; 42. Target component. Detailed Implementation

[0063] Embodiments of the present disclosure will now be described with reference to the accompanying drawings. However, it should be understood that these descriptions are exemplary only and are not intended to limit the scope of the disclosure. Furthermore, descriptions of well-known structures and technologies are omitted in the following description to avoid unnecessarily obscuring the concepts of the present disclosure.

[0064] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit this disclosure. The terms “comprising,” “including,” etc., as used herein indicate the presence of the stated features, steps, operations, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, or components.

[0065] All terms used herein (including technical and scientific terms) have the meanings commonly understood by those skilled in the art, unless otherwise defined. It should be noted that the terms used herein are to be interpreted in a manner consistent with the context of this specification, and not in an idealized or overly rigid way.

[0066] The following combination Figures 1 to 16 The detection system of this disclosure is described.

[0067] In embodiments of this disclosure, such as Figure 1 and Figure 2 As shown, the detection system includes a feeding device 10, a detection device 20, and a discharging device 30 arranged sequentially. Figure 3 and Figure 4 As shown, the loading device 10 includes a first transfer mechanism 11, a first transfer loading mechanism 13, a first handling mechanism 12, and a first conveying mechanism 14. The first transfer mechanism 11 is used to transfer the target object 40, which includes a carrier and a target component placed within the carrier. The first handling mechanism 12 is used to move the target object 40 from the first transfer mechanism 11 to a position opposite to the first conveying mechanism 14. The first transfer loading mechanism 13 is used to transfer the target component to be tested onto the first conveying mechanism 14 according to the first collected information. Figure 12 and Figure 13 As shown, the detection device 20 includes a second conveying mechanism 21, a second transfer mechanism 22, and a detection mechanism 23. The second conveying mechanism 21 is used to convey the target part, the detection mechanism 23 is used to detect the target part to determine whether the target part meets the target conditions, and the second transfer mechanism 22 is used to transfer the target part to be detected to the detection mechanism 23 according to the second collected information, and to transfer the detected target part that meets the target conditions to the second conveying mechanism 21. The unloading device 30 is used to collect the target parts that meet the target conditions and to place the target parts into an empty carrier.

[0068] The feeding device 10, detection device 20, and unloading device 30 are arranged sequentially along the conveying direction of the detection system, and the conveying direction can be linear. The conveying line of the feeding device 10 can be connected to a transfer vehicle, which transfers the target object 40 to the first transfer mechanism 11 of the feeding device 10. The target object 40 includes a carrier and a target component placed inside the carrier. The target component can include a motherboard, screen, camera, buttons, etc. The carrier can include a tray, which can be a tray with multiple receiving slots, each of which can hold one motherboard. The carrier can also be a housing, chassis, etc., that supports the motherboard. The following description uses a motherboard as an example of the target component.

[0069] The feeding device 10 includes a first transfer mechanism 11, a first transfer mechanism 13, a first handling mechanism 12, and a first conveying mechanism 14. Through the coordinated operation of these four mechanisms, multiple motherboards to be tested are sequentially placed onto the first conveying mechanism 14. The first transfer mechanism 11 may include belt conveyors, roller conveyors, etc., and at least two target objects 40 can be placed simultaneously on the conveyor line of the first transfer mechanism 11. Figure 3 As shown, the conveying direction of the first conveying mechanism 14 is defined as the first direction, the direction perpendicular to the first direction in the horizontal plane is defined as the second direction, and the vertical direction is defined as the third direction.

[0070] In some embodiments, such as Figure 5 and Figure 6As shown, the first transfer mechanism 11 may have two sequentially arranged carrying areas, which are described as the first area and the second area, respectively. The first area can carry one target object 40 or multiple target objects 40 stacked together; the second area can carry one target object 40 or multiple target objects 40 stacked together. The second area can serve as a buffer area. After the target objects 40 in the first area are transported, the target objects 40 in the second area are transported to the first area, and the transfer trolley transfers the next batch of target objects 40 to the second area, thus realizing the continuous transfer of target objects 40.

[0071] The first handling mechanism 12, the first conveying mechanism 14, and the first transfer mechanism 13 can be located on one side of the first transfer mechanism 11. The first transfer mechanism 13 can be located approximately above the first handling mechanism 12 and the first conveying mechanism 14. Figure 7 As shown, the first conveying mechanism 12 may include a first moving component 121 and a first clamping component 122. The first moving component 121 can move in one direction, or in two or three directions. The first moving component 121 may include a sliding module, which includes a slider. The first clamping component 122 is connected to the slider, and the sliding of the slider drives the first clamping component 122 to slide along a first direction, a second direction, or a third direction. The first clamping component 122 may include two grippers, which clamp the target object 40. The target object 40 includes a carrier 41 and a target part 42 placed inside the carrier 41. The first moving component 121 moves the first clamping component 122 to a first area. After the first clamping component 122 clamps the target object 40, the first moving component 121 moves the first clamping component 122 to a position corresponding to the first conveying mechanism 14.

[0072] like Figure 9 As shown, the first conveying mechanism 14 may include a belt conveyor, and the conveyor belt of the first conveying mechanism 14 is described as a first conveyor belt 141, which conveys the target piece 42 to be inspected along a first direction. Figure 8As shown, the first transfer mechanism 13 may include a second moving component 131 and a first transfer component 132. The second moving component 131 can move in three directions, including a first and a second horizontal direction and a third vertical direction. The second moving component 131 may include three interconnected sliding modules, and the first transfer component 132 is connected to the vertical sliding module among the three sliding modules. The first transfer component 132 may include a suction cup, which adsorbs the motherboard on the carrier 41 by adsorption, and further transfers the motherboard to the first conveyor belt 141. The first transfer mechanism 13 also includes a camera, referred to as a first camera 133, which is used to acquire images of the target object 40. The image information of the target object 40 includes the position information of the carrier 41 and the position information of the target object 42 on the carrier 41. The first acquired information includes the position information of the carrier 41 and the position information of the target object 42 on the carrier 41.

[0073] The following describes the working process of the first handling mechanism 12, the first transfer mechanism 13, and the first conveying mechanism 14. The first moving component 121 moves the first clamping component 122 to the first area, where the first clamping component 122 clamps the target object 40. Then, the first moving component 121 moves the first clamping component 122 to a position corresponding to the first conveyor belt 141. This position of the target object 40 is described as the first transfer position. At the first transfer position, the target object 40 is close to the first conveyor belt 141, and the first transfer component 132 is located above the target object 40. The target component 42 in the carrier 41 is within the movement range of the first transfer component 132, allowing the first transfer component 132 to transfer the target component 42 from the carrier 41 onto the first conveyor belt 141. The second moving component 131, based on the first collected information, moves the first transfer component 132 to the target object 40. The first transfer component 132 adsorbs the target component 42 on the carrier 41 and transfers the target component 42 onto the first conveyor belt 141. Through the reciprocating movement of the second moving component 131 and the adsorption and release actions of the first transfer component 132, one or more main boards on the carrier 41 are sequentially transferred to the first conveyor belt 141. The main boards to be tested on the first conveyor belt 141 are further conveyed to the testing device 20. All target components 42 on the carrier 41 are transferred to the first conveyor belt 141, and the first handling mechanism 12 transports the empty carrier 41 to a suitable position for operators to pick up and place; or the first handling mechanism 12 transports the empty carrier 41 to the first target conveyor line 16 mentioned below, so as to facilitate the transport of the empty carrier 41 to the unloading device.

