Detection system and detection module

Abstract

A detection system and a detection module. The detection module for detecting a workpiece includes a receiving module and a side vision module; the receiving module includes a receiving clamp and a receiving rotation shaft to hold and rotate the workpiece, the receiving rotation shaft is coupled to the receiving clamp and can rotate the receiving clamp; the side vision module includes a side vision camera; wherein the receiving module is configured to: (1) place the workpiece held in the receiving clamp in front of the side vision camera, so that the side vision camera captures a first side edge image of the workpiece; and (2) rotate the workpiece held in the receiving clamp by an angle by the receiving rotation shaft, so that the side vision camera captures a second side edge image of the workpiece; wherein the first side edge image and the second side edge image reflect different side vision positions of the workpiece. The configuration of the detection system and the detection module of the present application makes the detection process faster, the system volume smaller, and saves the equipment manufacturing cost.

Description

Technical Field

[0001] This invention relates to inspection equipment, and more particularly to automated visual inspection equipment for inspecting materials. Background Technology

[0002] Components (such as electronic components) are widely used in various products. To ensure their proper functioning, they are typically inspected, for example, through visual inspection. Visual inspection uses cameras or video cameras to photograph the components and magnifies the images with lenses to visually detect defects. Component inspection can be performed from various directions, such as top, bottom, left, right, front, and back (six sides). However, inspecting all six sides of a component using known testing equipment is time-consuming and often requires a large footprint. This is not only expensive and uneconomical, but also fails to meet the demands of high-volume testing. Furthermore, performing different inspection items requires even more time, and different inspection modules further increase the equipment's size.

[0003] To address the above issues, a testing solution that is fast, compact, and capable of performing various testing tasks is needed.

[0004] Therefore, a detection system and detection module are needed to solve the above problems. Summary of the Invention

[0005] The present invention provides an automated visual inspection (AVI) device that can improve the above-mentioned problems of the prior art.

[0006] To further understand the features and technical content of the present invention, please refer to the following detailed description and drawings of the present invention. However, the drawings provided are for reference and illustration only and are not intended to limit the present invention.

[0007] In one embodiment, the present invention provides a detection module for detecting a workpiece, comprising: a receiving module and a side vision module. The receiving module includes: a receiving clamp and a receiving rotation shaft, the receiving clamp being configured to hold the workpiece, and the receiving rotation shaft being coupled to the receiving clamp and capable of rotating the receiving clamp; the side vision module includes a pair of side vision cameras; wherein the receiving module is configured to: place the workpiece held in the receiving clamp between the side vision cameras, allowing the side vision cameras to acquire a first pair of side images of the workpiece; and rotate the workpiece held in the receiving clamp by an angle using the receiving rotation shaft, allowing the side vision cameras to acquire a second pair of side images of the workpiece; wherein the first pair of side images and the second pair of side images reflect different side vision positions of the workpiece.

[0008] In another embodiment, the present invention provides a detection system for detecting a workpiece, comprising: a picking module, an upper vision stage, an upper vision module, a receiving module, a lower vision module, and a side vision module. The picking module includes a picking clamp configured to hold the workpiece; the upper vision stage is configured to carry the workpiece from the picking clamp, wherein the picking clamp is configured to place the workpiece on the upper vision stage in a safe area; the upper vision module includes an upper vision camera configured to capture an image of the workpiece from above the workpiece carried on the upper vision stage; the receiving module includes: a receiving clamp and a receiving rotation shaft, the receiving clamp configured to pick up and hold the workpiece from the upper vision stage, and the receiving rotation shaft coupled to the receiving clamp and enabling the receiving clamp to... The rotation; the lower vision module includes a lower vision camera configured to capture a lower image of the workpiece held below the receiving fixture; and the side vision module includes a side vision camera configured to capture a side image of the workpiece held below the receiving fixture; wherein: during the period when the receiving fixture places the workpiece on the upper vision stage, the receiving fixture enters a safe area and the upper vision module leaves the safe area; and during the period when the upper vision module captures an upper image of the workpiece, the upper vision module enters a safe area and the receiving fixture leaves the safe area.

