Holder visual detection equipment and detection method

Abstract

The invention relates to the technical field of visual inspection, in particular to a holder visual inspection device and method. Comprising a platform rack and a Y-axis lead screw module on the upper surface of the platform rack; an overturning module and a 360-degree rotating module are arranged above the Y-axis screw rod module; the upper surface of the platform rack is fixedly connected with a gantry module; an X-axis lead screw module and a Z-axis lead screw module with a visual module are mounted on the gantry module; a jig on the 360-degree rotating module is formed by combining a rectangular plate at the upper part and a cylinder at the center at the lower part; a circular groove is formed in the center of the jig; the piston in the jig is driven to move downwards through the gravity of the product, so that the four clamping blocks push the product to move towards the center of the jig from the four directions of the product, the product is placed in the middle and clamped on the upper surface of the jig, the situation that the products on the subsequent adjacent jigs collide and make contact in the rotating process is avoided, and the product quality is improved. And the product detection stability and efficiency are improved.

Description

Technical Field

[0001] This invention relates to the field of visual inspection technology, specifically a gimbal-based visual inspection device and inspection method. Background Technology

[0002] With the increasing prevalence of mobile phone applications and growing demand, the quality control of products in the front-end manufacturing process is becoming increasingly stringent. Products with appearance defects and inconsistent quality require management, necessitating more precise visual inspection equipment. To meet market demands, corresponding automated equipment has been developed. Currently, a large number of workers in manufacturing plants are involved in the appearance inspection of mobile phone frames, relying on their naked eyes to identify and judge product quality. Prolonged work can lead to visual fatigue, resulting in lower yield rates and low efficiency. Addressing these industry pain points, our company, based on extensive industry experience, has independently developed a visual inspection device for mobile phone frame appearance defects. This device is compatible with visual inspection equipment for various brands of mobile phone frames and works in conjunction with our self-developed vision system to complete the visual inspection process.

[0003] Before testing, operators load multiple products to be tested onto corresponding fixtures. Then, they move the fixtures to the testing position and rotate the fixtures and the products on them to perform testing on multiple products. To prevent products on adjacent fixtures from contacting each other during rotation and slipping off the fixtures, operators align the center of the fixtures and products during loading. This undoubtedly increases the difficulty of loading multiple products and affects the loading efficiency, which in turn affects the product testing efficiency.

[0004] In view of this, in order to overcome the above-mentioned technical problems, the present invention proposes a gimbal vision inspection device and inspection method, which solves the above-mentioned technical problems. Summary of the Invention

[0005] To overcome the shortcomings of existing technologies, this invention proposes a gimbal vision inspection device and inspection method. This invention uses the product's own gravity to drive the piston in the fixture to move downward, causing four clamping blocks to push the product towards the center of the fixture from four directions. This allows the product to be placed in the center and clamped on the upper surface of the fixture, thereby avoiding collisions and contact between products on adjacent fixtures during rotation. This improves the stability and efficiency of product inspection.

[0006] The technical solution adopted by the present invention to solve its technical problem is as follows: The gimbal vision inspection device of the present invention includes a platform frame and a Y-axis lead screw module on the upper surface of the platform frame; a flip module and a 360-degree rotation module are arranged above the Y-axis lead screw module; a gantry module is fixedly connected to the upper surface of the platform frame; an X-axis lead screw module and a Z-axis lead screw module with a vision module are installed on the gantry module;

[0007] The fixture on the 360-degree rotating module is composed of an upper rectangular plate and a lower central cylinder. A circular groove is provided inside the center of the fixture. A piston is slidably and sealingly connected to the inner wall of the groove. A movable rod is fixedly connected to the center of the piston. One end of the movable rod passes through the fixture and extends to the top of the fixture. The movable rod is slidably and sealingly connected to the fixture. Clamping grooves are provided on the four sides of the rectangular plate. L-shaped clamping blocks are slidably and sealingly connected to the clamping grooves. The bottom of the clamping groove is connected to the upper wall of the circular groove through a first air hole. Under the control of the movable rod, the piston moves downward, causing the four clamping blocks to centrally clamp the product.

[0008] Preferably, the lower surface of the piston is connected to the bottom of the circular groove by a first spring; the elastic force of the first spring is greater than the sum of the weight of the piston and the movable rod; the first spring can drive the piston to move upward when the jig is not in place; the elastic force of the first spring is less than the weight of the product.

[0009] Preferably, a straight exhaust channel is vertically arranged at the center of the bottom of the circular groove; the end of the straight exhaust channel away from the circular groove is connected to the upper surface of the fixture through a curved exhaust channel; there are multiple curved exhaust channels; the end of the curved exhaust channel connected to the fixture is inclined toward the corresponding clamping block.