[0074] like Figure 12 and Figure 13As shown, the testing device 20 includes a second conveying mechanism 21, a second transfer mechanism 22, and a testing mechanism 23. The second conveying mechanism 21 receives the motherboards conveyed by the first conveying mechanism 14. The second transfer mechanism 22 transfers the motherboards from the second conveying mechanism 21 to the testing mechanism 23. The testing mechanism 23 tests the motherboards. After testing, the second transfer mechanism 22 transfers motherboards that meet the target conditions from the testing mechanism 23 back to the second conveying mechanism 21. The second conveying mechanism 21 further conveys the motherboards that meet the target conditions to the unloading device 30. Through the coordinated operation of these three components, the motherboards are tested, and the qualified motherboards are conveyed to the unloading device 30.

[0075] In some embodiments, such as Figure 13 As shown, the second conveying mechanism 21 may include a belt conveyor. The conveyor belt of the second conveying mechanism 21 is described as a second conveyor belt 211. The second conveyor belt 211 conveys the target piece 42 to be inspected along a first direction and conveys the qualified target piece 42 along the first direction to the unloading device 30. It is understood that the first conveyor belt 141 and the second conveyor belt 211 are connected end-to-end, and the conveying surfaces of the first conveyor belt 141 and the second conveyor belt 211 are coplanar.

[0076] The second transfer mechanism 22 can be located above the second conveying mechanism 21. The detection mechanism 23 can be located on one side of the second conveying mechanism 21 and the second transfer mechanism 22, and the detection mechanism 23 may include one or more detection boxes. The second transfer mechanism 22 may include a robotic arm 221 and an adsorption component 222 connected to the end of the robotic arm 221. The robotic arm 221 can rotate and move. The adsorption component 222 can adsorb the motherboard on the second conveyor belt 211 by adsorption, and further transfer the motherboard to the detection box. After the motherboard has been detected, the adsorption component 222 adsorbs the motherboard in the detection box, and the qualified motherboard is transferred to the second conveyor belt 211 by the rotation and movement of the robotic arm 221. The robotic arm 221 drives the adsorption component 222 to move back and forth between the second conveyor belt 211 and the detection box according to the second collected information, so as to transfer the motherboard to be detected to the detection box and transfer the qualified motherboard after detection to the second conveyor belt 211.

[0077] In some embodiments, there are two second conveyor belts 211, one second conveyor belt 211 is used to transport the target piece 42 to be inspected, and the other second conveyor belt 211 is used to transport the qualified target piece 42 after inspection.

[0078] The following describes the working process of the second conveying mechanism 21, the second transfer mechanism 22, and the detection mechanism 23. The mainboard on the first conveyor belt 141 is conveyed to the second conveyor belt 211. The robotic arm 221 moves the adsorption component 222 above the second conveyor belt 211 and adsorbs the mainboard according to the second acquired information, ensuring that the center of the adsorption component 222 is aligned with the center of the mainboard. Position correction of the mainboard can be performed through two image acquisitions to ensure that the position and orientation of the mainboard are consistent with its detection position in the detection box. Then, the robotic arm 221 moves the adsorption component 222 to the detection box according to a preset trajectory. The adsorption component 222 releases the mainboard, and the mainboard is placed in the detection box. After the mainboard completes the detection, it is determined whether it meets the target conditions. If it meets the target conditions, the mainboard is a qualified mainboard; otherwise, it is a unqualified mainboard. The robotic arm 221 moves the qualified mainboard adsorbed by the adsorption component 222 to the second conveyor belt 211 and places it on the second conveyor belt 211. The second conveyor belt 211 further conveys the qualified mainboard to the unloading device 30.

[0079] Empty load-bearing components 41 at position 10 of the loading device can be manually transferred to position 30 of the unloading device. Alternatively, the empty load-bearing components 41 at position 10 of the loading device can be transferred to position 30 via the target conveyor line described below. Figure 14 As shown, the feeding device 30 places the qualified motherboard into the empty carrier 41. After the carrier 41 is filled with qualified motherboards, the carrier 41 carrying the qualified motherboards can be transferred to the next process by the transfer trolley.

[0080] At the feeding device 10, the first transfer mechanism 11 can transfer multiple target objects 40, the first handling mechanism 12 transports the target objects 40 to the first transfer position corresponding to the first conveying mechanism 14, and the first transfer mechanism 13 places multiple target parts 42 to be tested sequentially onto the first conveyor belt 141. Through the coordinated operation of these four mechanisms, the target parts 42 to be tested are transported to the testing device 20 without manual intervention, reducing the labor intensity of the operators and improving the feeding speed of the target parts 42 to be tested.

[0081] At the testing device 20, the second conveyor belt 211 receives the target part 42 conveyed by the first conveyor belt 141. The second transfer mechanism 22 places the target part 42 to be tested at the testing mechanism 23 according to the second collected information, and places the tested target parts 42 that meet the target conditions onto the second conveyor belt 211. The second conveyor belt 211 then transports the qualified target parts 42 to the unloading device 30. Through the coordinated operation of these three components, the target part 42 is tested, and the qualified target parts 42 are transported to the unloading device 30 based on the test results. No manual intervention or judgment of the test results is required, which helps to improve the testing rate of the target parts 42.

[0082] At the unloading device 30, the qualified target part 42 is transported to the unloading device 30, and the qualified target part 42 is placed in the carrier 41 to complete the collection of the qualified target part 42, and then the qualified target part 42 is transferred to the next process.

[0083] In the embodiments of this disclosure, at the feeding device 10, the target part 42 to be tested is transported to the testing device 20 through the coordinated cooperation of the first transfer mechanism 11, the first handling mechanism 12, the first transfer mechanism 13, and the first conveying mechanism 14, which helps to improve the feeding speed of the target part 42; at the testing device 20, the target part 42 is tested through the coordinated cooperation of the second conveying mechanism 21, the second transfer mechanism 22, and the testing mechanism 23, and the target part 42 that meets the target conditions is transported to the unloading device 30; at the unloading device 30, the target part 42 that meets the target conditions is collected. The entire testing process greatly reduces manual intervention. Through the coordinated cooperation of the feeding device 10, the testing device 20, and the unloading device 30, the testing efficiency is effectively improved.

[0084] In embodiments of this disclosure, such as Figure 5 and Figure 6 As shown, the first transfer mechanism 11 includes a first conveying component 111 and a second conveying component 112. The first conveying component 111 is used to convey the target object 40 along a first direction. The second conveying component 112 is disposed in the conveying direction of the first conveying component 111 and is used to convey the target object 40 along a second direction, which is arranged at an angle to the first direction.

[0085] The first conveying component 111 may include a roller conveyor, and the conveying length of the first conveying component 111 is set according to actual needs. The conveying direction of the first conveying component 111 is the first direction, and the conveying length of the first conveying component 111 can be greater than the total length of the two carriers 41. The first conveying component 111 can simultaneously carry two target objects 40 in the first direction, which serves as a buffer for the target objects 40 and prevents interruption of feeding caused by the absence of target objects 40 on the first conveying component 111.

[0086] The first conveying component 111 can simultaneously carry at least two sets of target objects in a first direction. Each set of target objects includes multiple target objects 40 stacked together, that is, in each set of target objects, multiple target objects 40 are stacked along the height direction. A first area of ​​the first conveying component 111 can carry the first set of target objects, and a second area can carry the second set of target objects. After all the target objects 40 in the first set of target objects are removed, the second set of target objects, which is buffered in the second area, is conveyed to the first area.

