Appearance inspection system and control method thereof

Abstract

The application discloses an appearance detection system and a control method thereof. The appearance detection system comprises a rack, a feeding device and an appearance detection device. The feeding device comprises a first tray arranged at a standby station, a second tray arranged at a feeding station, a first picking mechanism and a positioning module. The appearance detection device comprises a third tray arranged at a good product station, a fourth tray arranged at a substandard product station, a transfer mechanism, a detection module and a third picking mechanism. The application helps to greatly simplify the structural complexity of the whole machine, reduce the time occupation, improve the efficiency of feeding and appearance detection on the basis of ensuring high accuracy of feeding and appearance detection, and finally improve the detection reliability of the whole appearance detection system.

Description

Technical Field

[0001] This invention relates to the field of appearance inspection technology for sheet materials, and specifically to an appearance inspection system and its control method. Background Technology

[0002] Sheet materials such as circuit boards (PCBs / PCBAs) inevitably require visual inspection during their manufacturing process. Visual inspection of circuit boards is a core aspect of quality control in electronic manufacturing. Its core objective is to identify three main categories of problems: surface defects, structural anomalies, and assembly errors, covering the entire process from bare board manufacturing to finished product assembly.

[0003] Especially when the sheet material is small in size, or when multiple sheet materials need to be inspected in batches for various appearance requirements, existing technologies generally require significant effort to neatly arrange the sheet materials in the tray during the loading stage if accuracy is a requirement. Furthermore, the tray's orientation needs to be rigorously designed in subsequent stages to calibrate the sheet material's position. This can easily slow down the flow of sheet materials and reduce overall inspection efficiency. Summary of the Invention

[0004] The main objective of this invention is to propose an appearance inspection system and its control method, which aims to solve the problem of low efficiency in existing appearance inspection systems for sheet materials.

[0005] To achieve the above objectives, the present invention provides an appearance inspection system, comprising:

[0006] The machine frame is provided with a material preparation station, a material loading station, a material unloading station, a good product station and a defective product station in sequence. The material preparation station is located next to the material loading station, and the good product station and the defective product station are respectively located next to the material unloading station.

[0007] The feeding device includes a first tray placed at the material preparation station, a second tray placed at the material loading station, a first picking mechanism, and a positioning module. The first tray is used for freely placing sheet materials. The positioning module is located along the movement path of the first picking mechanism and is used to measure the orientation of the sheet materials at that location. The first picking mechanism is used to neatly place the sheet materials from the first tray onto the second tray based on the measurement data from the positioning module.

[0008] The appearance inspection device includes a third tray placed at the good product station, a fourth tray placed at the defective product station, a transfer mechanism, an inspection module, and a third picking mechanism. The transfer mechanism is used to transfer the second tray from the loading station to the unloading station. The inspection module is located at the moving path of the transfer mechanism and is used to perform appearance inspection on at least two outer end surfaces of the sheet material passing through. The third picking mechanism is used to transfer the sheet material at the second tray to the third tray or the fourth tray respectively based on the inspection data of the inspection module.

[0009] Optionally, the positioning module includes:

[0010] A first imaging device, suspended above the material preparation station with its imaging surface facing downwards, is used to capture first image information from the first tray, so that the first picking mechanism can pick up sheet-like materials from the first tray based on the first image information; and,

[0011] The second imaging device is located in the area between the material preparation station and the material loading station, with its imaging surface facing upward. The second imaging device is used to capture second image information of the passing first picking mechanism and the sheet material it picks up, so that the first picking mechanism can place the sheet material into the second tray according to the second image information.

[0012] Optionally, the loading station and the unloading station are arranged in groups to form a transfer group, and at least two transfer groups are arranged side by side, and at least two transfer mechanisms are provided for each transfer group;

[0013] Each of the aforementioned transfer mechanisms operates synchronously; or,

[0014] Each of the aforementioned transfer mechanisms operates alternately and in staggered steps.

[0015] Optionally, the detection module includes:

[0016] A third imaging device, suspended above the transfer mechanism with its imaging surface facing downwards, is used to capture third image information of the top surface of the sheet material in the second tray; and,

[0017] A fourth imaging device, with its imaging surface facing upward, is used to capture fourth image information of the bottom surface of the sheet material in the second tray.

[0018] Optionally, the loading station and the unloading station are arranged in groups to form transfer groups, with at least two transfer groups arranged side by side, and at least two transfer mechanisms corresponding to each transfer group, wherein the third imaging device is movable along the arrangement direction of each transfer group; and / or at least two third imaging devices are provided along the extension direction of the transfer group; and / or,

[0019] The fourth imaging device is located at the moving path of the third picking mechanism, and after the third picking mechanism removes the sheet material from the second tray and suspends it, the fourth imaging device is used to capture the fourth image information of the passing sheet material.

[0020] Optionally, the frame includes a base frame and a support frame suspended above the base frame, the support frame defining the material preparation station, the material loading station, the good product station and the defective product station;

[0021] The appearance inspection system further includes a lifting mechanism, which comprises:

[0022] A lifting platform is provided corresponding to the material preparation station, the material loading station, the good product station, and / or the defective product station, and is vertically and reciprocally mounted on the base frame. The lifting platform is used to move the corresponding pallet upwards into or downwards out of the corresponding station; and...

[0023] A platform for placing a corresponding pallet, wherein the platform has a clearance through hole formed on the bottom side of the pallet, the clearance through hole extending horizontally through the edge of the platform, the platform being movable along the horizontal direction so that it can move toward the lifting platform so that the lifting platform is inserted into the clearance through hole, and after the lifting platform moves out of the corresponding work position, the platform can move away from the lifting platform.

[0024] Optionally, the appearance inspection system further includes a sensor element, which may be selectively disposed at the movement path of the sheet material, and is used to trigger a sensing signal after sensing that the first tray, the second tray, the third tray, the fourth tray and / or the sheet material has moved into place.

[0025] Optionally, the feeding device further includes a discrete mechanism, which is located at the material preparation station and connected to the first tray. The discrete mechanism is used to act on the first tray before the first imaging device is operated, so as to drive the sheet materials in the first tray to separate from each other.

[0026] Furthermore, to achieve the above objectives, the present invention also provides a control method for an appearance inspection system, comprising:

[0027] After confirming that the first tray is in place at the material preparation station, the first image information of the first tray is obtained based on the first imaging device;

[0028] A picking path is formed based on the first image information, and the first picking mechanism is controlled to pick up sheet material from the first tray according to the picking path;

[0029] The second image information at the location of the first pickup mechanism that the device moves past is acquired based on the second imaging device;

[0030] An adjustment plan is formed based on the second image information, and the first picking mechanism is controlled to move the sheet material into the second tray according to the adjustment plan;

[0031] The control transfer mechanism drives the second tray from the loading station to the unloading station, and when it moves past the detection module, the control of the corresponding detection module detects the outer surface of the sheet material in the second tray to obtain the corresponding detection data.

[0032] The third picking mechanism is controlled to transfer sheet materials whose detection data meets the preset detection rules to the third tray, and to transfer sheet materials whose detection data does not meet the preset detection rules to the fourth tray.

[0033] Optionally, the step of controlling the first picking mechanism to move the sheet material into the second tray according to the adjustment scheme includes:

[0034] The picking path is adjusted according to the adjustment scheme, and the first picking mechanism is controlled to move the sheet material into the second tray according to the adjusted picking path; and / or,

[0035] Adjust the posture of the sheet material according to the adjustment scheme, and control the first picking mechanism to move the adjusted sheet material into the second tray; and / or,

[0036] According to the adjustment scheme, confirm whether the sheet material has been picked up in place, and after confirming that it has been picked up in place, control the first picking mechanism to move the sheet material into the second tray.