[0010] Preferably, a ball groove is provided in the middle of the straight exhaust channel; a ball seat is movably connected in the ball groove; the center of gravity of the ball seat is set at a lower position; an opening and closing hole is provided through the ball seat; the opening and closing hole on the ball seat communicates with the straight exhaust channel when the fixture is placed upright; the opening and closing hole on the ball seat is offset from the straight exhaust channel when the fixture is placed at an angle.

[0011] Preferably, the clamping block consists of a clamping block and a moving block; the moving block is slidably and sealingly connected within the clamping groove; the length of the moving block is greater than the depth of the clamping groove; an elongated gravity groove is provided inside the moving block along the moving direction; the gravity groove is slidably and sealingly connected to the gravity block along the moving direction; a clamping groove is provided on the side of the moving block near the product placement direction; the clamping groove is located away from the circular groove; the clamping block is slidably and sealingly connected within the clamping groove; the gravity block divides the gravity groove into a near-rod groove and a far-rod groove; the near-rod groove is located near the movable rod; the bottom of the clamping groove and the far-rod groove are connected through a clamping hole; after the fixture drives the product to flip, the clamping block located above the side of the product retracts into the corresponding clamping groove under the negative pressure generated by the expansion of the far-rod groove.

[0012] Preferably, the gravity block is connected to the groove wall of the near-rod groove near the circular groove by a second spring; the elastic force of the second spring is less than the weight of the gravity block; the horizontal gravity block can squeeze the far-rod groove under the push of the second spring.

[0013] Preferably, the initial position of the gravity block is located away from the circular groove within the gravity groove; locking grooves are provided on both sides of the gravity block; the locking grooves are located on both sides of the gravity block when the fixture is positioned correctly; a locking block is slidably connected within the locking groove; the locking block is connected to the bottom of the locking groove by a tension spring; the wall of the gravity groove is provided with a slot corresponding to the locking groove position on the gravity block in the initial position; the locking block can be engaged into the corresponding slot under the action of gravity; the weight of the locking block is greater than the tension of the tension spring; the tension spring can horizontally pull the locking block away from the corresponding slot.

[0014] A gimbal vision inspection method, applicable to the aforementioned gimbal vision inspection equipment, comprises the following steps:

[0015] S1: The inspector places the product on the corresponding surface of the fixture in sequence. The product will squeeze the movable rod and drive the piston to move down. The four clamping blocks move towards the center of the fixture under negative pressure and push the product to complete the centering clamping. Then the operator presses the double start button with both hands. The gimbal vision inspection equipment is controlled by the controller. The controller will control the Y-axis lead screw module to drive the fixture and product on the flip module and the 360-degree rotation module to move from the loading position to the inspection position.

[0016] S2: Subsequently, the X-axis lead screw module on the gantry module drives the Z-axis lead screw module to move, performing left, right, up, and down movements. The Z-axis lead screw module drives the vision module to move, and the multiple vision imaging mechanisms on the vision module are raised and lowered to the imaging point height. The controller controls the first motor in the 360-degree rotating module to drive the synchronous belt drive, which drives multiple jigs to rotate. The multiple jigs will drive the product above to rotate. The controller will control the Y-axis lead screw module to drive the flipping module to move, ensuring that the center point of the shooting below the multiple vision imaging mechanisms coincides with the shooting point required by the jig.

[0017] S3: After the product is inspected with its front facing up, the second motor in the flip module drives the 360-degree rotation module to rotate 90 degrees. The 360-degree rotation module will drive the jig and the product on the jig to rotate 90 degrees. The Z-axis lead screw module drives the vision module to rise and fall to the new shooting position height and start shooting the side of the product. According to the position that needs to be shot on the side of the product, the position is programmed by the program. The point trajectory is moved by driving each axis to take pictures, realizing five-axis linkage detection.

[0018] S4: The 360-degree rotating module is driven by the first motor to rotate the synchronous belt. The synchronous belt drives multiple jigs and products to rotate. In conjunction with the Y-axis lead screw module, the flipping module is moved to ensure that the shooting center point directly below the four sets of visual imaging mechanisms coincides with the shooting point of the jig. The clamping block that has moved to the position point directly above the product will retract into the corresponding clamping slot.

[0019] S5: After the side-view photo inspection of the product is completed, the Z-axis lead screw module drives the vision module back to the initial position, the flip module drives the second motor to rotate, the second motor drives the 360-degree rotation module to reverse 90 degrees, and the Y-axis lead screw module drives the flip module and the 360-degree rotation module to move from the inspection position to the loading position; the operator removes the inspected product from the jig, then places the new product to be inspected back on the jig, presses the start button with both hands, and repeats S1-S5.

[0020] The beneficial effects of this invention are as follows:

[0021] 1. This invention uses the product's own weight to drive the piston in the fixture to move downwards, causing four clamping blocks to push the product towards the center of the fixture from four directions. This ensures that the product is placed in the center and clamped on the upper surface of the fixture, thereby preventing collisions and contact between products on adjacent fixtures during rotation. This improves the stability and efficiency of product testing.