[0087] The second conveying component 112 may include a belt conveyor. The conveying direction of the second conveying component 112 is a second direction, which is set at an angle to the first direction and may be perpendicular to the first direction. The second conveying component 112 may include two conveyor belts, which are spaced apart along the first direction. The conveyor belts may be positioned between two adjacent rollers of the first conveying component 111. The two conveyor belts are used to receive the target object 40 conveyed along the first direction on the first conveying component 111 and convey the target object 40 along the second direction to a location suitable for the first handling mechanism 12 to handle.

[0088] The first transfer mechanism 11 also includes a driving component for driving the second conveying component 112 to move vertically. The conveying surface of the first conveying component 111 is described as the first conveying surface, and the conveying surface of the second conveying component 112 is described as the second conveying surface. During the process of the first conveying component 111 conveying the target object 40, the second conveying surface of the second conveying component 112 is located in a first position, below the first conveying surface. When the second conveying component 112 receives the target object 40 from the first conveying component 111, the second conveying surface is located in a second position, coplanar with the first conveying surface. When the second conveying component 112 conveys the target object 40, the second conveying surface is located in a third position, above the first conveying surface; the third position is slightly higher than the second position.

[0089] The process of the second conveying component 112 conveying the target object 40 is as follows: the first conveying component 111 stops rotating, and the driving component drives the second conveying component 112 to rise vertically to the second position to receive the target object 40 on the first conveying component 111; then the driving component drives the second conveying component 112 to rise vertically to the third position, and the target object 40 is conveyed to the corresponding position along the second direction by the conveyor belt. After the target object 40 on the second conveying component 112 is removed, the driving component drives the second conveying component 112 to descend vertically to the first position.

[0090] In the embodiments of this disclosure, the first conveying component 111 is used to convey and buffer the target object 40, and the second conveying component 112 is used to convey the target object 40 to a position suitable for the first handling mechanism 12 to handle or a position suitable for the first transfer mechanism 13 to transfer. By cooperating with the first conveying component 111 and the second conveying component 112 to convey the target object 40 to a suitable position, it is beneficial to reduce the movement stroke of the first handling mechanism 12 and / or the first transfer mechanism 13, thereby helping to speed up the transfer speed of the target object 40 between the first handling mechanism 12 and the first transfer mechanism 11.

[0091] In embodiments of this disclosure, such as Figure 3 and Figure 4 As shown, the feeding device 10 also includes a first lifting mechanism 15, such as... Figure 10 and Figure 11 As shown, the first lifting mechanism 15 includes a lifting component 152, a support frame 153, and a third conveying component 154. The support frame 153 is connected to the lifting component 152, and the lifting component 152 drives the support frame 153 to move along a third direction. The third conveying component 154 is disposed on the support frame 153 and is used to carry the target object 40. When the first conveying component 111 conveys the target object 40 to the first target position along the first direction, the conveying surface of the second conveying component 112 moves along the third direction to be coplanar with the conveying surface of the first conveying component 111, and the conveying surface of the third conveying component 154 moves along the third direction to be coplanar with the conveying surface of the second conveying component 112. The second conveying component 112 receives the target object 40 at the first target position and conveys the target object 40 to the third conveying component 154. The first transport mechanism 12 is used to transport the support component 41 on the third conveying component 154 to a position opposite to the first conveying mechanism 14.

[0092] The first lifting mechanism 15 is generally located between the first conveying mechanism 12 and the first transfer mechanism 11. The first lifting mechanism 15 includes a mounting frame 151, a lifting component 152, a support frame 153, and a third conveying component 154. The lifting component 152 is mounted on the mounting frame 151 and may include a slide rail slider transmission mechanism, a lead screw transmission mechanism, a belt transmission mechanism, etc. For example, the lifting component 152 includes a lead screw, a moving block, two sliders, and two slide rails. The moving block is movably mounted on the lead screw, and the two slide rails are spaced apart and mounted on the mounting frame 151. The sliders are slidably connected to the slide rails and connected to the moving block. One end of the support frame 153 is fixedly connected to the two sliders. The first motor drives the moving block to move along the lead screw, causing the sliders to slide along the slide rails, thereby causing the support frame 153 to move in a third direction, which can be a vertical direction.

[0093] The third conveying component 154 may include a belt conveyor, which may include a second motor, two sets of pulleys, and two conveyor belts. The two sets of pulleys are spaced apart along the length of the support frame 153, and the two conveyor belts are respectively fitted onto the two sets of pulleys. The length of the support frame 153 is consistent with the first direction, and the conveying direction of the two conveyor belts is consistent with the second direction. The conveying surfaces of the two conveyor belts of the third conveying component 154 are described as the third conveying surface.

[0094] The first area of ​​the first conveying component 111 can hold a group of target objects, and the second area can hold a group of target objects. The first target position is the location of the first area. The first conveying component 111 conveys the target object 40 along the first direction to the first target position. The driving component drives the second conveying component 112 to move vertically upward until the second conveying surface of the second conveying component 112 is coplanar with the first conveying surface of the first conveying component 111, and the target object 40 contacts the second conveying surface. The driving component drives the second conveying component 112 to continue moving vertically upward for a certain distance, and the target object 40 separates from the first conveying surface. The target object 40 is then carried by the two conveyor belts of the second conveying component 112.

[0095] Then, the lifting component 152 drives the support frame 153 to move vertically until the third conveying surface of the third conveying component 154 is coplanar with the second conveying surface of the second conveying component 112, so that the target object 40 on the conveyor belt of the second conveying component 112 can be smoothly transferred to the conveyor belt of the third conveying component 154. The conveyor belts of the second conveying component 112 and the third conveying component 154 are connected, and the conveyor belts of the two conveying components can rotate simultaneously in a counterclockwise direction, thereby conveying the target object 40 on the second conveying component 112 to the third conveying component 154. Then, the second conveying component 112 descends vertically until the second conveying surface is below the first conveying surface, and the first conveying component 111 conveys the target object 40 in the second region to the first region.

[0096] The lifting component 152 can drive the carrier frame 153 to move along a third direction until the target object 40 on the third conveying component 154 moves vertically to approximately the same height as the first conveying mechanism 12 and is close to the first transfer mechanism 13. At this point, the position of the target object 40 is the first transfer position. The first transfer mechanism 13 transfers the target object 42 on the carrier 41 to the first conveyor belt 141. After the target object 42 on the carrier 41 is transferred, the first moving component 121 of the first conveying mechanism 12 drives the first clamping component 122 to move to the empty carrier 41, and moves the empty carrier 41 to a suitable position for operators to pick up or place, or to the first target conveyor line 16 mentioned below.

[0097] The first lifting mechanism 15 serves to transfer the target object 40 between the first transfer mechanism 11 and the first handling mechanism 12. The first lifting mechanism 15 can transfer the target object 40 to a position close to the first transfer mechanism 13, eliminating the need to move the target object 40 from the first transfer mechanism 11 via the first handling mechanism 12. This shortens the travel distance of the first handling mechanism 12 and thus accelerates the transfer speed of the target object 40. The first handling mechanism 12 moves the empty carrier 41 from the first transfer position to a suitable location for picking up and placing, further accelerating the transfer speed of the empty carrier 41.

[0098] In the embodiments of this disclosure, the third conveying component 154 receives the target object 40 on the second conveying component 112, and the lifting component 152 drives the carrier frame 153 to move along a third direction, so that the target object 40 on the third conveying component 154 moves closer to the first handling mechanism 12 and the first transfer mechanism 13, effectively shortening the movement stroke of the first handling mechanism 12, thereby facilitating the transfer of the target object 40 and the transfer of the empty carrier 41.