[0009] In yet another embodiment, the present invention provides a detection module for detecting a workpiece, comprising: a picking module, an upper vision stage, a lower vision module, a receiving module, a lower vision module, and a side vision module. The picking module includes a picking clamp configured to hold the workpiece; the upper vision stage is configured to carry the workpiece from the picking clamp; the upper vision module includes an upper vision camera configured to capture an image of the workpiece from above the workpiece carried on the upper vision stage; the receiving module includes a receiving clamp and a receiving rotation shaft, the receiving clamp configured to pick up and hold the workpiece from the upper vision stage, and the receiving rotation shaft coupled to the receiving clamp and capable of rotating the receiving clamp; the lower vision module includes a lower vision camera. The machine is configured to capture a lower image of a workpiece held in a take-up fixture from below; the side vision module includes a pair of side vision cameras; wherein the take-up module is configured to: place the workpiece held in the take-up fixture between the side vision cameras, allowing the side vision cameras to acquire a first pair of side images of the workpiece; rotate the workpiece held in the take-up fixture by an angle via a take-up rotation axis, allowing the side vision cameras to acquire a second pair of side images of the workpiece; wherein the lower image and the first pair of side images are captured simultaneously, and / or the lower image and the second pair of side images are captured simultaneously.

[0010] The configuration of the material picking module, upper vision module, material receiving module, lower vision module, and side vision module of the detection system of the present invention makes the detection process faster, the system size smaller, and saves equipment manufacturing costs. Attached Figure Description

[0011] Figure 1A A top view of the detection system is shown according to an embodiment of the present invention.

[0012] Figure 1B A schematic diagram of the detection system is shown according to an embodiment of the present invention.

[0013] Figure 2A A side view of the loading and unloading machine is shown according to an embodiment of the present invention.

[0014] Figure 2B A schematic diagram of a loading and unloading machine is shown according to an embodiment of the present invention.

[0015] Figure 3 A schematic diagram of the material handling module is shown according to an embodiment of the present invention.

[0016] Figure 4 A schematic diagram of the fixture is shown according to an embodiment of the present invention.

[0017] Figure 5 A schematic diagram of the upper visual stage is shown according to an embodiment of the present invention.

[0018] Figure 6A A side view of the upper visual module is shown according to an embodiment of the present invention.

[0019] Figure 6B A schematic diagram of the upper visual module is shown according to an embodiment of the present invention.

[0020] Figure 7 A schematic diagram of the receiving module is shown according to an embodiment of the present invention.

[0021] Figure 8A A side view of the lower vision module is shown according to an embodiment of the present invention.

[0022] Figure 8B A schematic diagram of the lower vision module is shown according to an embodiment of the present invention.

[0023] Figure 9A A side view of the side vision module is shown according to an embodiment of the present invention.

[0024] Figure 9B A schematic diagram of a side vision module is shown according to an embodiment of the present invention.

[0025] Figure 10A A schematic diagram of the configuration of the ion bar is shown according to an embodiment of the present invention.

[0026] Figure 10B An enlarged schematic diagram of the configuration of the ion bar is shown according to an embodiment of the present invention.

[0027] Figure 10C A schematic diagram of a detection system enclosed in a shell is shown according to an embodiment of the present invention.

[0028] Explanation of key component symbols:

[0029] 100 Detection System

[0030] 101 Safe Zone

[0031] 102 Feeding Machine

[0032] 104 Material Handling Module

[0033] 106 Upper Visual Platform

[0034] 108 Material Receiving Module

[0035] 110 hopper

[0036] 112 Upper visual X-axis

[0037] 114 Upper Visual Module

[0038] 116 Lower Vision Module

[0039] 117 Side vision module

[0040] 118 Non-through feeding machine

[0041] 120 via the feeding machine

[0042] 200 Loading and unloading machine

[0043] 202 Feed stack position

[0044] 204-disc cylinder

[0045] 206 trays

[0046] 208 Feeding Standby Position

[0047] 210-division Z-axis

[0048] 212 Material Picking Position

[0049] 214 Transfer Mechanism

[0050] 216 Retrieve and stack the disks

[0051] 218. Position for retrieving the plate and waiting for orders.