[0022] 2. After the fixture and product are rotated 90 degrees, the weight of the product is perpendicular to the central axis of the movable rod. However, since the straight exhaust channel is cut off, the outside gas cannot enter the lower cavity along the curved exhaust channel and the straight exhaust channel. Thus, when the space of the lower cavity is sealed, the first spring cannot push the piston away from the bottom of the circular groove. Therefore, the clamping block still clamps the product, and the product is more stable during the side inspection process.

[0023] 3. In this invention, the medium in the clamping groove of the uppermost clamping block enters the far rod groove under negative pressure, so the uppermost clamping block will retract into the clamping groove. After the clamping block is removed, it is convenient to inspect the side of the product, avoid the clamping block affecting the comprehensiveness of the product inspection, and improve the inspection accuracy. Attached Figure Description

[0024] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0025] Figure 1 This is a perspective view of the present invention;

[0026] Figure 2 This is a perspective view of the present invention with the outer shell removed;

[0027] Figure 3 This is a perspective view of the flipping module in this invention;

[0028] Figure 4 yes Figure 3 Enlarged view of point A in the middle;

[0029] Figure 5 This is a frontal sectional view of the fixture of the present invention;

[0030] Figure 6 yes Figure 5 Enlarged view of point B in the middle;

[0031] Figure 7 yes Figure 5 Enlarged view of point C in the middle;

[0032] Figure 8 This is a cross-sectional view of the fixture rotated 90 degrees;

[0033] Figure 9 yes Figure 8 Enlarged view at point D;

[0034] Figure 10 yes Figure 8 Enlarged view at point E in the middle;

[0035] Figure 11 yes Figure 8 A cross-sectional view from the left side;

[0036] Figure 12 yes Figure 11 Enlarged view at point F;

[0037] Figure 13 yes Figure 11 Enlarged view of point G in the middle;

[0038] Figure 14 yes Figure 11 Enlarged view of point H in the middle;

[0039] Figure 15 This is a flowchart of the method of the present invention.

[0040] In the diagram: Platform frame 1, Y-axis lead screw module 2, Flip module 3, 360-degree rotation module 4, Gantry module 5, Vision module 51, Fixture 6, Rectangular plate 61, Cylinder 62, Circular groove 63, Clamping groove 64, First air hole 65, First spring 66, Straight exhaust channel 67, Curved exhaust channel 68, Ball groove 69, Piston 7, Movable rod 71, Clamping block 8, Clamping block 81, Moving block 82, Gravity groove 83, Near rod groove 831, Far rod groove 832, Gravity block 84, Locking groove 841, Locking block 842, Tension spring 843, Clamping groove 85, Clamping hole 86, Second spring 87, Card slot 88, Ball seat 9, Opening and closing hole 91. Detailed Implementation

[0041] To make the technical means, creative features, objectives and effects of this invention easier to understand, the invention will be further described below in conjunction with specific embodiments.

[0042] like Figures 1 to 15 As shown, the present invention includes the following embodiments:

[0043] Example 1: A gimbal vision inspection device includes a platform frame 1 and a Y-axis lead screw module 2 on the upper surface of the platform frame 1; a flip module 3 and a 360-degree rotation module 4 are arranged above the Y-axis lead screw module 2; a gantry module 5 is fixedly connected to the upper surface of the platform frame 1; an X-axis lead screw module and a Z-axis lead screw module with a vision module 51 are installed on the gantry module 5;

[0044] The fixture 6 on the 360-degree rotating module 4 is composed of an upper rectangular plate 61 and a lower central cylinder 62. A circular groove 63 is provided inside the center of the fixture 6. A piston 7 is slidably and sealingly connected to the inner wall of the circular groove 63. A movable rod 71 is fixedly connected to the center of the piston 7. One end of the movable rod 71 passes through the fixture 6 and extends above it. The movable rod 71 is slidably and sealingly connected to the fixture 6. Clamping grooves 64 are provided on the four sides of the rectangular plate 61. L-shaped clamping blocks 8 are slidably and sealingly connected within the clamping grooves 64. The bottom of the clamping grooves 64 is connected to the upper wall of the circular groove 63 through a first air hole 65. Under the control of the movable rod 71, the piston 7 moves downward, causing the four clamping blocks 8 to clamp the product in a centered position.

[0045] During operation, before testing, the operator loads multiple products to be tested onto the corresponding fixtures. Then, after moving to the testing position, the operator rotates multiple fixtures 6 and the products on the fixtures 6 to perform multiple product testing. In order to prevent products on adjacent fixtures 6 from contacting each other during rotation and causing the products to slip off the fixtures 6, the operator aligns the center of the fixtures 6 with the center of the products during the loading process. For multiple products, this undoubtedly increases the difficulty of loading the products and affects the loading efficiency, which in turn affects the product testing efficiency.