[0099] In embodiments of this disclosure, such as Figure 10 and Figure 11 As shown, the third conveying component 154 is used to carry multiple stacked carriers 41, and multiple target components 42 are placed inside the carriers 41. The lifting component 152 is used to lift the multiple carriers 41 vertically to the second target position in sequence. The first transport mechanism 12 is used to transport the carriers 41 at the second target position to a position opposite to the first conveying mechanism 14.

[0100] The first conveying component 111 conveys a group of target objects to a first area. Each group of target objects includes multiple stacked carriers 41, and multiple target objects 42 can be placed on each carrier 41. Through the coordinated action of the second conveying component 112 and the third conveying component 154, the multiple target objects 40 on the second conveying component 112 are transferred to the third conveying component 154. The lifting component 152 drives the carrier frame 153 to move along a third direction until the uppermost target object 40 on the third conveying component 154 moves to the second target position, at which point the carrier frame 153 stops moving. At the second target position, the height of the target object 40 is slightly lower than the height of the first transfer component 132. The second target position is the same as the first transfer position mentioned above, and the target object 40 is located at the second target position, which facilitates the first transfer component 132 to perform the transfer action.

[0101] At the second target position, the first transfer mechanism 13 transfers multiple target pieces 42 from the carrier 41 to the first conveyor belt 141 one by one. After the multiple target pieces 42 on the carrier 41 are transferred to the first conveyor belt 141, the empty carrier 41 can be removed manually, or the empty carrier 41 can be transported by the first handling mechanism 11 to the first target conveyor line 16 (described below), and further transported to the unloading device 30. Then, the lifting component 152 drives the carrier frame 153 to move upward by the height of one carrier 41 in the third direction, so that the next target 40 moves vertically to the second target position. The first handling mechanism 12 repeats the previous operation steps, transporting the empty carrier 41 at the second target position to the first target conveyor line 16, and so on, until the multiple target pieces 40 on the third conveyor component 154 are successively transported to the second target position, and the empty carrier 41 at the second target position is successively transported to the first target conveyor line 16.

[0102] After all the target objects 40 on the third conveying component 154 have been transferred, the lifting component 152 drives the support frame 153 to descend along the third side to a height close to that of the second conveying component 112. Through the coordinated action of the second conveying component 112 and the third conveying component 154, the next group of target objects 40 is transferred to the third conveying component 154.

[0103] In the embodiments of this disclosure, the second conveying component 112 conveys a group of target objects to the third conveying component 154. Each group of target objects includes multiple stacked carriers 41 and multiple target objects 42 placed in each carrier 41. The lifting component 152 drives the carrier frame 153 to move along a third direction, so that the target objects 40 on the third conveying component 154 are moved sequentially to the second target position. After the target objects 42 on each carrier 41 are transferred, the first transport mechanism 12 transports the empty carriers 41 at the second target position to a suitable pick-up and put-down position. This makes reasonable use of the space between the first transport mechanism 12 and the first transfer mechanism 11. In addition, the cooperation between the first lifting mechanism 15 and the first transport mechanism 12 helps to improve the transport speed of the target objects 40 and the carriers 41.

[0104] In the embodiments of this disclosure, the first acquisition information includes image information of the target object 40. The first transfer mechanism 13 determines the position information of the carrier 41 and the position information of the target object 42 relative to the carrier 41 based on the image information, and transfers the target object 42 to be detected onto the first conveying mechanism 14.

[0105] like Figure 8As shown, the first transfer mechanism 13 includes a second moving component 131 and a first transfer component 132. The second moving component 131 may include three interconnected sliding modules, which are respectively described as a first sliding module 1311, a second sliding module 1312, and a third sliding module 1313. The first transfer component 132 can be connected to the slider of the third sliding module 1313. The first sliding module 1311 can drive the second sliding module 1312 to slide along a second direction, the second sliding module 1312 can drive the third sliding module 1313 to slide along a first direction, and the third sliding module 1313 can drive the first transfer component 132 to slide along a third direction. A camera can be installed on the third sliding module 1313, which is described as a first camera 133. The first camera 133 is used to capture images of the target object 40 and obtain first acquisition information based on the images of the target object 40. The first acquisition information includes the position information of the carrier 41 and the position information of multiple target objects 42 in the carrier 41. The second moving component 131 moves along the first direction, the second direction, and a third direction according to the first collected information, causing the first transfer component 132 to move above the target component 42. The first transfer component 132 adsorbs the target component 42 on the carrier 41, and further places the target component 42 onto the first conveyor belt 141 through the movement of the second moving component 131. The second moving component 131 drives the first transfer component 132 to reciprocate between the carrier 41 and the first conveyor belt 141, transferring multiple target components 42 on the carrier 41 one by one onto the first conveyor belt 141.

[0106] In the embodiments of this disclosure, the position information of the empty receiving slot on the carrier 41 and the position information of the target piece 42 to be transferred can be distinguished based on the first collected information. The second moving component 131 moves the first transfer component 132 to above the target piece 42 on the carrier 41 based on the first collected information, and further transfers the adsorbed target piece 42 to the first conveyor belt 141, thereby realizing the accurate transfer of multiple target pieces 42.

[0107] In embodiments of this disclosure, such as Figure 13As shown, the detection device 20 also includes a first image acquisition unit 223, a second image acquisition unit 224, and a storage mechanism 24. The first image acquisition unit 223 is located at the movable end of the second transfer mechanism 22 and is used to acquire first image information of the target piece 42 on the second conveying mechanism 21. The second transfer mechanism 22 grasps the target piece 42 based on the first image information. The second image acquisition unit 224 is located on one side of the second conveying mechanism 21 and is used to acquire second image information of the target piece 42 grasped by the second transfer mechanism 22. The second transfer mechanism 22 corrects the position of the target piece 42 based on the second image information and transfers the corrected target piece 42 to the detection mechanism 23. The second acquired information includes both the first and second image information. The storage mechanism 24 is correspondingly arranged with the second transfer mechanism 22 to collect target pieces 42 that do not meet the target conditions.

[0108] In some embodiments, the second conveying mechanism 21 may include two parallel second conveyor belts 211, which are described as a first second conveyor belt and a second second conveyor belt, respectively. The first second conveyor belt is used to convey the target piece 42 to be inspected, and the second second conveyor belt is used to convey the qualified target piece 42 after inspection.

[0109] The first image acquisition unit 223 may include a camera, which is described as a second camera. The second camera is installed near the adsorption component 222. The second camera is used to acquire a first image of the target part 42 to be detected on the first second conveyor belt. The robotic arm 221 drives the adsorption component 222 to move above the target part 42 on the second conveyor belt 211 according to the first image information. The adsorption component 222 adsorbs the target part 42, ensuring that the adsorption center of the adsorption component 222 is consistent with the center of the target part 42, so as to avoid adsorbing the edge position of the target part 42 and affecting the subsequent placement of the target part 42 in the detection box.