[0037] In the technical solution provided by this invention, at the material preparation station, sheet materials can be placed relatively freely and randomly on the first tray, which to some extent helps to improve the preparation speed and difficulty of sheet materials.

[0038] Then, under the precise guidance of the positioning module, the first picking mechanism can accurately transfer the sheet material from the first tray to the second tray, achieving neat placement of the sheet material on the second tray. This allows the orientation and transfer processes of the sheet material to overlap spatially and temporally, which greatly simplifies the overall structural complexity of the machine and reduces time consumption, thereby improving feeding efficiency while ensuring high feeding accuracy.

[0039] The transfer mechanism moves the second tray, allowing the sheet material on the second tray to pass sequentially through each detection module. This orderly staggers the detection nodes of each module in both time and space, preventing interference. Similarly, to a certain extent, the transfer process of the sheet material and its appearance inspection process overlap at least partially in both space and time. This helps improve the efficiency of appearance inspection while maintaining high accuracy, ultimately contributing to the overall reliability of the appearance inspection system. Attached Figure Description

[0040] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0041] Figure 1 A perspective view of an embodiment of the appearance inspection system provided by the present invention;

[0042] Figure 2 for Figure 1 A 3D schematic diagram of the appearance inspection system after the outer shell has been removed;

[0043] Figure 3 for Figure 2 A three-dimensional schematic diagram of the central feeding device;

[0044] Figure 4 for Figure 3 A three-dimensional schematic diagram of the feeding device when sheet material is on the platform;

[0045] Figure 5 for Figure 4 A structural diagram of the material preparation station and the material loading station;

[0046] Figure 6 for Figure 4 A structural diagram after some components have been removed.

[0047] Figure 7 for Figure 4Structural diagram of the central lifting mechanism;

[0048] Figure 8 for Figure 3 A three-dimensional schematic diagram of the feeding device when sheet material is on the lifting platform;

[0049] Figure 9 for Figure 3 A three-dimensional schematic diagram of the feeding device when sheet material is in the preparation position;

[0050] Figure 10 for Figure 3 A three-dimensional schematic diagram of the first pickup mechanism;

[0051] Figure 11 for Figure 2 A three-dimensional schematic diagram of the appearance inspection device;

[0052] Figure 12 for Figure 11 A top view of part of the structure of the appearance inspection device;

[0053] Figure 13 for Figure 12 A three-dimensional schematic diagram of the appearance inspection device;

[0054] Figure 14 for Figure 11 A three-dimensional schematic diagram of the third imaging device in the middle;

[0055] Figure 15 for Figure 11 A three-dimensional schematic diagram of the third pickup mechanism;

[0056] Figure 16 for Figure 11 A three-dimensional schematic diagram of the fourth pickup mechanism;

[0057] Figure 17 This is a flowchart illustrating an embodiment of the appearance inspection system provided by the present invention.

[0058] Explanation of icon numbers:

[0059] 100 Frame; 110 Base frame; 120 Support frame; 121 Material preparation station; 122 Loading station; 123 Unloading station; 124 Good product station; 125 Defective product station; 126 Tray exit station; 127 Tray loading station; 128 Transfer assembly; 200 Feeding device; 210 First tray; 211 First placement slot; 220 Second tray; 221 Second placement slot; 230 First pickup mechanism; 231 First pickup component; 231a Picking part; 231b Main body; 232 Adsorption device; 240 Positioning module; 241 First imaging device; 242 Second imaging device; 300 Appearance inspection device; 310 Third tray; 320 Fourth tray; 330 Transfer mechanism; 340 Detection module; 341 Third imaging device; 342 Fourth imaging device; 350 Third pickup mechanism; 360 Fourth pickup mechanism; 370 Fifth imaging device; 400 Lifting mechanism; 410 Lifting platform; 420 Loading platform; 421 Clearance through hole; 431 Connection structure; 432 Docking structure; 440 Limiting structure.

[0060] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0061] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0062] It should be noted that if the embodiments of the present invention involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0063] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the meaning of "and / or" throughout the text includes three parallel solutions; for example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0064] Please see Figures 1 to 16 The present invention provides an appearance inspection system.

[0065] The appearance inspection system in this application is primarily aimed at the production flow of sheet materials, but it does not constitute a limitation on the specific structure of sheet materials. It is understood that sheet materials can be configured to have any shape, any size, any material, and any purpose.

[0066] For ease of understanding, the following embodiments will use the example of an appearance inspection system having a basically vertical vertical and horizontal direction as directional references. The vertical direction roughly corresponds to the direction of gravity (i.e., downward) and the opposite direction (i.e., upward). The horizontal direction is any direction on the horizontal plane.

[0067] Based on this, please combine Figures 1 to 2 The appearance inspection system includes the body and control device.

[0068] The machine body includes a frame 100, a feeding device 200, and an appearance inspection device 300.

[0069] The specific form of the rack 100 is not limited; it may be composed of one or more of the following: frame, plate, box, block, etc.

[0070] Specifically, the frame 100 may include a support frame 120. The support frame 120 may be a platform structure that extends generally along a horizontal plane. The support frame 120 sequentially defines a material preparation station 121, a loading station 122, a unloading station 123, a good product station 124, and a defective product station 125. The material preparation station 121 is generally located closer to the loading station 122 than the unloading station 123. Similarly, the good product station 124 and the defective product station 125 are generally located closer to the unloading station 123 than the loading station 122.

[0071] The feeding device 200 includes a first tray 210 placed at the preparation station 121, a second tray 220 placed at the loading station 122, a first picking mechanism 230, and a positioning module 240. The first tray 210 is used for freely placing sheet materials. The positioning module 240 is located along the movement path of the first picking mechanism 230 and is used to measure the orientation of the sheet materials at that location. The first picking mechanism 230 is used to neatly place the sheet materials at the first tray 210 onto the second tray 220 based on the measurement data from the positioning module 240.

[0072] The appearance inspection device 300 includes a third tray 310 placed at the good product station 124, a fourth tray 320 placed at the defective product station 125, a transfer mechanism 330, an inspection module 340, and a third pick-up mechanism 350. The transfer mechanism 330 is used to transfer the second tray 220 from the loading station 122 to the unloading station 123. The inspection module 340 is located along the movement path of the transfer mechanism 330 and is used to perform appearance inspection on at least two outer end surfaces of the sheet material passing through it. The third pick-up mechanism 350 is used to transfer the sheet material at the second tray 220 to the third tray 310 or the fourth tray 320 respectively, based on the inspection data from the inspection module 340.

[0073] In the technical solution provided by the present invention, at the material preparation station 121, sheet materials can be placed relatively freely and randomly at the first tray 210, which to a certain extent helps to improve the material preparation speed and difficulty of sheet materials.

[0074] Then, under the precise guidance of the positioning module 240, the first picking mechanism 230 can accurately transfer the sheet material from the first tray 210 to the second tray 220, achieving neat placement of the sheet material on the second tray 220. This allows the orientation and transfer processes of the sheet material to overlap spatially and temporally, which greatly simplifies the overall structural complexity of the machine and reduces time consumption, thereby improving feeding efficiency while ensuring high feeding accuracy.

[0075] The transfer mechanism 330 transfers the second tray 220, allowing the sheet material on the second tray 220 to pass sequentially through each detection module 340. This orderly staggers the detection nodes of each detection module 340 in both time and space, preventing interference. Similarly, to a certain extent, the transfer process of the sheet material and the appearance inspection process of the sheet material overlap at least partially in space and time, helping to improve the efficiency of appearance inspection while ensuring high accuracy, ultimately contributing to the reliability of the entire appearance inspection system.