[0046] Therefore, before inspecting the products, the inspectors will check the gimbal vision inspection equipment to ensure it is fault-free. Then, they will place the four products to be inspected sequentially on the corresponding upper surface of the fixture 6. To ensure greater stability of the products on the fixture 6, a movable plate is fixed to the upper surface of the movable rod 71. After the movable plate moves downwards, it can embed into the upper surface of the fixture 6. The movable plate increases the contact area between the upper end of the movable rod 71 and the product, thus making the product more stable. As the product is placed on the movable plate, its own weight will cause the movable plate and movable rod 71 to move downwards. During the downward movement of the movable rod 71, the piston 7 will move downwards. The piston 7 divides the space within the circular groove 63 into an upper chamber and a lower chamber. The lower chamber is connected to the outside space, while the upper chamber expands during the downward movement of the piston 7, creating a negative pressure. Under negative pressure, the medium in the holding groove 64 enters the upper cavity through the first air hole 65. One end of the L-shaped clamping block 8 is slidably sealed in the clamping groove 64. After the medium in the clamping groove 64 enters the upper cavity, the clamping block 8 moves along the clamping groove 64 under negative pressure. During the movement of the clamping block 8, it pushes the product above the fixture 6. Under the push of the four clamping blocks 8, the product that is significantly off from the center of the fixture 6 is centered. As the product continues to move down, the clamping blocks 8 continue to move towards the center of the fixture 6 in the corresponding clamping groove 64 under negative pressure. The four clamping blocks 8 clamp the product in four directions. At this time, the movable piece is embedded in the upper surface of the fixture 6, and the lower surface of the product also contacts the upper surface of the fixture 6, completing the process of loading and fixing the product.

[0047] The operator then presses both start buttons, and the gimbal vision inspection equipment is controlled by the controller. The controller controls the Y-axis lead screw module 2 to move the jig 6 and product on the flip module 3 and the 360-degree rotation module 4 from the loading position to the inspection position. Subsequently, the X-axis lead screw module on the gantry module 5 drives the Z-axis lead screw module to move, performing left, right, up, and down movements. The Z-axis lead screw module drives the vision module 51 to move. The vision module 51 is equipped with multiple sets, such as four sets of vision imaging mechanisms. When the vision imaging mechanism is raised and lowered to the imaging point height, the controller controls the first motor in the 360-degree rotation module 4 to drive the synchronous belt drive, which in turn drives... Multiple jigs 6 rotate, causing the products above them to rotate as well. Because the products are centered on top of the jigs 6, there is no collision between products on adjacent jigs 6, ensuring smooth inspection of adjacent products. During the rotation of the products on the upper surface caused by the jigs 6, the controller controls the Y-axis lead screw module 2 to drive the flipping module 3 to move, ensuring that the center point of the multiple vision imaging mechanisms directly below coincides with the point where the jigs 6 need to be photographed. After the product is inspected with its front facing up, the second motor in the flipping module 3 drives the 360-degree rotation module 4 to rotate 90 degrees. The 360-degree rotation module 4 rotates the fixture 6 and the product on it by 90 degrees. The Z-axis lead screw module moves the vision module 51 up and down to the new shooting position height to start shooting the side of the product. According to the position to be shot on the side of the product, the position is programmed and the point is moved along the trajectory of each axis to take pictures, realizing five-axis linkage detection. The 360-degree rotation module 4 drives the synchronous belt to rotate through the first motor. The synchronous belt drives multiple fixtures 6 and the product to rotate. In conjunction with the Y-axis lead screw module 2 to drive the flip module 3 to move, it ensures that the shooting center point directly below the four sets of vision shooting mechanisms coincides with the shooting point of the fixture 6. After the side of the product is photographed and detected, the module is ready to shoot. The Z-axis lead screw module drives the vision module 51 back to its highest initial position. The flip module 3 drives the second motor to rotate, and the second motor drives the 360-degree rotation module 4 to reverse 90 degrees. The Y-axis lead screw module 2 drives the flip module 3 and the 360-degree rotation module 4 to move from the detection position to the loading position. The operator removes the detected product from the jig 6, then places the new product to be detected back on the jig 6, presses the start button with both hands, and repeats S1-S5. This invention greatly reduces the labor intensity of operators, improves product processing quality and efficiency, increases the automation level of processing equipment, reduces on-site manpower requirements, and increases product detection rate.

[0048] This invention uses the product's own weight to drive the piston 7 in the fixture 6 to move downwards, causing the four clamping blocks 8 to push the product from four directions toward the center of the fixture 6. This allows the product to be placed in the center and clamped on the upper surface of the fixture 6, thereby preventing subsequent products on adjacent fixtures 6 from colliding and contacting each other during rotation, thus improving the stability and efficiency of product testing.