[0110] The second image acquisition unit 224 may include a camera, described as a third camera, which may be installed near the second conveyor belt 211. The adsorption component 222 adsorbs the target piece 42 and moves it above the third camera. The third camera is used to acquire a second image of the target piece 42 adsorbed by the adsorption component 222, and corrects the position and orientation of the target piece 42 based on the second image information. For example, the target piece 42 has a first side and a second side, as well as a third side and a fourth side. The rotation of the robotic arm 221 makes the first and second sides parallel to a first direction. Then, the robotic arm 221 rotates to the detection box according to the trajectory, and the adsorption component 222 releases the target piece 42. The target piece 42 is placed in the detection box, and its position and orientation in the detection box cause the detection end of the detection mechanism 23 to correspond to the part to be detected on the target piece 42, thereby achieving the detection of the target piece 42. It is understandable that the first camera 133 at the feeding device 10, the second and third cameras at the detection device 20, and the fourth camera at the unloading device 30 (described below) can be selected according to their positions relative to the object being photographed, ensuring that the clarity of the captured images meets the resolution requirements. The models of the first camera 133, second camera, third camera, and fourth camera can be the same. Alternatively, the models of the first camera 133, second camera, third camera, and fourth camera can be different; for example, a wide-angle camera, a telephoto camera, or a short-focus camera can be selected based on specific shooting needs.

[0111] After the target part 42 is inspected, it is determined whether it is a qualified or unqualified target part based on the inspection results. If the target part 42 is determined to be a qualified target part, the robotic arm 221 moves the adsorption component 222 to the second conveyor belt, places the qualified target part on the second conveyor belt, and then conveys it to the unloading device 30. If the target part 42 is determined to be an unqualified target part, the robotic arm 221 moves the adsorption component 222 to the storage mechanism 24, places the unqualified target part on the storage plate of the storage mechanism 24, and when a certain number of unqualified target parts accumulate, they are transferred to other areas.

[0112] In the embodiments of this disclosure, the first image acquisition unit 223 acquires a first image of the target part 42 on the second conveyor belt 211, determines the position of the target part 42 on the second conveyor belt 211 based on the first image information, and the robotic arm 221 moves the adsorption component 222 to the vicinity of the target part 42, where the adsorption component 222 adsorbs the target part 42. Then, the robotic arm 221 moves the adsorption component 222 to the vicinity of the second image acquisition unit 224, corrects the position and orientation of the target part 42 based on the second image information acquired by the second image acquisition unit 224, and further moves the target part 42 to the detection box and places it inside. The first image information allows for rapid and accurate adsorption of the target part 42, and the second image information corrects the position and orientation of the target part 42, ensuring accurate placement of the target part 42 in the detection box and guaranteeing the accuracy of the detection results. Qualified target parts are conveyed by the second conveyor belt 211 to the unloading device 30, while unqualified target parts are placed in the storage mechanism 24, achieving the classification and processing of qualified and unqualified target parts without manual intervention.

[0113] In embodiments of this disclosure, such as Figure 14 As shown, the unloading device 30 includes a second transfer mechanism 31, a second handling mechanism 32, a third transfer mechanism 33, and a third conveying mechanism 34. The conveying surface of the third conveying mechanism 34 is coplanar with the conveying surface of the second conveying mechanism 21. The third conveying mechanism 34 is used to receive the target part 42 that meets the target conditions after being detected on the second conveying mechanism 21. The third transfer mechanism 33 is used to transfer the target part 42 on the third conveying mechanism 34 to the carrier 41 held by the second handling mechanism 32 according to the third acquired information. The second handling mechanism 32 is used to place the carrier 41 carrying the target part 42 on the second transfer mechanism 31. The third acquired information includes image information of the target part 42. The second transfer mechanism 31 is used to transfer the carrier 41 carrying the target part 42 to the unloading area.

[0114] The arrangement of the second transfer mechanism 31, the second handling mechanism 32, the third transfer mechanism 33, and the third conveying mechanism 34 in the unloading device 30 can be roughly the same as the arrangement of the first transfer mechanism 11, the first handling mechanism 12, the first transfer mechanism 13, and the first conveying mechanism 14 in the loading device 10. The loading device 10 is used to transfer the target part 42 to be inspected to the second conveying mechanism 21, and the unloading device 30 is used to collect the qualified target parts after inspection on the second conveyor belt 211.

[0115] In some embodiments, the second transfer mechanism 31 may have two sequentially arranged carrying areas, which are described as a third area and a fourth area, respectively. The third area may carry one target object 40 or multiple target objects 40 stacked together; the second area may carry one target object 40 or multiple target objects 40 stacked together. The target object 40 at the unloading device 30 includes a carrier 41 and a qualified target object placed on the carrier 41. The second handling mechanism 32 transports the target object 40 to the third area of ​​the second transfer mechanism 31, and the target object 40 is further conveyed from the third area to the fourth area, and further transferred to the next process.

[0116] The second handling mechanism 32, the third conveying mechanism 34, and the third transfer mechanism 33 can be located on one side of the second transfer mechanism 31. The third transfer mechanism 33 can be located above the second handling mechanism 32 and the third conveying mechanism 34. The second handling mechanism 32 has a structure that is largely the same as that of the first handling mechanism 12, such as... Figure 15 As shown, the second conveying mechanism 32 may include a third moving component 321 and a second clamping component 322. The third moving component 321 can move in one direction, or in two or three directions. The second clamping component 322 can clamp the carrier 41. After the carrier 41 clamped by the second clamping component 322 is filled with qualified target objects 42, the third moving component 321 moves the second clamping component 322 to a third region, where the target object 40 clamped by the second clamping component 322 is placed.

[0117] The third conveying mechanism 34 may include a belt conveyor, and the conveyor belt of the third conveying mechanism 34 is described as a third conveyor belt 341. The third conveyor belt 341 is connected end-to-end to the second conveyor belt 211, and the third conveyor belt 341 conveys the qualified target parts after inspection along the first direction. The structure of the third transfer mechanism 33 is roughly the same as that of the first transfer mechanism 13. The third transfer mechanism 33 may include a fourth moving component and a second transfer component. The fourth moving component can move in three directions, including the first and second horizontal directions and the third vertical direction. The fourth moving component may include three interconnected sliding modules, and the second transfer component is connected to the sliding module located in the vertical direction. The second transfer component may include a suction cup, which adsorbs the main board on the third conveyor belt 341 by adsorption, and further transfers the main board to the empty carrier 41 held by the second handling mechanism 32. The fourth moving component may be equipped with a camera, described as a fourth camera, which is used to collect images of qualified target parts on the third conveyor belt 341 and obtain third acquisition information based on these images.

[0118] The conveying surface of the third conveyor belt 341 is coplanar with the conveying surface of the second conveyor belt 211. The first end of the third conveyor belt 341 is connected to the tail end of the second conveyor belt 211. The second conveyor belt 211 and the third conveyor belt 341 rotate synchronously, so that the qualified target parts on the second conveyor belt 211 are conveyed to the third conveyor belt 341.

[0119] The following describes the working process of the third conveying mechanism 34, the third transfer mechanism 33, and the second handling mechanism 32. The second handling mechanism 32 clamps an empty carrier 41 and places it near the third conveyor belt 341. This position of the carrier 41 is described as the second transfer position. At the second transfer position, the second transfer component is located above the carrier 41, and the qualified target component 42 on the third conveyor belt 341 is within the movement range of the second transfer component, allowing it to transfer the target component 42 from the third conveyor belt 341 onto the carrier 41. A fourth moving component moves the second transfer component above the third conveyor belt 341. A fourth camera captures an image of the qualified target component on the third conveyor belt 341 to obtain third acquisition information. Based on this third acquisition information, the fourth moving component moves the second transfer component to the qualified target component, where the second transfer component absorbs the qualified target component and further transfers it into the carrier 41. Through the reciprocating movement of the fourth moving component and the adsorption and release actions of the second transfer component, qualified target parts on the third conveyor belt 341 are transferred one by one to the carrier 41. After the carrier 41 is filled with multiple qualified target parts, the third moving component drives the second clamping component to move to the second transfer mechanism 31. The carrier 41 carrying the qualified target parts is placed in the third area of ​​the second transfer mechanism 31 and further transferred by the second transfer mechanism 31 to the unloading area.