[0076] Firstly, the specific arrangement of the material preparation station 121, the loading station 122, the unloading station 123, the good product station 124, and the defective product station 125 is not restricted. For example... Figures 11 to 12 As shown, in a specific design, if the horizontal and vertical directions are essentially perpendicular, then the loading station 122 and the unloading station 123 are, for example, separated along the vertical direction. The preparation station 121 is located on one side of the loading station 122. The good product station 124 and the defective product station 125 are located on opposite sides of the unloading station 123.

[0077] Then as Figures 3 to 10 As shown, the structure of the feeding device 200 will be described in detail below.

[0078] As described above, the feeding device 200 includes a first tray 210, a second tray 220, a first picking mechanism 230, and a positioning module 240. The positioning module 240 may include a first imaging device 241 and a second imaging device 242.

[0079] The first imaging device 241 is suspended above the material preparation station 121, with its imaging surface facing downwards. The first imaging device 241 is used to capture first image information within the first tray 210, so that the first picking mechanism 230 can pick up sheet-like materials from the first tray 210 based on the first image information.

[0080] The second imaging device 242 is located in the area between the material preparation station 121 and the material loading station 122, with its imaging surface facing upwards. The second imaging device 242 is used to capture second image information of the passing first pickup 231 and the sheet material it picks up. This information is then used by the first pickup mechanism 230 to place the sheet material into the second tray 220.

[0081] First, if we define the location of the second imaging device 242 as the adjustment position, then specifically, the material preparation station 121 and the adjustment position can be arranged at intervals along the horizontal direction. The adjustment position and the loading station 122 can be arranged at intervals along the vertical direction. That is, the adjustment position is located on the side of the loading station 122 that is opposite to the unloading station 123.

[0082] In this way, the material preparation station 121 and the material loading station 122 are located diagonally. This means that the path length between the material preparation station 121 and the material loading station 122 will not be increased too much, but it is sufficient to ensure that the material preparation station 121 and the material loading station 122 are spaced as far apart as possible to avoid structural interference between them.

[0083] like Figure 3 , Figure 4 and Figure 10As shown, the first picking mechanism 230 can be adaptively configured to correspond to the specific schemes of the material preparation station 121, the position adjustment station, and the material loading station 122:

[0084] The first pickup component 231 can move horizontally along a first horizontal direction, allowing it to move back and forth between the material preparation station 121 and the aforementioned adjustment position. In particular, the first pickup component 231 can move the sheet material from the material preparation station 121 to the adjustment position.

[0085] The first pickup component 231 can also move horizontally along the second horizontal direction, allowing it to move back and forth between the adjustment position and the loading station 122. In particular, the first pickup component 231 can move the sheet material from the adjustment position to the loading station 122.

[0086] Of course, the first pickup element 231 can also be configured to move vertically. Understandably, in its initial state, the first pickup element 231 will be suspended above the support frame 120. Then, when a pickup operation is required, the first pickup element 231 can move vertically downwards towards the support frame 120. For example, it can move towards the first pallet 210 at the material preparation station 121. When horizontal movement is required, and / or when a pickup operation is not needed, the first pickup element 231 can move vertically upwards away from the support frame 120, leaving sufficient clearance.

[0087] Alternatively, if required, the first pickup 231 can also be configured to rotate about a vertically extending axis:

[0088] For example, the first pickup component 231 can rotate around its own axis. During this rotation, the circumferential orientation of the first pickup component 231 can be adjusted. For instance, this adjustment can be used to match sheet materials, thereby improving the pickup operation. Similarly, the circumferential orientation of the first pickup component 231 and the sheet material can also be adjusted during rotation. For example, the orientation of the sheet material can be adjusted during this adjustment, ultimately achieving a neat and orderly placement of the sheet material on the second tray 220.

[0089] Alternatively, for example, the first pickup element 231 can also revolve around the offset axis. During the revolution, both the circumferential orientation adjustment as described above and the horizontal movement and switching of the first pickup element 231 can be achieved to a certain extent.

[0090] To achieve automated and precise control of the movement of the first pickup component 231, the first pickup mechanism 230 may also include a power unit. The power unit includes at least an electronically controlled drive component. It may also optionally include a transmission assembly. For example, when translational movement is required, the transmission assembly can be an existing linear module, a lead screw and nut mechanism, a rack and pinion mechanism, etc. When rotational movement is required, the transmission assembly can be an existing gear set, a worm gear mechanism, etc., which will not be detailed further.

[0091] As can be seen from the above, the main purpose of the first pickup member 231 is to pick up sheet-like materials. Specifically, the first pickup member 231 includes a pickup section 231a. And the first pickup member 231 mainly picks up sheet-like materials through the pickup section 231a.

[0092] First, the pickup unit 231a and the sheet material can be connected in contact. In this case, the size relationship between the end face dimensions of the pickup unit 231a and the end face dimensions of the sheet material is not limited. Furthermore, the end face shapes of the pickup unit 231a and the end face shapes of the sheet material can be adapted, at least partially, thus ensuring a tighter connection between the pickup unit 231a and the sheet material.

[0093] Of course, the pickup unit 231a and the sheet material can also be connected in a non-contact manner, depending mainly on the specific pickup method of the pickup unit 231a:

[0094] In one specific embodiment, the picking unit 231a may consist of at least two grippers. The at least two grippers have a relative travel of moving closer to each other and further away from each other, thereby enabling the gripping and release of sheet-like materials during this relative travel.

[0095] In one specific embodiment, the pickup unit 231a can be made of a magnetic material. In this case, the pickup unit 231a can mainly magnetically pick up or release sheet-like materials made of metal (including iron, cobalt, and nickel). More specifically, the magnetic material is set to an electromagnetic material, that is, it forms a magnetic field after being energized to achieve magnetic pickup; and the magnetic field disappears after being de-energized to achieve release.

[0096] In one specific embodiment, the pickup unit 231a may have at least one vent. A negative pressure can be formed at the vent, thereby enabling negative pressure pickup of sheet-like materials. Conversely, when the airflow at the vent is blocked, or when a positive pressure is formed, the sheet-like materials can be released.

[0097] It is understood that when the pickup unit 231a is configured as magnetic pickup and / or negative pressure pickup as described above, the first pickup mechanism 230 generally also includes an adsorption device 232, which is connected to the first pickup member 231 and is used to form a negative pressure suction force and / or magnetic attraction force at the pickup unit 231a.

[0098] Specifically, for magnetic pickup, the adsorption device 232 is, for example, a power supply. The power supply is directly or indirectly connected to the pickup unit 231a, which enables the electromagnetic material to switch between being energized and de-energized.

[0099] For negative pressure pickup, the adsorption device 232 is, for example, a negative pressure generator. The negative pressure generator is, for example, a fan or a pump. The negative pressure generator can be directly connected to the air vent of the pickup unit 231a. Alternatively, the negative pressure generator can be indirectly connected to the air vent of the pickup unit 231a through a preset air pipe, air chamber structure, etc.

[0100] When the pickup unit 231a is configured for magnetic pickup and / or negative pressure pickup, its pickup force for sheet materials is relatively gentler and adjustable. This makes the pickup unit 231a suitable for sheet materials of various materials and shapes, which helps to improve the integrity of the sheet material structure during the flow process and improve the overall yield.

[0101] As can be seen from the above, driven by the power unit, the first pickup 231 can actively translate and / or actively rotate relative to the frame 100. And / or in one configuration, the first pickup 231 includes a pickup portion 231a as described above, and a main body portion 231b connected to the pickup portion 231a.

[0102] The main body 231b and the pickup part 231a can remain relatively fixed. That is, the orientation of the pickup part 231a relative to the main body 231b is basically fixed and cannot be adjusted. Specifically, the main body 231b and the pickup part 231a can be integrally formed. Alternatively, the main body 231b and the pickup part 231a can be separately formed and then detachably or non-detachably connected and fixed.

[0103] Alternatively, the main body 231b and the pickup unit 231a can be adjusted according to actual needs. This adjustment can be active or passive. For example, the orientation of the pickup unit 231a relative to the main body 231b can be passively adjusted.