[0049] Example 2 differs from Example 1 in that:

[0050] The lower surface of the piston 7 is connected to the bottom of the circular groove 63 by a first spring 66; the elastic force of the first spring 66 is greater than the sum of the weight of the piston 7 and the movable rod 71; the first spring 66 can drive the piston 7 to move upward when the jig 6 is not in place of a product; the elastic force of the first spring 66 is less than the weight of the product.

[0051] In this embodiment, a straight exhaust channel 67 is vertically arranged at the center of the bottom of the circular groove 63; the end of the straight exhaust channel 67 away from the circular groove 63 is connected to the upper surface of the fixture 6 through a curved exhaust channel 68; there are multiple curved exhaust channels 68; the end of the curved exhaust channel 68 connected to the fixture 6 is inclined toward the corresponding clamping block 8.

[0052] In this embodiment, a ball groove 69 is provided in the middle of the straight exhaust channel 67; a ball seat 9 is movably connected in the ball groove 69; the center of gravity of the ball seat 9 is set at a lower position; an opening and closing hole 91 is provided through the ball seat 9; the opening and closing hole 91 on the ball seat 9 communicates with the straight exhaust channel 67 when the fixture 6 is placed upright; the opening and closing hole 91 on the ball seat 9 is offset from the straight exhaust channel 67 when the fixture 6 is placed at an angle.

[0053] During operation, after the inspector places the product on the upper surface of the movable plate, the product, under its own weight, overcomes the elastic force of the first spring 66, causing the movable plate and movable rod 71 to move downwards. As the movable rod 71 moves downwards, it causes the piston 7 to move downwards within the circular groove 63. The upper cavity expands during the piston 7's downward movement, creating a negative pressure. This negative pressure causes the clamping block 8 to push the product towards the center of the fixture 6. Meanwhile, the piston 7's downward movement compresses the lower cavity. The opening and closing hole 91 on the ball seat 9 is connected to the direct exhaust channel 67, allowing... The gas in the lower cavity, under pressure, will be discharged along the straight exhaust channel 67 and the curved exhaust channel 68. The gas discharged from the curved exhaust channel 68 will bounce off the lower surface of the product and flow towards the gap between the lower surface of the product and the upper surface of the fixture 6, thereby removing impurities between the lower surface of the product and the upper surface of the fixture 6 and preventing impurities from affecting the product's placement. After the product is centered and clamped, if the flipping module 3 drives the 360-degree rotating module 4 and the fixture 6 to rotate 90 degrees, the opening and closing hole 91 in the ball seat 9 will be in the case where the center of gravity of the ball seat 9 is downward. The lower part remains vertical. When the fixture 6 is rotated 90 degrees, the ball seat 9 and the ball groove 69 rotate, causing the opening / closing hole 91 on the ball seat 9 to misalign with the straight exhaust channel 67, thus cutting off the straight exhaust channel 67. After the fixture 6 and the product are rotated 90 degrees, the product's weight is perpendicular to the central axis of the moving rod 71. However, because the straight exhaust channel 67 is cut off, external gas cannot enter the lower cavity along the curved exhaust channel 68 and the straight exhaust channel 67. This seals the space in the lower cavity, and the first spring... Since spring 66 cannot push piston 7 away from the bottom of groove 63, clamping block 8 still clamps the product, making the product more stable during side inspection. When fixture 6 moves the product back to its correct position, opening and closing hole 91 on ball seat 9 connects with straight exhaust channel 67 again. As the product is removed from fixture 6, first spring 66 can push piston 7 away from the bottom of groove 63, causing clamping block 8 to expand outward under the push of the medium, facilitating the re-placement of subsequent products and improving the ease of product loading.

[0054] Example 3 differs from Example 1 in that:

[0055] The clamping block 8 consists of a clamping block 81 and a moving block 82; the moving block 82 is slidably and sealingly connected to the clamping groove 64; the length of the moving block 82 is greater than the depth of the clamping groove 64; an elongated gravity groove 83 is provided inside the moving block 82 along the moving direction of the moving block 82; the gravity groove 83 is slidably and sealingly connected to the gravity block 84 along the moving direction of the moving block 82; a clamping groove 85 is provided on the side of the moving block 82 near the product placement direction; the clamping groove 85 is away from the circular groove 6. 3. The clamping block 81 is slidably and sealingly connected to the clamping groove 85; the gravity block 84 divides the gravity groove 83 into a near rod groove 831 and a far rod groove 832; the near rod groove 831 is located close to the movable rod 71; the bottom of the clamping groove 85 and the far rod groove 832 are connected by a clamping hole 86; after the fixture 6 drives the product to rotate 90 degrees, the clamping block 81 located above the side of the product retracts into the corresponding clamping groove 85 under the negative pressure formed by the expansion of the far rod groove 832.