[0120] At the feeding device 10, the first transfer mechanism 11 can transfer multiple target objects 40, the first handling mechanism 12 moves the target objects 40 to the first transfer position corresponding to the first conveyor belt 141, and the first transfer mechanism 13 places multiple target parts 42 to be tested sequentially on the first conveyor belt 141 according to the first collected information. The target parts 42 are further transported by the first conveyor belt 141 to the second conveyor belt 211. Through the coordinated operation of the four mechanisms, the target parts 42 to be tested are transported to the testing device 20 without manual intervention.

[0121] At the detection device 20, the second conveyor belt 211 receives the target piece 42 conveyed by the first conveyor belt 141. The second transfer mechanism 22 adsorbs the target piece 42 to be detected on the first second conveyor belt 211 according to the second collected information, and after correcting the position of the target piece 42, it transfers the target piece 42 to the detection box. After the detection is completed, the qualified target piece is transferred to the second second conveyor belt 211, and the unqualified target piece is transferred to the storage mechanism 24. The qualified target piece is further conveyed by the second conveyor belt 211 to the third conveyor belt 341.

[0122] At the unloading device 30, the second transport mechanism 32 transports the clamped carrier 41 to the second transfer position corresponding to the third conveyor belt 341. The third transfer mechanism 33 transfers the qualified target piece on the third conveyor belt 341 to the carrier 41 clamped by the second transport mechanism 32 according to the third collected information. The second transport mechanism 32 further transports the carrier 41 carrying the qualified target piece to the second transfer mechanism 31.

[0123] In the embodiments of this disclosure, the third transfer mechanism 33 transfers the qualified target parts on the third conveyor belt 341 to the carrier 41 held by the second handling mechanism 32 according to the third collected information. The carrier 41 carrying the qualified target parts is then transported to the second transfer mechanism 31 by the second handling mechanism 32, and further transferred to the end of the unloading area by the second transfer mechanism 31. This realizes the automation of unloading the qualified target parts without the need for manual intervention, which is beneficial to improving the detection efficiency.

[0124] In embodiments of this disclosure, such as Figure 14 As shown, the unloading device 30 also includes a second lifting mechanism 35, which is located between the third conveying mechanism 34 and the second transfer mechanism 31. The second handling mechanism 32 is used to place the carrier 41 on the second lifting mechanism 35, and the second lifting mechanism 35 is used to transfer multiple carriers 41 carrying the target component 42 to the second transfer mechanism 31.

[0125] In some embodiments, the structure of the second transfer mechanism 31 is substantially the same as that of the first transfer mechanism 11. The second transfer mechanism 31 may include two conveying components, which are described as a fourth conveying component and a fifth conveying component, respectively. The fourth conveying component conveys the carrier 41 along a second direction, and the fifth conveying component conveys the carrier 41 along a first direction. The fourth conveying component may include a belt conveyor, and the fifth conveying component may include a roller conveyor.

[0126] The second lifting mechanism 35 is generally located between the second conveying mechanism 32 and the second transfer mechanism 31, and its structure is largely the same as that of the first lifting mechanism 15. The second lifting mechanism 35 may include a mounting frame, lifting components, a support frame, and a sixth conveying component. The lifting components may include a slide rail drive mechanism, a lead screw drive mechanism, a belt drive mechanism, etc. The sixth conveying component may include a belt conveyor.

[0127] The second transport mechanism 32 transports the empty carrier 41 to the conveying surface of the sixth transport component. The lifting component drives the carrier frame to move vertically until the empty carrier 41 on the sixth transport component moves vertically to the second transfer position, which is close to the second transfer mechanism 33. The second transfer mechanism 33 transfers the target component 42 on the third conveyor belt 341 to the carrier 41 until the carrier 41 is full of qualified target components. Then, the lifting component drives the carrier 41 full of qualified target components to move vertically downward by the height of one carrier 41, and the second transport mechanism 32 transports the next empty carrier 41 to the sixth transport component. The above operation steps are repeated until the sixth transport component carries multiple carriers 41 full of qualified target components. Further, through the coordinated cooperation of the sixth transport component and the fourth transport component, multiple carriers 41 full of qualified target components are transferred to the fifth transport component of the second transfer mechanism 31.

[0128] In the embodiments of this disclosure, the second transport mechanism 32 transports the empty carrier 41 to the sixth conveying component of the second lifting mechanism 35, and the sixth conveying component further transports multiple carriers 41 filled with qualified target parts to the second transfer mechanism 31, which effectively shortens the movement stroke of the second transport mechanism 32 and helps to speed up the transfer of qualified target parts.

[0129] In embodiments of this disclosure, such as Figure 3 , Figure 4 and Figure 16 As shown, the feeding device 10 also includes a first target conveyor line 16, which is located below the first conveying mechanism 14. The first handling mechanism 12 is used to place the empty carrier 41 onto the first target conveyor line 16. Figure 13 As shown, the detection device 20 also includes a second target conveyor line 25, which is located below the second conveying mechanism 21 and is connected end-to-end to the first target conveyor line 16. Figure 14As shown, the unloading device 30 also includes a third target conveyor line 36, which is located below the third conveying mechanism 34 of the unloading device 30 and is connected end-to-end with the second target conveyor line 25. The first target conveyor line 16 is used to convey the empty carrier 41 to the second target conveyor line 25; the second target conveyor line 25 is used to convey the empty carrier 41 to the third target conveyor line 36; the second handling mechanism 32 of the unloading device 30 is used to clamp the empty carrier 41 on the third target conveyor line 36 and handle the empty carrier 41 to a position opposite to the third conveying mechanism 34.

[0130] The first target conveyor line 16, the second target conveyor line 25, and the third target conveyor line 36 can all be belt conveyors. The first target conveyor line 16, the second target conveyor line 25, and the third target conveyor line 36 are connected end-to-end, that is, the end of the first target conveyor line 16 is connected to the beginning of the second target conveyor line 25, and the end of the second target conveyor line 25 is connected to the beginning of the third target conveyor line 36. The conveying direction of the first target conveyor line 16, the second target conveyor line 25, and the third target conveyor line 36 is parallel to the first direction.

[0131] The first target conveyor line 16 is located below the first conveying mechanism 14 and the first handling mechanism 12. The target object 40 on the first transfer mechanism 11 is transferred to the first lifting mechanism 15. The target object 40 on the first lifting mechanism 15 moves vertically to the first transfer position, at which point the target object 40 is near the first conveyor belt 141 and below the first transfer mechanism 13. The first transfer mechanism 13, based on the first collected information, transfers multiple target objects 42 from the carrier 41 to the first conveyor belt 141 one by one. After the multiple target objects 42 on the carrier 41 are transferred to the first conveyor belt 141, the first moving component 121 drives the first clamping component 122 to move to the empty carrier 41, and the first clamping component 122 transports the empty carrier 41 to the first target conveyor line 16.

[0132] The second target conveyor line 25 is located below the second conveyor belt 211. With the synchronous rotation of the first target conveyor line 16 and the second target conveyor line 25, the carrier 41 above the first target conveyor line 16 is conveyed to the second target conveyor line 25, and further conveyed to the third target conveyor line 36.