[0104] Specifically, when the pickup unit 231a contacts the sheet material, it is subjected to the opposing force of the sheet material and / or the first tray 210 and the second tray 220. The pickup unit 231a can then be adjusted to float or rotate relative to the main body 231b. During this adjustment process, the orientation of the pickup unit 231a can be matched with the orientation of the specific end face of the sheet material, which helps to strengthen the connection between the pickup unit 231a and the sheet material.

[0105] Based on one or more of the above embodiments, such as Figures 5 to 7As shown, it can be understood that the first tray 210 can accommodate at least two sheet-like materials that can be freely placed. This free placement means that they can be placed arbitrarily and randomly. Correspondingly, the first tray 210 can have a first placement groove 211 recessed on its upper surface. The opening area and / or bottom area of ​​the first placement groove 211 can be set to be sufficiently large, at least greater than the same-direction area of ​​a single sheet-like material.

[0106] In this way, sufficient space can be reserved for at least two sheet materials to be freely placed. When the placement of each sheet material in the first tray 210 is more free and flexible, it will reduce the difficulty and error rate of placing sheet materials in the first tray 210 to a certain extent, which will help improve the efficiency of placing sheet materials in the first tray 210.

[0107] The process of placing the sheet material into the first tray 210 can be done manually, or it can be automated using additional equipment such as a robotic arm.

[0108] The second tray 220 can accommodate at least two sheet materials for orderly placement. This orderly placement means that the second tray 220 imposes certain constraints on the position and / or orientation of the sheet materials, for example, specifying a predetermined position, orientation, and quantity of sheet materials on a single second tray 220. The specific arrangement of this orderly placement is generally designed to facilitate subsequent processing steps and / or quality inspection procedures for the sheet materials.

[0109] Correspondingly, the second tray 220 is recessed with at least two second placement slots 221. Each second placement slot 221 can be used to place various sheet materials. The internal structure of the second placement slot 221 is adapted to the outline of the sheet material, so the placement orientation of the sheet material can be restricted by the internal shape and size of the second placement slot 221, ultimately achieving orderly placement of the sheet material.

[0110] As can be seen from the above, when the same first tray 210 and / or second tray 220 can accommodate at least two sheet materials, the first picking mechanism 230 can be configured to include a first picking element 231. The single first picking element 231 then picks up the sheet materials one by one from the first tray 210 to the second tray 220.

[0111] Alternatively, in a specific embodiment, the first picking mechanism 230 can be configured to include at least two first picking elements 231. Furthermore, the at least two first picking elements 231 can be controlled to move in conjunction with each other. This conjunction can be configured as simultaneous movement, synchronous movement, or ordered staggered movement, etc., depending on actual needs. For example, when moving in a staggered manner, each sheet of material can be moved in batches and in an orderly manner from the first tray 210 to the second tray 220.

[0112] like Figure 3 As shown, the first imaging device 241 is suspended above the material preparation station 121 by, for example, a support structure. The imaging surface of the first imaging device 241 faces downward, which ensures that at least the area where the material preparation station 121 is located is within the imaging range of the first imaging device 241.

[0113] Specifically, the imaging range of the first imaging device 241 is set to be no less than the opening area of ​​the first placement groove 211. That is, it is ensured that the first imaging device 241 can capture an image of the entire first placement groove 211. In this way, when at least two sheet-like materials are freely placed in the first placement groove 211, the first imaging device 241 can directly acquire image information of all sheet-like materials in the entire first placement groove 211, that is, the first image information.

[0114] The first imaging device 241 can be electrically connected to an external device, such as a control device. The control device then obtains the initial position information of each sheet of material based on the first image information and a preset algorithm.

[0115] Since the initial positions of the first pickup 231 and the second placement slot 221 in the second tray 220 are basically constant and known, once the initial position information of each sheet material is known, the specific movement path of each sheet material from the first tray 210 to the second tray 220 can be obtained.

[0116] The corresponding first pick-up piece 231 can pick up the sheet material according to the moving path and transfer it.

[0117] After the first pickup element 231 moves the sheet material to the adjusted position, the second imaging device 242 is positioned upwards. Specifically, as shown... Figure 5 As shown, the imaging range of the second imaging device 242 is not less than the sum of the bottom areas of the first pickup 231 and the sheet material. That is, the second imaging device 242 can capture image information of the passing first pickup 231 and / or sheet material to form second image information.

[0118] The second image information will then be used to formulate an adjustment plan. The specific composition of the adjustment plan can be adjusted according to actual needs.

[0119] For example, when a secondary positioning calibration of the movement path of the first pickup 231 is required, the second image information can acquire the adjustment position information of the second pickup and / or the sheet material at the adjustment position. Then, based on this adjustment position information, the initial movement path is calibrated according to a preset algorithm to obtain the calibrated movement path. The first pickup 231 can then move according to the calibrated movement path.

[0120] It is understandable that the adjustment position connects the material preparation station 121 and the loading station 122, and forms a corner. The second image information allows for the calibration of the initially obtained movement path, ensuring greater accuracy after subsequent adjustments. This also helps improve the accuracy of neatly placing sheet materials onto the second tray 220.

[0121] And / or, for example, when the second placement slot 221 of the second tray 220 defines the orientation of the sheet material, that is, when the sheet material needs to be loaded into the second placement slot 221 in a preset posture, the second image information can obtain the current posture of the sheet material at the adjustment position. Then, according to the target posture at the second placement slot 221, the first pickup 231 adjusts the posture of the sheet material until the posture of the sheet material meets the target posture, and the first pickup 231 continues to move according to the movement path.

[0122] And / or, for example, the second image information can acquire the picking status of the first pick-up member 231 for the sheet material at the adjusted position. That is, it can be determined whether the first pick-up member 231 has currently picked up the sheet material.

[0123] If the first picking component 231 has already picked up a sheet of material, then the first picking component 231 can be controlled to continue moving along the movement path.

[0124] Conversely, if the first pick-up item 231 fails to accurately pick up sheet material:

[0125] It may be picking up sheet-like materials, but the picking state of the sheet-like materials is not good, such as unstable picking or picking position deviation. In this case, the picking state of the first picking member 231 for the sheet-like materials can be adjusted first, and then the first picking member 231 can be controlled to continue to move according to the moving path.

[0126] Alternatively, it may be that no sheet material has been picked up, meaning the first picker 231 is currently empty. In this case, the first picker 231 can be controlled to return to the preparation station 121 to continue picking up sheet material. This reduces the time spent by the empty first picker 231 moving meaninglessly, thus improving overall picking efficiency.

[0127] When all the sheet materials in the same first pallet 210 at the material preparation station 121 are picked up and removed, an empty first pallet 210 is formed. At this time, in a specific embodiment, the frame 100 also has pallet discharge stations 126 arranged at intervals on the side of the material preparation station 121.

[0128] The feeding device 200 also includes a second picking mechanism. The second picking mechanism includes a second picking member for picking up the first tray 210. The second picking member is reciprocating between the preparation station 121 and the tray discharge station 126 so as to pick up the empty second tray 220 at the preparation station 121 and place it at the tray discharge station 126.

[0129] The specific configuration of the second picking mechanism can be referenced from the first picking mechanism 230 described above, and will not be repeated here. However, it should be emphasized that the specific structure of the second picking component must match the structure of the first tray 210.

[0130] For example, since the first tray 210 is relatively heavier and larger, the second pickup element can specifically be represented as at least two grippers. Correspondingly, lugs are formed on the sidewalls of the first tray 210. The lugs facilitate gripping and securing by the grippers.

[0131] Then as Figures 11 to 16 As shown, for the appearance inspection device 300:

[0132] The appearance inspection device 300 includes a third tray 310, a fourth tray 320, a transfer mechanism 330, an inspection module 340, and a third pickup mechanism 350.