[0056] In this embodiment, the gravity block 84 is connected to the groove wall of the near rod groove 831 near the circular groove 63 by a second spring 87; the elastic force of the second spring 87 is less than the weight of the gravity block 84; the horizontal gravity block 84 can squeeze the far rod groove 832 under the push of the second spring 87.

[0057] In this embodiment, the initial position of the gravity block 84 is located away from the circular groove 63 within the gravity groove 83. Locking grooves 841 are provided on both sides of the gravity block 84. When the fixture 6 is positioned correctly, the locking grooves 841 are located on both sides of the gravity block 84. A locking block 842 is slidably connected within the locking groove 841. The locking block 842 is connected to the bottom of the locking groove 841 via a tension spring 843. A slot 88 is provided on the wall of the gravity groove 83 corresponding to the position of the locking groove 841 on the gravity block 84 in the initial position. The locking block 842 can be engaged into the corresponding slot 88 under the action of gravity. The weight of the locking block 842 is greater than the tension of the tension spring 843. The tension spring 843 can horizontally pull the locking block 842 away from the corresponding slot 88.

[0058] During operation, with the fixture 6 positioned correctly, the elastic force of the second spring 87 is perpendicular to the gravity of the weight block 84. Therefore, the elastic force of the second spring 87 can push the weight block 84 to slide away from the movable rod 71 within the gravity groove 83, causing the near-rod groove 831 to expand and the far-rod groove 832 to shrink. Under the pressure of the weight block 84, the medium in the far-rod groove 832 enters the clamping groove 85 along the clamping hole 86. The medium pushes the clamping block 81 in the clamping groove 85 to extend out of the clamping groove 85, extending above the fixture 6. This allows the clamping block 81 to clamp the product during the movement of the clamping block 8. After the fixture 6 is rotated 90 degrees, the product will be in a side-lying state. Under the control of the controller, the fixture 6 will rotate the product for detection. The horizontal position of the center point of the fixture 6 is monitored. The reference surface is used as the base surface; the gravity block 84 inside the bottommost clamping block 8 is in its initial position under its own weight, and the locking block 842 inside the bottommost clamping block 8 retracts into the locking groove 841 under the action of the tension spring 843. The corresponding clamping block 81 of the bottommost clamping block 8 extends out of the clamping groove 85; as the bottommost clamping block 8 rotates towards the reference surface, the gravity block 84 remains in its initial position, and the component force of the locking block 842 under the action of gravity will overcome the tension spring 843 and enter the corresponding slot 88, thus locking the gravity block 84, thereby keeping the clamping block 81 in an extended state and in contact with the side of the product; after the bottommost clamping block 8 rotates from bottom to top to the reference surface, the gravity block 84 inside the clamping block 8 is in its initial position, and the locking block 842 is inserted into the slot 88; the clamping blocks 8 on the reference surface from During the upward rotation, due to the component force of gravity acting on the locking block 842, the locking block 842 is positioned in the slot 88, locking the gravity block 84 in its initial position. When the clamping block 8 on the reference surface moves to its uppermost position, the gravity of the locking block 842 is perpendicular to the tension of the tension spring 843. Therefore, the tension spring 843 can pull the locking block 842 out of the slot 88, allowing the gravity block 84 to unlock and approach the movable rod 71 under its own weight. This causes the far rod groove 832 to expand, creating a negative pressure. Under this negative pressure, the medium in the clamping groove 85 of the uppermost clamping block 8 enters the far rod groove 832, causing the uppermost clamping block 81 to retract into the clamping groove 85. This facilitates the inspection of the side of the product after the clamping block 81 is removed, preventing the clamping block 81 from affecting the inspection. The comprehensiveness of product inspection is improved, and the accuracy of inspection is enhanced. During the rotation of the uppermost clamping block 8 toward the reference plane, the far rod groove 832 is always in its maximum state, and the clamping block 81 is always in the retracted clamping groove 85 state. When the uppermost clamping block 8 reaches the reference plane position, the gravity of the gravity block 84 is perpendicular to the elastic force of the second spring 87. Thus, the second spring 87 can push the gravity block 84 to move to the initial position. Then, the locking block 842 enters the slot 88 under the action of gravity, so that the gravity block 84 is locked. The clamping block 81 extends out of the clamping groove 85 under the action of medium pressure, restoring the product clamping state. During the rotation of the clamping block 8 on the reference plane from top to bottom toward the lowest position, the gravity block 84 is always locked in the initial position by the locking block 842, keeping the clamping block 81 in the extended state.With the fixture 6 in the correct position, the weight of all locking blocks 842 is perpendicular to the tension of the corresponding tension springs 843. Therefore, the tension springs 843 can pull the corresponding locking blocks 842 out of the corresponding slots 88, while the weight blocks 84 will be pushed back to their initial positions by the action of the second spring 87.