[0133] The third target conveyor line 36 is located below the third conveying mechanism 34 and the second handling mechanism 32. The second clamping component 322 of the second handling mechanism 32 clamps the empty carrier 41 on the third target conveyor line 36 and moves the empty carrier 41 to the second transfer position, which is near the third conveyor belt 341. The third transfer mechanism 33 transfers the qualified target pieces on the third conveyor belt 341 to the empty carrier 41 based on the third collected information.

[0134] In the embodiments of this disclosure, after multiple target pieces 42 on the carrier 41 are transferred to the first conveyor belt 141 at the feeding device 10, the first handling mechanism 12 places the empty carrier 41 on the first target conveyor line 16. Through the coordinated cooperation of the first target conveyor line 16, the second target conveyor line 25 and the third target conveyor line 36, the empty carrier 41 is conveyed to the unloading device 30. At the unloading device 30, qualified target pieces are placed in the empty carrier 41 to achieve the collection of qualified target pieces. The empty carrier 41 is conveyed from the feeding device 10 to the unloading device 30 without manual intervention, which is conducive to the intelligent operation of the detection system.

[0135] In embodiments of this disclosure, the number of detection devices 20 is set according to actual needs. For example, such as Figure 1 and Figure 2 As shown, there are five detection devices 20, which are spaced apart between the feeding device 10 and the unloading device 30. The second conveying mechanism 21 includes two second conveyor belts 211. The first second conveyor belt 211 is used to transport the target part 42 to be inspected, and the second second conveyor belt 211 is used to transport the qualified target part 42 after inspection.

[0136] Therefore, each inspection agency 23 has at least one target piece 42 on the first second conveyor belt 211. The five inspection agencies 23 can simultaneously inspect at least five target pieces 42, which helps to improve inspection efficiency.

[0137] In some embodiments, such as Figure 3 and Figure 4 As shown, the feeding device 10 may include two first transfer mechanisms 11, which are symmetrically arranged about the center plane of the first transfer mechanism 13. The first conveying mechanism 14 includes two spaced-apart first conveyor belts 141. Two first lifting mechanisms 15 are symmetrically arranged about the center plane of the first transfer mechanism 13. Figure 12 and Figure 13 As shown, the second conveying mechanism 21 includes two sets of conveyor belts, each set including a first second conveyor belt and a second second conveyor belt. Figure 14As shown, the unloading device 30 may include two second transfer mechanisms 31, which are symmetrically arranged about the center plane of the third transfer mechanism 33. The third conveying mechanism 34 includes two spaced-apart third conveyor belts 341. Two second lifting mechanisms 35 are symmetrically arranged about the center plane of the third transfer mechanism 33.

[0138] The first type of target component 42 is transferred onto a first conveyor belt 141 through the coordinated operation of a first transfer mechanism 11, a first lifting mechanism 15, a first handling mechanism 12, and a first transfer mechanism 13. The second type of target component 42 is transferred onto another first conveyor belt 141 through the coordinated operation of another first transfer mechanism 11, another first lifting mechanism 15, a first handling mechanism 12, and a first transfer mechanism 13. This enables the synchronous transport of the two types of target components 42.

[0139] The first type of target part after inspection is conveyed to a third conveyor belt 341 of the unloading device 30, and the second type of target part after inspection is conveyed to another third conveyor belt 341 of the unloading device 30.

[0140] Through the coordinated operation of a second transfer mechanism 31, a second lifting mechanism 35, a second handling mechanism 32, and a third transfer mechanism 33, the first type of target component that has passed inspection is transferred from a third conveyor belt 341 to a second transfer mechanism 31. Similarly, through the coordinated operation of another second transfer mechanism 31, another second lifting mechanism 35, a second handling mechanism 32, and a third transfer mechanism 33, the second type of target component that has passed inspection is transferred from another third conveyor belt 341 to another second transfer mechanism 31. This allows for the simultaneous inspection of both types of target components 42.

[0141] This disclosure also provides a detection method, such as Figure 17 As shown, the detection methods include:

[0142] Step 110: Obtain the first collection information of the target object 40, and transfer the target object 40 to the first conveying mechanism 14 based on the first collection information;

[0143] Step 120: Obtain the second acquisition information of the target part 42, and transfer the target part 42 to the testing mechanism 23 based on the second acquisition information;

[0144] Step 130: Obtain the test results from the testing agency 23 to determine whether the target part 42 meets the target conditions;

[0145] Step 140: Based on the detection results, the target part 42 that meets the target conditions is transported to the unloading device 30.

[0146] The structure of the detection system is as described above. The detection system includes a feeding device 10, a detection device 20, and a discharging device 30.

[0147] In some embodiments, the feeding device 10 includes a first transfer mechanism 11, a first transfer mechanism 13, a first handling mechanism 12, and a first conveying mechanism 14. The detection device 20 includes a second conveying mechanism 21, a second transfer mechanism 22, and a detection mechanism 23. The unloading device 30 includes a second transfer mechanism 31, a second handling mechanism 32, a third transfer mechanism 33, and a third conveying mechanism 34. The first conveying mechanism 14 includes a first conveyor belt 141, the second conveying mechanism 21 includes a second conveyor belt 211, and the third conveying mechanism 34 includes a third conveyor belt 341. The first conveyor belt 141, the second conveyor belt 211, and the third conveyor belt 341 are coplanar.

[0148] The first transfer mechanism 11 transports the target object 40 to the first area. The target object 40 includes a carrier 41 and multiple target parts 42 placed in the carrier 41. The first handling mechanism 12 moves the target object 40 in the first area to a first transfer position near the first conveyor belt 141. The first camera 133 captures an image of the target object 40 at the first transfer position and obtains first acquisition information of the target object 40. The first acquisition information includes the position information of the carrier 41 and the position information of the target parts 42 on the carrier 41. The second moving component 131 moves the first transfer component 132 above the target parts 42 according to the first acquisition information. The first transfer component 132 adsorbs the target parts 42. The second moving component 131 further moves the first transfer component 132 above the first conveyor belt 141, and the first transfer component 132 places the adsorbed target parts 42 on the first conveyor belt 141. By reciprocating between the second moving component 131 and the first conveyor belt 141, and by the adsorption and release actions of the first transfer component 132, multiple target components 42 on the carrier 41 are sequentially placed on the first conveyor belt 141.

[0149] The target component 42 on the first conveyor belt 141 is conveyed to the second conveyor belt 211. The second transfer mechanism 22 adsorbs the target component 42 on the first conveyor belt 211 according to the first image information acquired by the first image acquisition unit 223, and performs position correction on the target component 42 according to the second image information acquired by the second image acquisition unit 224, and further transfers the target component 42 into the detection box.

[0150] After the inspection is completed, it is determined whether target part 42 meets the target conditions based on the inspection results. If target part 42 meets the target conditions, it is a qualified target part; if it does not meet the target conditions, it is a unqualified target part. If target part 42 is determined to be a qualified target part after inspection, the second transfer mechanism 22 places it on the first second conveyor belt 211, and the qualified target part is further conveyed to the third conveyor belt 341. If target part 42 is determined to be an unqualified target part after inspection, the second transfer mechanism 22 transfers it to the storage mechanism 24.