[0133] The third tray 310 is placed at the good product station 124 and is mainly used to place sheet materials that have passed the inspection by the inspection module 340.

[0134] The fourth pallet 320 is placed at the defective product station 125, mainly for placing sheet materials that are found to be unqualified after being inspected by the inspection module 340.

[0135] The specific structures of the third tray 310 and the fourth tray 320 can be configured according to actual needs. Furthermore, the structures of the third tray 310 and the fourth tray 320 can be identical, or at least partially different.

[0136] like Figure 11 and Figure 12 As shown, the transfer mechanism 330 generally includes a moving part and a driving part. The moving part is a structure that can reciprocate between the loading station 122 and the unloading station 123. It can be connected and fixed to the second tray 220 as described above, so that during the movement of the moving part, the second tray 220 and its neatly arranged sheet materials move synchronously.

[0137] The drive section is connected to the moving section, which means that it can provide the necessary driving force for the movement of the moving section.

[0138] Since the moving part of the transfer mechanism 330 translates primarily along a straight trajectory, in practical applications, the transfer mechanism 330 can be specifically constructed from, for example, a linear module. Alternatively, it can be constructed from other components, such as a combination of a motor and a lead screw and nut mechanism.

[0139] During the movement of the moving part, a moving path is formed for the transfer mechanism 330. One or at least two detection positions can be spaced at intervals along the moving path of the transfer mechanism 330, depending on actual needs. The detection module 340 can be sequentially arranged at each detection position, as needed. Generally, the detection module 340 can detect at least two outer end surfaces of the sheet material. These outer end surfaces can be the top surface, the bottom surface, or any peripheral surface.

[0140] Specifically, such as Figures 13 to 14 As shown, the detection module 340 may include a third imaging device 341 and a fourth imaging device 342.

[0141] The third imaging device 341 can be suspended above the transfer mechanism 330, with its imaging surface facing downwards. The third imaging device 341 is used to capture third image information of the top surface of the sheet material in the second tray 220. Based on the third image information and preset detection rules, the control device can determine whether the top surface of the sheet material meets the detection requirements, ultimately obtaining detection data.

[0142] The third imaging device 341 can be fixedly mounted relative to the support frame 120. For example, it can be fixedly suspended directly above the transfer mechanism 330. When the moving part drives the second tray 220 to move past, the third imaging device 341 can directly perform visual inspection on the top surface of the sheet material in the second tray 220.

[0143] It should be noted that the imaging range of the third imaging device 341 is generally not less than the total opening area of ​​each of the second placement slots 221 in the second tray 220. This ensures that when the second tray 220 moves past the detection position of the third imaging device 341, the third image information captured by the third imaging device 341 includes images of the top surfaces of all sheet-like materials within the second tray 220.

[0144] Alternatively, the third imaging device 341 can be movable relative to the support frame 120. For example, the third imaging device 341 is suspended above the support frame 120 and can be driven by, for example, an actuation mechanism to translate laterally, translate longitudinally, rotate about a vertically extending axis, and / or deflect and oscillate about an axis extending in any horizontal direction.

[0145] It should be noted that the imaging range of the third imaging device 341 can be set to be no less than the total opening area of ​​each of the second mounting slots 221 of the second tray 220.

[0146] Alternatively, the imaging range of the third imaging device 341 can be set to be no less than the area of ​​the top surface of the sheet material. As the third imaging device 341 passes through each sheet material in sequence, it can capture images of the top surface of each sheet material to obtain corresponding third image information.

[0147] Furthermore, the appearance inspection system may also include a fifth pickup mechanism. The fifth pickup mechanism can pick up the sheet material in the second tray 220 and place it at the inspection position for the third imaging device 341 to capture third image information.

[0148] Furthermore, the imaging surface of the fourth imaging device 342 faces upward. The fourth imaging device 342 is used to capture fourth image information of the bottom surface of the sheet material in the second tray 220. Based on the fourth image information and preset detection rules, the control device can determine whether the bottom surface of the sheet material meets the detection requirements, and finally obtain detection data.

[0149] Similarly, the fourth imaging device 342 can be fixedly mounted relative to the support frame 120. For example, it can be fixedly mounted directly below the transfer mechanism 330. When the moving part drives the second tray 220 to move past, the fourth imaging device 342 can directly perform visual inspection on the bottom surface of the sheet material in the second tray 220.

[0150] It should be noted that at least the second tray 220, and optionally the movable portion located above the fourth imaging device 342, is made of a transparent material. This ensures that when the movable portion moves the second tray 220 past the detection position of the fourth imaging device 342, the fourth imaging device 342 can directly capture and obtain the fourth image information.

[0151] Similarly, the imaging range of the fourth imaging device 342 is generally not less than the total opening area of ​​each of the second placement slots 221 in the second tray 220. This ensures that when the second tray 220 moves past the detection position of the fourth imaging device 342, the fourth image information captured by the fourth imaging device 342 includes images of the bottom surfaces of all sheet-like materials within the second tray 220.

[0152] Alternatively, the fourth imaging device 342 can be movable relative to the support frame 120. For example, the fourth imaging device 342 is positioned below the transfer mechanism 330 and can be driven by, for example, an actuation mechanism to translate laterally, translate longitudinally, rotate about a vertically extending axis, and / or deflect and oscillate about an axis extending in any horizontal direction.

[0153] It should be noted that the imaging range of the fourth imaging device 342 can be set to be no less than the total opening area of ​​each of the second mounting slots 221 of the second tray 220.

[0154] Alternatively, the imaging range of the fourth imaging device 342 can be set to be no less than the area of ​​the bottom surface of the sheet material. As the fourth imaging device 342 passes through each sheet material in sequence, it can capture images of the bottom surface of each sheet material to obtain the corresponding fourth image information.

[0155] Furthermore, the appearance inspection system may also include a sixth pickup mechanism. The sixth pickup mechanism can pick up the sheet material in the second tray 220 and place it at the inspection position for the fourth imaging device 342 to capture fourth image information.

[0156] Or in a specific solution, such as Figures 11 to 15 As shown, the fourth imaging device 342 is located at the moving path of the third picking mechanism 350, and after the third picking mechanism 350 removes the sheet material from the second tray 220 and suspends it, the fourth imaging device 342 is used to capture the fourth image information of the passing sheet material.

[0157] For example, the detection position of the fourth imaging device 342 is directly set at the intersection of the first path between the good product station 124 and the unloading station 123, and the second path between the defective product station 125 and the unloading station 123.

[0158] In this way, when the third pickup component of the third pickup mechanism 350 picks up the sheet material and passes it through the fourth imaging device 342, and the fourth imaging device 342 captures the fourth image information, and the control device determines that the sheet material is a qualified product based on the fourth image information, the third pickup component picks up the sheet material and moves directly along the first path to the third tray 310 of the good product station 124. Conversely, if the control device determines that the sheet material is a non-qualified product based on the fourth image information, the third pickup component picks up the sheet material and moves directly along the second path to the fourth tray 320 of the defective product station 125.

[0159] It should be noted that the third picking mechanism 350 and the aforementioned fifth picking mechanism are mainly used for picking up sheet-like materials. Their specific structural designs can be referenced from the first picking mechanism 230 described above, and will not be elaborated upon further.

[0160] Based on the above, further, if the third tray 310 and / or the fourth tray 320 are similar to the second tray 220, and are arranged with multiple third and / or fourth placement slots in an orderly manner, such as Figure 2 and Figure 11 As shown, the appearance inspection device 300 may further include a fifth imaging device 370. The fifth imaging device 370 may be suspended at the good product station 124 and / or the defective product station 125. The function of the fifth imaging device 370 is similar to that of the first imaging device 241; it can capture fifth image information from the third tray 310 at the good product station 124 and / or capture fifth image information from the fourth tray 320 at the defective product station 125. Then, based on the fifth image information, it instructs the third pick-up member to accurately place the sheet material into the third placement slot and / or the fourth placement slot.