[0059] Example 4:

[0060] A gimbal vision inspection method, applicable to the aforementioned gimbal vision inspection equipment, comprises the following steps:

[0061] S1: The inspector places the product on the corresponding upper surface of the fixture 6 in sequence. The product will squeeze the movable rod 71, which will drive the piston 7 to move down. The four clamping blocks 8 will move towards the center of the fixture 6 under negative pressure and push the product to complete the centering clamping. Then the operator presses the double start button with both hands. The gimbal vision inspection equipment is controlled by the controller. The controller will control the Y-axis lead screw module 2 to drive the fixture 6 and the product on the flip module 3 and the 360-degree rotation module 4 to move from the loading position to the inspection position.

[0062] S2: Subsequently, the X-axis lead screw module on the gantry module 5 drives the Z-axis lead screw module to move, performing left, right, up, and down movement. The Z-axis lead screw module drives the vision module 51 to move, and the multiple vision imaging mechanisms on the vision module 51 are raised and lowered to the imaging point height. The controller controls the first motor in the 360-degree rotating module 4 to drive the synchronous belt drive. The synchronous belt drives multiple jigs 6 to rotate, and the multiple jigs 6 will drive the product above to rotate. The controller will control the Y-axis lead screw module 2 to drive the flipping module 3 to move, ensuring that the shooting center point directly below the multiple vision imaging mechanisms coincides with the shooting point required by the jig 6.

[0063] S3: After the product is inspected with its front facing up, the second motor in the flip module 3 drives the 360-degree rotation module 4 to rotate 90 degrees. The 360-degree rotation module 4 will drive the jig 6 and the product on the jig 6 to rotate 90 degrees. The Z-axis lead screw module drives the vision module 51 to rise and fall to the new shooting position height and start shooting the side of the product. According to the position that needs to be shot on the side of the product, the position is programmed by the program. The position is moved by driving each axis to take pictures, realizing five-axis linkage detection.

[0064] S4: The 360-degree rotating module 4 is driven by the first motor to rotate the synchronous belt. The synchronous belt drives multiple jigs 6 and the product to rotate. It works in conjunction with the Y-axis lead screw module 2 to drive the flipping module 3 to move, ensuring that the shooting center point directly below the four visual imaging mechanisms coincides with the shooting point of the jig 6. The clamping block 81, which moves to the position point directly above the product, will retract into the corresponding clamping slot 85.

[0065] S5: After the side-view photo inspection of the product is completed, the Z-axis lead screw module drives the vision module 51 back to the initial position, the flip module 3 drives the second motor to rotate, the second motor drives the 360-degree rotation module 4 to reverse 90 degrees, and the Y-axis lead screw module 2 drives the flip module 3 and the 360-degree rotation module 4 to move from the inspection position to the loading position; the operator takes the inspected product from the jig 6, then places the new product to be inspected back on the jig 6, presses the start button with both hands, and repeats S1-S5.

[0066] In the description of this invention, it should be noted that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the appendix. Figure 1 The orientations or positional relationships shown are for the convenience of describing the present invention and simplifying the description only, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting the scope of protection of the present invention. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description and should not be construed as indicating or implying relative importance.

[0067] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A gimbal vision inspection device, comprising a platform frame and a Y-axis lead screw module on the upper surface of the platform frame; a flipping module and a 360-degree rotation module are provided above the Y-axis lead screw module; The gantry module is fixedly connected to the upper surface of the platform frame; The gantry module is equipped with an X-axis lead screw module and a Z-axis lead screw module with a vision module; its characteristic is: The fixture on the 360-degree rotating module is composed of an upper rectangular plate and a lower central cylinder. A circular groove is provided inside the center of the fixture. A piston is slidably and sealingly connected to the inner wall of the groove. A movable rod is fixedly connected to the center of the piston. One end of the movable rod passes through the fixture and extends to the top of the fixture. The movable rod is slidably and sealingly connected to the fixture. Clamping grooves are provided on the four sides of the rectangular plate. L-shaped clamping blocks are slidably and sealingly connected to the clamping grooves. The bottom of the clamping groove is connected to the upper wall of the circular groove through a first air hole. Under the control of the movable rod, the piston moves downward, causing the four clamping blocks to centrally clamp the product.

2. The gimbal vision inspection device according to claim 1, characterized in that: The lower surface of the piston is connected to the bottom of the circular groove by a first spring; the elastic force of the first spring is greater than the sum of the weight of the piston and the movable rod; the first spring can drive the piston to move upward when the jig is not in use; The elastic force of the first spring is less than the weight of the product.

3. The gimbal vision inspection device according to claim 2, characterized in that: A straight exhaust channel is vertically arranged at the center of the bottom of the circular groove; the end of the straight exhaust channel away from the circular groove is connected to the upper surface of the fixture through a curved exhaust channel; there are multiple curved exhaust channels; the end of the curved exhaust channel connected to the fixture is inclined toward the corresponding clamping block.