[0151] The second transport mechanism 32 transports the empty carrier 41 to a second transfer position near the third conveyor belt 341. A fourth camera captures images of qualified target pieces on the third conveyor belt 341, obtaining third acquisition information. A fourth moving component moves the second transfer component above the third conveyor belt 341. The second transfer component adsorbs qualified target pieces on the third conveyor belt 341, further transferring them onto the carrier 41. Through the reciprocating movement of the fourth moving component between the third conveyor belt 341 and the carrier 41, and the adsorption and release actions of the second transfer component, multiple qualified target pieces 42 are placed on the carrier 41. The second transport mechanism 32 then transports the carrier 41 carrying multiple qualified target pieces 42 to the second transfer mechanism 31.

[0152] At the loading device 10, the target part 42 to be inspected is transported from the first conveyor belt 141 to the second conveyor belt 211 through the coordinated operation of the first transfer mechanism 11, the first handling mechanism 12, the first transfer mechanism 13, and the first conveying mechanism 14, which helps to improve the loading speed of the target part 42. At the inspection device 20, the target part 42 is inspected through the coordinated operation of the second conveying mechanism 21, the second transfer mechanism 22, and the inspection mechanism 23, and the target part 42 that meets the target conditions is transported from the second conveyor belt 211 to the third conveyor belt 341. At the unloading device 30, the target part 42 that meets the target conditions is collected through the coordinated operation of the second transfer mechanism 31, the second handling mechanism 32, the third transfer mechanism 33, and the third conveying mechanism 34. The entire inspection process greatly reduces manual intervention, and the inspection efficiency is effectively improved through the coordinated operation of the loading device 10, the inspection device 20, and the unloading device 30.

[0153] Those skilled in the art will understand that the features described in the various embodiments and / or claims of this disclosure can be combined or combined in various ways, even if such combinations or combinations are not explicitly described in this disclosure. In particular, the features described in the various embodiments and / or claims of this disclosure can be combined or combined in various ways without departing from the spirit and teachings of this disclosure. All such combinations and / or combinations fall within the scope of this disclosure.

[0154] Although this disclosure has been shown and described with reference to specific exemplary embodiments thereof, those skilled in the art will understand that various changes in form and detail may be made to this disclosure without departing from the spirit and scope of the disclosure as defined by the appended claims and their equivalents. Therefore, the scope of this disclosure should not be limited to the above embodiments, but should be defined not only by the appended claims, but also by their equivalents.

Claims

1. A detection system, comprising: The feeding device, detection device, and unloading device are arranged sequentially. The feeding device includes a first transfer mechanism, a first transfer mechanism, a first handling mechanism, and a first conveying mechanism. The first transfer mechanism is used to transfer the target object, which includes a carrier and a target piece placed inside the carrier. The first handling mechanism is used to move the target object on the first transfer mechanism to a position opposite to the first conveying mechanism. The first transfer mechanism is used to transfer the target piece to be detected onto the first conveying mechanism according to the first collected information. The detection device includes a second conveying mechanism, a second transfer mechanism, and a detection mechanism. The second conveying mechanism is used to convey the target component. The detection mechanism is used to detect the target component to determine whether the target component meets the target conditions. The second transfer mechanism is used to transfer the target component to be detected to the detection mechanism according to the second collected information and to transfer the target component that meets the target conditions after detection to the second conveying mechanism. The feeding device is used to collect the target parts that meet the target conditions and to place the target parts into an empty carrier.

2. The detection system according to claim 1, wherein the first transfer mechanism comprises: A first conveying component is used to convey the target object along a first direction; The second conveying component is disposed in the conveying direction of the first conveying component and is used to convey the target object along a second direction, wherein the second direction is set at an angle to the first direction.

3. The detection system according to claim 2, wherein the feeding device further comprises a first lifting mechanism, the first lifting mechanism comprising: Lifting components; A support frame is connected to the lifting component, which drives the support frame to move in a third direction. as well as The third conveying component is mounted on the support frame and is used to carry the target object; When the first conveying component conveys the target object to the first target position along the first direction, the conveying surface of the second conveying component moves along the third direction to be coplanar with the conveying surface of the first conveying component, and the conveying surface of the third conveying component moves along the third direction to be coplanar with the conveying surface of the second conveying component. The second conveying component receives the target object at the first target position and conveys the target object onto the third conveying component. The first conveying mechanism is used to move the carrier on the third conveying component to a position opposite to the first conveying mechanism.

4. The detection system according to claim 3, The third conveying component is used to carry multiple stacked carriers, and multiple target components are placed inside the carriers. The lifting component is used to lift the multiple carriers sequentially in the vertical direction to the second target position. The first conveying mechanism is used to move the carrier at the second target position to a position opposite to the first conveying mechanism.

5. The detection system according to claim 1, The first collected information includes image information of the target object. The first transfer mechanism determines the position information of the carrier and the position information of the target object relative to the carrier based on the image information, and transfers the target object to be detected onto the first conveying mechanism.

6. The detection system according to claim 1, wherein the detection device further comprises: A first image acquisition unit is located at the movable end of the second transfer mechanism and is used to acquire first image information of the target component on the second conveying mechanism. The second transfer mechanism grasps the target component based on the first image information. The second image acquisition unit is located on one side of the second conveying mechanism and is used to acquire second image information of the target part grasped by the second transfer mechanism. The second transfer mechanism corrects the position of the target part based on the second image information and transfers the corrected target part to the detection mechanism. The second acquisition information includes the first image information and the second image information. The material storage mechanism is provided in contrast to the second transfer mechanism for collecting target parts that do not meet the target conditions.

7. The detection system according to claim 1, The unloading device includes a second transfer mechanism, a second handling mechanism, a third transfer mechanism, and a third conveying mechanism; The conveying surface of the third conveying mechanism and the conveying surface of the second conveying mechanism are coplanar, and the third conveying mechanism is used to receive the target parts that meet the target conditions after being detected on the second conveying mechanism; The third transfer mechanism is used to transfer the target piece on the third conveying mechanism to the carrier held by the second handling mechanism according to the third collected information. The second handling mechanism is used to place the carrier carrying the target piece on the second transfer mechanism. The third collected information includes image information of the target piece. The second transfer mechanism is used to transfer the carrier containing the target part to the unloading area.

8. The detection system according to claim 7, wherein the unloading device further comprises a second lifting mechanism, the second lifting mechanism being disposed between the third conveying mechanism and the second transfer mechanism; The second transport mechanism is used to place the carrier onto the second lifting mechanism; The second lifting mechanism is used to transfer multiple carriers carrying the target component to the second transfer mechanism.

9. The detection system according to claim 1 or 7, The feeding device further includes a first target conveyor line, which is located below the first conveying mechanism. The first handling mechanism is used to place the empty carrier on the first target conveyor line. The detection device further includes a second target conveyor line, which is located below the second conveyor mechanism and is connected end to end to the first target conveyor line; The feeding device also includes a third target conveyor line, which is located below the third conveying mechanism of the feeding device and is connected end to end to the second target conveyor line. The first target conveyor line is used to convey the empty carrier to the second target conveyor line, and the second target conveyor line is used to convey the empty carrier to the third target conveyor line; The second conveying mechanism of the unloading device is used to clamp the carrier above the third target conveyor line and move the empty carrier to a position opposite to the third conveying mechanism.

10. A detection method, comprising: Acquire first collection information of the target object, and transfer the target object to the first conveying mechanism based on the first collection information; Acquire second acquisition information of the target component, and transfer the target component to the testing mechanism based on the second acquisition information; Obtain the test results from the testing organization to determine whether the target component meets the target conditions; Based on the test results, the target part that meets the target conditions is transported to the unloading device.

Images