[0161] Furthermore, in the above embodiments, such as Figure 11 and Figure 12 As shown, if the loading station 122 and the unloading station 123 are arranged in a group, they constitute a transfer group 128. In a specific embodiment, at least two transfer groups 128 can be arranged side by side. For example, when the loading station 122 and the unloading station 123 are spaced apart longitudinally as described above, at least two transfer groups 128 can be arranged sequentially transversely.

[0162] At least two transfer mechanisms 330 are provided for each transfer group 128. The movement paths of the moving parts in each transfer mechanism 330 are parallel or nearly parallel to each other.

[0163] At this point, all transfer mechanisms 330 can operate synchronously. This ensures that the appearance inspection rhythm of at least two sheet-like materials is basically the same.

[0164] Correspondingly, the detection module 340 can be configured with at least two units corresponding to each transfer group 128. Alternatively, the third imaging device 341 and / or the fourth imaging device 342 in the same detection module 340 can simultaneously acquire third and / or fourth image information of different sheet materials in each second tray 220 of each transfer group 128.

[0165] Alternatively, the transfer mechanisms 330 can operate alternately and in staggered steps. This allows for a reasonable adjustment of the appearance inspection rhythm between two adjacent sheet materials. For example, after one sheet material in transfer group 128 has completed inspection, another sheet material in transfer group 128 can be quickly taken over. In particular, when the moving part in one transfer group 128 is driving the empty second tray 220 back from the unloading station 123 to the loading station 122, it is ensured that at least one moving part in transfer group 128 is still in the travel segment from the loading station 122 to the unloading station 123.

[0166] Of course, when at least two transfer groups 128 are provided as described above, the third imaging device 341 and / or the fourth imaging device 342 can be movably adjusted along the arrangement direction of each transfer group 128 according to the appearance inspection rhythm of two adjacent sheet materials. At least two third imaging devices 341 and / or fourth imaging devices 342 are provided along the extending direction of the transfer group 128. This allows for the use of smaller third imaging devices 341 and / or fourth imaging devices 342 to adapt to appearance inspection rhythms applicable to different sheet materials.

[0167] In addition, the support frame 120 may also be provided with an upper tray station 127. The upper tray station 127 may be set up in correspondence with the good product station 124 for placing an empty third tray 310. And / or the upper tray station 127 may be set up in correspondence with the defective product station 125 for placing an empty fourth tray 320.

[0168] Next, please combine Figure 16 As shown, the appearance inspection device 300 also includes a fourth picking mechanism 360. The fourth picking mechanism 360 can be used to pick up the empty third pallet 310 at the upper pallet station 127 and transfer it to the good product station 124. And / or, the fourth picking mechanism 360 can be used to pick up the empty fourth pallet 320 at the upper pallet station 127 and transfer it to the defective product station 125.

[0169] And / or optionally, the support frame 120 may also be provided with an output station. The output station may be provided in correspondence with the good product station 124 for placing a fully loaded third pallet 310. And / or the output station may be provided in correspondence with the defective product station 125 for placing a fully loaded fourth pallet 320.

[0170] Next, the appearance inspection device 300 also includes a fourth pick-up mechanism 360. The fourth pick-up mechanism 360 can be used to pick up the third pallet 310, which is fully loaded at the good product station 124, and transfer it to the output station. And / or, the fourth pick-up mechanism 360 can be used to pick up the fourth pallet 320, which is fully loaded at the defective product station 125, and transfer it to the output station.

[0171] It should be noted that the fourth picking mechanism 360 is mainly used to pick up the pallet. Its specific structural design can be referenced from the second picking mechanism described above, and will not be elaborated upon further.

[0172] Taking material preparation station 121 as an example:

[0173] In view of the above, the first pallet 210 can be fixedly placed at the material preparation station 121. Then, each sheet material is placed into the first pallet 210 by manual operation or a robotic arm.

[0174] Alternatively, the first pallet 210 can be manually moved into the preparation station 121 with the sheet material.

[0175] Alternatively, in a further embodiment, the frame 100 may also include a base frame 110 located at the bottom of the support frame 120. The support frame 120 has a through hole formed at the material preparation station 121.

[0176] The feeding device 200 also includes a lifting mechanism 400. The lifting mechanism 400 includes a lifting platform 410 and a lifting component that drives the lifting platform 410 to move vertically. The specific design of the lifting component is not limited, and it can be, but is not limited to, a linear cylinder; a combination of a motor and, for example, a lead screw and nut mechanism, a gear and rack mechanism, etc.

[0177] The lifting platform 410 can be installed at the through hole of the material preparation station 121, for example, and can be reciprocated vertically on the base frame 110. The lifting platform 410 is used to move the first tray 210 upward into the material preparation station 121.

[0178] The lifting mechanism 400 ensures that the process of moving the first pallet 210 into the preparation station 121 does not occupy additional horizontal space, and does not increase the size burden of the support frame 120, which helps to make the structure of the whole machine more compact.

[0179] Similarly, the first pallet 210 can be fixedly placed on the lifting platform 410. Then, the various sheet materials are placed into the first pallet 210 by manual operation or a robotic arm.

[0180] Alternatively, the first pallet 210 can be manually moved into the lifting platform 410 with the sheet material.

[0181] Alternatively, in one specific embodiment, the lifting mechanism 400 may further include a platform 420. The platform 420 is for mounting the first tray 210. A clearance through-hole 421 is formed in the platform 420 on the bottom side of the first tray 210. The clearance through-hole 421 extends along the edge of the platform 420 in a third horizontal direction.

[0182] The platform 420 is movable along a third horizontal direction. It can be moved toward the lifting platform 410 so that the lifting platform 410 is inserted into the clearance through hole 421. And after the lifting platform 410 moves out of the material preparation station 121 or the tray unloading station 126, the platform 420 can move away from the lifting platform 410.

[0183] like Figure 7 As shown, the platform 420 is equivalent to a drawer structure, which can be moved closer to the lifting platform 410 and further away from the lifting platform 410 along a third horizontal direction. The third horizontal direction can be the first horizontal direction, the second horizontal direction, or other horizontal directions mentioned above.

[0184] When the platform 420 moves away from the lifting platform 410 in a third direction, the platform 420 and the lifting platform 410, that is, the material preparation station 121, can be separated in the horizontal direction, leaving enough space for sheet materials to be freely placed in the first tray 210.

[0185] Then, since the clearance hole 421 is located on the bottom side of the first tray 210, and the lifting platform 410 will naturally insert into the clearance hole 421 when it moves closer, that is, when it moves closer, the lifting platform 410 is on the bottom side of the first tray 210, but basically does not contact the platform 420. This means that when the lifting platform 410 is driven upward by the lifting component, it will only move the first tray 210 upward, and will not move the platform 420 upward.

[0186] In a further embodiment, the side wall of the stage 420 may be provided with an operating structure, such as a handle, to facilitate operation. This operating structure allows the user to easily move the stage 420 manually.

[0187] In one specific embodiment, the platform 420 is equipped with a connecting structure 431, and the base frame 110 is equipped with a docking structure 432. The connecting structure 431 and the docking structure 432 are connected and fixed after the lifting platform 410 is inserted into the clearance through hole 421, thus fixing the platform 420 to the base frame 110. This ensures that when the lifting platform 410 moves upward, it only moves the first tray 210 upward and does not affect the platform 420. Conversely, before the platform 420 is moved out, the connecting structure 431 and the docking structure 432 separate in time to ensure that the platform 420 can move smoothly.