4. The gimbal vision inspection device according to claim 3, characterized in that: A ball groove is provided in the middle of the straight exhaust channel; a ball seat is movably connected in the ball groove; the center of gravity of the ball seat is set at a lower position; an opening and closing hole is provided through the ball seat; the opening and closing hole on the ball seat is connected to the straight exhaust channel when the fixture is placed upright; the opening and closing hole on the ball seat is offset from the straight exhaust channel when the fixture is placed at an angle.

5. The gimbal vision inspection device according to claim 1, characterized in that: The clamping block consists of a clamping block and a moving block; the moving block is slidably and sealingly connected within the clamping groove; the length of the moving block is greater than the depth of the clamping groove; and a long, narrow gravity groove is provided inside the moving block along the moving direction. The gravity groove is slidably and sealingly connected to the gravity block along the moving direction of the moving block; the side of the moving block near the product placement direction is provided with a clamping groove; the clamping groove is located away from the circular groove; the clamping block is slidably and sealingly connected in the clamping groove; the gravity block divides the gravity groove into a near-rod groove and a far-rod groove; the bottom of the clamping groove and the far-rod groove are connected through a clamping hole; after the fixture drives the product to flip, the clamping block located above the side of the product retracts into the corresponding clamping groove under the negative pressure formed by the expansion of the far-rod groove.

6. The gimbal vision inspection device according to claim 5, characterized in that: The gravity block is connected to the wall of the near-rod groove near the circular groove by a second spring; the elastic force of the second spring is less than the weight of the gravity block; the horizontal gravity block can squeeze the far-rod groove under the push of the second spring.

7. The gimbal vision inspection device according to claim 6, characterized in that: The initial position of the gravity block is located away from the circular groove within the gravity groove. Locking grooves are provided on both sides of the gravity block. When the fixture is positioned correctly, the locking grooves are located on both sides of the gravity block. A locking block is slidably connected within each locking groove. The locking block is connected to the bottom of the locking groove via a tension spring. A slot is provided on the wall of the gravity groove corresponding to the locking groove position on the gravity block in the initial position. The locking block can be engaged into the corresponding slot under gravity. The weight of the locking block is greater than the tension of the tension spring. The tension spring can horizontally pull the locking block away from the corresponding slot.

8. A gimbal vision inspection method, applicable to the gimbal vision inspection device according to any one of claims 1-7, characterized in that: The steps of this method are as follows: S1: The inspector places the product on the corresponding surface of the fixture in sequence. The product will squeeze the movable rod and drive the piston to move down. The four clamping blocks move towards the center of the fixture under negative pressure and push the product to complete the centering clamping. Then the operator presses the double start button with both hands. The gimbal vision inspection equipment is controlled by the controller. The controller will control the Y-axis lead screw module to drive the fixture and product on the flip module and the 360-degree rotation module to move from the loading position to the inspection position. S2: Subsequently, the X-axis lead screw module on the gantry module drives the Z-axis lead screw module to move, performing left, right, up, and down movements. The Z-axis lead screw module drives the vision module to move, and the multiple vision imaging mechanisms on the vision module are raised and lowered to the imaging point height. The controller controls the first motor in the 360-degree rotating module to drive the synchronous belt drive, which drives multiple jigs to rotate. The multiple jigs will drive the product above to rotate. The controller will control the Y-axis lead screw module to drive the flipping module to move, ensuring that the center point of the shooting below the multiple vision imaging mechanisms coincides with the shooting point required by the jig. S3: After the product is inspected with its front facing up, the second motor in the flip module drives the 360-degree rotation module to rotate 90 degrees. The 360-degree rotation module will drive the jig and the product on the jig to rotate 90 degrees. The Z-axis lead screw module drives the vision module to rise and fall to the new shooting position height and start shooting the side of the product. According to the position that needs to be shot on the side of the product, the position is programmed by the program. The point trajectory is moved by driving each axis to take pictures, realizing five-axis linkage detection. S4: The 360-degree rotating module is driven by the first motor to rotate the synchronous belt. The synchronous belt drives multiple jigs and products to rotate. In conjunction with the Y-axis lead screw module, the flipping module is moved to ensure that the shooting center point directly below the four sets of visual imaging mechanisms coincides with the shooting point of the jig. The clamping block that has moved to the position point directly above the product will retract into the corresponding clamping slot. S5: After the side-view photo inspection of the product is completed, the Z-axis lead screw module drives the vision module back to the initial position, the flip module drives the second motor to rotate, the second motor drives the 360-degree rotation module to reverse 90 degrees, and the Y-axis lead screw module drives the flip module and the 360-degree rotation module to move from the inspection position to the loading position; the operator removes the inspected product from the jig, then places the new product to be inspected back on the jig, presses the start button with both hands, and repeats S1-S5.

Images