[0188] The specific design of the connecting structure 431 and the docking structure 432 is not limited. It can be, but is not limited to, matching magnetic suction parts and magnetic mating parts, matching snap fasteners and snap hole structures, matching suction cup parts and adsorption mating parts, etc.

[0189] Furthermore, in one specific embodiment, the platform 420 defines a placement area for the first pallet 210. The feeding device 200 has a limiting structure 440 around the placement area. The limiting structure 440 is used to prevent the first pallet 210 from detaching from the placement area, and the orientation of the limiting structure 440 relative to the platform 420 is movable and adjustable. On the one hand, the limiting structure 440 can ensure that the first pallet 210 is accurately placed in the placement area, especially after the subsequent lifting platform 410 intervenes and moves the first pallet 210 upward, which helps the first pallet 210 to be accurately moved into the material preparation station 121. On the other hand, the limiting structure 440 can ensure that the first pallet 210 will not shift laterally or detach when the platform 420 moves the first pallet 210 horizontally, which helps to securely place the first pallet 210 on the platform 420.

[0190] For example Figure 8 As shown, the limiting structure 440 can be a protrusion. The protrusion and the stage 420 are detachably connected. In this way, the number, position, etc. of the protrusions assembled at the same stage 420 can be adjusted according to actual needs, making the whole more flexible.

[0191] Of course, the lifting mechanism 400 described above can also be selectively installed at one or more of the following locations: tray unloading station 126, good product station 124, defective product station 125, tray loading station 127, and output station. In this case, the lifting platform 410 can move the corresponding tray upwards into or downwards out of the corresponding station. Then, by using the horizontal movement of the carrying platform 420, the corresponding tray can be moved in or out of the lifting platform 410, facilitating the smooth flow of the corresponding tray between the various stations.

[0192] Furthermore, in a further embodiment, the appearance inspection system also includes sensors. These sensors are selectively positioned along the movement path of the sheet material and trigger a sensing signal upon sensing that the first tray 210, second tray 220, third tray 310, fourth tray 320, and / or the sheet material has moved into place. The sensors assist the control device in detecting and confirming whether each tray and / or sheet material has been moved into position. The sensors can be, but are not limited to, imaging devices of the types described above. They can also be, for example, photoelectric sensors, mass sensors, etc.

[0193] In addition, the feeding device 200 may also include a discretization mechanism. The discretization mechanism is located at the material preparation station 121 and is connected to the first tray 210. The discretization mechanism is used to act on the first tray 210 before the first imaging device 241 operates, so as to cause the sheet materials in the first tray 210 to separate from each other.

[0194] It is understandable that when the sheet material is relatively thin and / or soft, and is easy to stack relatively in the first placement groove 211, the discrete mechanism can be used to disperse the individual sheet materials as much as possible, which will help the first imaging device 241 to capture the first image information of all the sheet materials and achieve accurate acquisition of the initial position information.

[0195] The specific design of the discrete mechanism is not limited; it can be, but is not limited to, a vibration mechanism, an air blowing mechanism, etc.

[0196] The control unit may include: a processor, such as a central processing unit (CPU), a communication bus, a user interface, a network interface, and memory. The communication bus is used to enable communication between these components. The user interface may include a display screen, an input unit such as a keyboard, and optionally, a standard wired or wireless interface. The network interface may optionally include a standard wired or wireless interface (such as a Wi-Fi / Wireless Fidelity interface). The memory may be high-speed random access memory (RAM) or stable non-volatile memory (NVM), such as a disk storage device. Alternatively, the memory may be a storage device independent of the aforementioned processor.

[0197] Those skilled in the art will understand that the above-described structure does not constitute a limitation on the control device, and may include more or fewer components than shown in the figure, or combine certain components, or have different component arrangements.

[0198] The memory, as a storage medium, may include an operating system, a network communication module, a user interface module, and a control program for the appearance inspection system.

[0199] In the control device described above, the network interface is mainly used for data communication with the network server; the user interface is mainly used for data interaction with the user; the processor and memory in the control device of the present invention can be set in the appearance inspection system, and the control device calls the control program of the appearance inspection system stored in the memory through the processor and executes the control method of the appearance inspection system provided in the embodiment of the present invention.

[0200] In addition, such as Figure 17 As shown, the present invention also provides a control method for an appearance inspection system, specifically including:

[0201] Step S100: After confirming that the first tray 210 is placed in place at the material preparation station 121, the first image information inside the first tray 210 is obtained based on the first imaging device 241.

[0202] Step S200: Form a picking path based on the first image information, and control the first picking mechanism 230 to pick up the sheet material from the first tray 210 according to the picking path.

[0203] Step S300: Acquire second image information at the location of the first pickup mechanism 230 that has moved past, based on the second imaging device 242.

[0204] Step S400: An adjustment plan is formed based on the second image information, and the first picking mechanism 230 is controlled to move the sheet material into the second tray 220 according to the adjustment plan.

[0205] Step S500: Control the transfer mechanism 330 to move the second tray 220 from the loading station 122 to the unloading station 123, and when it moves past the detection module 340, control the corresponding detection module 340 to detect the outer surface of the sheet material in the second tray 220 and obtain the corresponding detection data.

[0206] Step S600: Control the third picking mechanism 350 to transfer sheet materials whose detection data meets the preset detection rules to the third tray 310, and to transfer sheet materials whose detection data does not meet the preset detection rules to the fourth tray 320.

[0207] In this embodiment, the imaging range of the first imaging device 241 is set to be no less than the opening area of ​​the first placement groove 211. That is, it is ensured that the first imaging device 241 can capture an image of the entire first placement groove 211. Thus, when at least two sheet-like materials are freely placed in the first placement groove 211, the first imaging device 241 can directly acquire image information of all sheet-like materials in the entire first placement groove 211, that is, the first image information.

[0208] The first imaging device 241 can be electrically connected to an external device, such as a control device. The control device then obtains the initial position information of each sheet of material based on the first image information and a preset algorithm.

[0209] Since the initial positions of the first pickup 231 and the second placement slot 221 in the second tray 220 are basically constant and known, once the initial position information of each sheet material is known, the specific movement path of each sheet material from the first tray 210 to the second tray 220 can be obtained.

[0210] The corresponding first pick-up piece 231 can pick up the sheet material according to the moving path and transfer it.

[0211] The imaging range of the second imaging device 242 is not less than the sum of the bottom areas of the first pickup 231 and the sheet material. That is, the second imaging device 242 can capture image information of the passing first pickup 231 and / or sheet material to form second image information.

[0212] The second image information will then be used to formulate an adjustment plan. The specific composition of the adjustment plan can be adjusted according to actual needs.

[0213] For example, when a secondary positioning calibration of the movement path of the first pickup 231 is required, the second image information can acquire the adjustment position information of the second pickup and / or the sheet material at the adjustment position. Then, based on this adjustment position information, the initial movement path is calibrated according to a preset algorithm to obtain the calibrated movement path. The first pickup mechanism 230 can then be controlled to move the sheet material into the second tray 220 according to the adjusted pickup path.

[0214] It is understandable that the adjustment position connects the material preparation station 121 and the loading station 122, and forms a corner. The second image information allows for the calibration of the initially obtained movement path, ensuring greater accuracy after subsequent adjustments. This also helps improve the accuracy of neatly placing sheet materials onto the second tray 220.

[0215] And / or, for example, when the second placement slot 221 of the second tray 220 defines the orientation of the sheet material, that is, when the sheet material needs to be loaded into the second placement slot 221 in a preset posture, the second image information can obtain the current posture of the sheet material at the adjustment position. Then, according to the target posture at the second placement slot 221, the first pickup 231 adjusts the posture of the sheet material until the posture of the sheet material meets the target posture, and the first pickup 231 continues to move according to the movement path.

[0216] And / or, for example, the second image information can acquire the picking status of the first pick-up member 231 for the sheet material at the adjusted position. That is, it can be determined whether the first pick-up member 231 has currently picked up the sheet material.

[0217] If the first picking component 231 has already picked up a sheet of material, then the first picking component 231 can be controlled to continue moving along the movement path.

[0218] Conversely, if the first pick-up item 231 fails to accurately pick up sheet material:

[0219] It may be picking up sheet-like materials, but the picking state of the sheet-like materials is not good, such as unstable picking or picking position deviation. In this case, the picking state of the first picking member 231 for the sheet-like materials can be adjusted first, and then the first picking member 231 can be controlled to continue to move according to the moving path.

[0220] Alternatively, it may be that no sheet material has been picked up, meaning the first picker 231 is currently empty. In this case, the first picker 231 can be controlled to return to the preparation station 121 to continue picking up sheet material. This reduces the time spent by the empty first picker 231 moving meaninglessly, thus improving overall picking efficiency.

[0221] During the process of moving the second tray 220 from the loading station 122 to the unloading station 123, the moving part of the transfer mechanism 330 can sequentially perform appearance inspection on each sheet material to obtain corresponding third image information. The control device will determine whether the appearance inspection of the top surface of each sheet material is qualified based on the third image information.

[0222] The fourth imaging device 342 can also sequentially perform appearance inspection on each sheet material to obtain corresponding fourth image information. The control device will determine whether the appearance inspection of the bottom surface of each sheet material is qualified based on the fourth image information.

[0223] Generally, but not limited to, if the appearance inspection of both the top and bottom surfaces of the sheet material is qualified, it is considered a qualified product. The third picking mechanism 350 picks up the qualified sheet material and places it on the third tray 310 of the good product station 124. However, if the appearance inspection of at least one of the top or bottom surfaces of the sheet material is unqualified, it is considered a non-qualified product. The third picking mechanism 350 picks up the non-qualified sheet material and places it on the fourth tray 320 of the defective product station 125.

[0224] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make some modifications or alterations to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the present invention. Any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the scope of the present invention.

Claims

1. An appearance inspection system, characterized in that, include: The machine frame is provided with a material preparation station, a material loading station, a material unloading station, a good product station and a defective product station in sequence. The material preparation station is located next to the material loading station, and the good product station and the defective product station are respectively located next to the material unloading station. The feeding device includes a first tray placed at the material preparation station, a second tray placed at the material loading station, a first picking mechanism, and a positioning module. The first tray is used for freely placing sheet materials. The positioning module is located along the movement path of the first picking mechanism and is used to measure the orientation of the sheet materials at that location. The first picking mechanism is used to neatly place the sheet materials from the first tray onto the second tray based on the measurement data from the positioning module. The appearance inspection device includes a third tray placed at the good product station, a fourth tray placed at the defective product station, a transfer mechanism, an inspection module, and a third picking mechanism. The transfer mechanism is used to transfer the second tray from the loading station to the unloading station. The inspection module is located at the moving path of the transfer mechanism and is used to perform appearance inspection on at least two outer end surfaces of the sheet material passing through. The third picking mechanism is used to transfer the sheet material at the second tray to the third tray or the fourth tray respectively according to the inspection data of the inspection module. The positioning module includes: A first imaging device, suspended above the material preparation station with its imaging surface facing downwards, is used to capture first image information from the first tray, so that the first picking mechanism can pick up sheet-like materials from the first tray based on the first image information; and, The second imaging device is located in the area between the material preparation station and the material loading station, with its imaging surface facing upward. The second imaging device is used to capture second image information of the passing first picking mechanism and the sheet material it picks up, so that the first picking mechanism can place the sheet material into the second tray according to the second image information. The detection module includes: A third imaging device, suspended above the transfer mechanism with its imaging surface facing downwards, is used to capture third image information of the top surface of the sheet material in the second tray; and, A fourth imaging device, with its imaging surface facing upward, is used to capture fourth image information of the bottom surface of the sheet material in the second tray.

2. The appearance inspection system as described in claim 1, characterized in that, The loading station and the unloading station are arranged in groups to form a transfer group. At least two transfer groups are arranged side by side, and at least two transfer mechanisms are provided for each of the transfer groups. Each of the aforementioned transfer mechanisms operates synchronously; or, Each of the aforementioned transfer mechanisms operates alternately and in staggered steps.

3. The appearance inspection system as described in claim 1, characterized in that, The loading station and the unloading station are arranged in groups to form transfer groups. At least two transfer groups are arranged side-by-side. At least two transfer mechanisms are provided corresponding to each transfer group. The third imaging device is movable along the arrangement direction of each transfer group; and / or at least two third imaging devices are provided along the extension direction of the transfer group; and / or... The fourth imaging device is located at the moving path of the third picking mechanism, and after the third picking mechanism removes the sheet material from the second tray and suspends it, the fourth imaging device is used to capture the fourth image information of the passing sheet material.

4. The appearance inspection system as described in claim 1, characterized in that, The frame includes a base frame and a support frame suspended above the base frame, the support frame defining the material preparation station, the material loading station, the good product station and the defective product station; The appearance inspection system further includes a lifting mechanism, which comprises: A lifting platform is provided corresponding to the material preparation station, the material loading station, the good product station, and / or the defective product station, and is vertically and reciprocally mounted on the base frame. The lifting platform is used to move the corresponding pallet upwards into or downwards out of the corresponding station; and... A platform for placing a corresponding pallet, wherein the platform has a clearance through hole formed on the bottom side of the pallet, the clearance through hole extending horizontally through the edge of the platform, the platform being movable along the horizontal direction so that it can move toward the lifting platform so that the lifting platform is inserted into the clearance through hole, and after the lifting platform moves out of the corresponding work position, the platform can move away from the lifting platform.

5. The appearance inspection system as described in claim 1, characterized in that, The appearance inspection system also includes a sensor element, which can be selectively located along the movement path of the sheet material and is used to trigger a sensing signal after the first tray, the second tray, the third tray, the fourth tray and / or the sheet material at the current location are sensed to have moved into place.

6. The appearance inspection system as described in claim 1, characterized in that, The feeding device further includes a discrete mechanism, which is located at the material preparation station and connected to the first tray. The discrete mechanism is used to act on the first tray before the first imaging device is operated, so as to drive the sheet materials in the first tray to separate from each other.

7. A control method for an appearance inspection system as described in any one of claims 1 to 6, characterized in that, include: After confirming that the first tray is in place at the material preparation station, the first image information of the first tray is obtained based on the first imaging device; A picking path is formed based on the first image information, and the first picking mechanism is controlled to pick up sheet material from the first tray according to the picking path; The second image information at the location of the first pickup mechanism that the device moves past is acquired based on the second imaging device; An adjustment plan is formed based on the second image information, and the first picking mechanism is controlled to move the sheet material into the second tray according to the adjustment plan; The control transfer mechanism drives the second tray from the loading station to the unloading station, and when it moves past the detection module, the control of the corresponding detection module detects the outer surface of the sheet material in the second tray to obtain the corresponding detection data. The third picking mechanism is controlled to transfer sheet materials whose detection data meets the preset detection rules to the third tray, and to transfer sheet materials whose detection data does not meet the preset detection rules to the fourth tray.

8. The control method for the appearance inspection system as described in claim 7, characterized in that, The step of controlling the first picking mechanism to move the sheet material into the second tray according to the adjustment scheme includes: The picking path is adjusted according to the adjustment scheme, and the first picking mechanism is controlled to move the sheet material into the second tray according to the adjusted picking path; and / or, Adjust the posture of the sheet material according to the adjustment scheme, and control the first picking mechanism to move the adjusted sheet material into the second tray; and / or, According to the adjustment scheme, confirm whether the sheet material has been picked up in place, and after confirming that it has been picked up in place, control the first picking mechanism to move the sheet material into the second tray.

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