[0052] 220 stacked disk Z-axis

[0053] 222 Material

[0054] 224 Feed trough

[0055] 300 Material Handling Module

[0056] 302 Material Handling X-axis

[0057] 304 Material Picking Pitch Module

[0058] 306 Material Handling Z-axis

[0059] 308 Material Handling Fixture

[0060] 310 parts

[0061] 400 clamps

[0062] 402 Buffer Mechanism

[0063] 404 Quick Connector

[0064] 406 Quick Connector

[0065] 408 Contact Suction Cup

[0066] 410 Non-contact suction cup

[0067] 412 Components

[0068] 500 upper visual platform

[0069] 502 hopper

[0070] 504 Upper vision stage X-axis

[0071] 600 upper vision module

[0072] 601 Part 1

[0073] 602 Upper Vision Camera

[0074] 603 Part Two

[0075] 604 Upper Visual Dome Light

[0076] 606 Upper visual stripe light

[0077] 608 upper visual lens

[0078] 610 Upper visual X-axis

[0079] 612 Upper visual Z-axis

[0080] 614 Components

[0081] 616 Upper visual coaxial light

[0082] 700 receiving module

[0083] 702 Receiving X-axis

[0084] 704 Material Receiving Pitch Module

[0085] 706 Receiving Z-axis

[0086] 708 Receiving Rotary Shaft

[0087] 710 Receiving clamp

[0088] 800-degree vision module

[0089] 802 Downward Vision Camera

[0090] 804 Lower Visual Dome Light

[0091] 806 Lower visual stripe light

[0092] 808 downward-facing camera

[0093] 810 parts

[0094] 812 Lower visual Z-axis

[0095] 900 Side Vision Module

[0096] 902 Side Vision Camera

[0097] 904 Side-view Circular Shadowless Lamp

[0098] 906 Side-view strip light

[0099] 908 Side View Lens

[0100] 910 parts

[0101] 912 motor

[0102] 914 clamping points

[0103] 916 strips

[0104] 1000 feeding machine

[0105] 1002 Ion Bar

[0106] 1004 Ion Bar

[0107] 1006 ULPA

[0108] 1008 Fan

[0109] 1010 Receiving Module

[0110] 1012 Lower Vision Module

[0111] 1014 Casing

[0112] 1016 holes

[0113] D Center Distance Detailed Implementation

[0114] Those skilled in the art can understand the advantages and effects of the present invention from the content disclosed in this specification. The present invention can be implemented or applied through other different specific embodiments, and various details in this specification can also be modified and changed based on different viewpoints and applications without departing from the concept of the present invention. Furthermore, the accompanying drawings of the present invention are for simple illustrative purposes only and are not depictions of actual dimensions, as stated in advance. The following embodiments will further describe the relevant technical content of the present invention in detail, but the disclosed content is not intended to limit the scope of protection of the present invention. In addition, it should be understood that although terms such as "first," "second," and "third" may be used herein to describe various elements, these elements should not be limited by these terms. These terms are mainly used to distinguish one element from another.

[0115] This invention provides an inspection system that utilizes an upper vision module, a lower vision module, and a side vision module to simultaneously perform different inspection items on different materials, allowing a six-sided (e.g., top, bottom, left, right, front, and back) inspection process to complete all inspection items within five seconds. Furthermore, different inspection items can be performed on the same side. The inspection system of this invention also reduces the equipment's footprint by enabling the inspection modules and the material handling mechanism to avoid each other, thus achieving equipment miniaturization and high-volume inspection capabilities. The inspection system of this invention can be, for example, an Automated Visual Inspection (AVI) device, but is not limited thereto.

[0116] Figure 1A and Figure 1B Embodiments of the detection system 100 of the present invention are shown from different angles. To facilitate understanding, Figure 1A and Figure 1B This can be referenced simultaneously. The operation of the detection system 100 can be roughly divided into three stages: (I) material loading, (II) detection, and (III) material sorting and unloading. The following will focus on... Figure 1A The operation of each stage is explained in general terms from right to left.

[0117] During the loading stage, the operator places a tray containing the parts to be inspected (not shown) onto the loading machine 102. In this embodiment, each tray has four slots 110, each slot 110 being approximately square and capable of holding parts approximately 65*65mm in size; however, this invention is not limited to this. Those skilled in the art can inspect parts of different sizes or types as needed and select appropriate trays; the trays may have other numbers of slots 110 or different slot shapes. The loading machine 102 has a conveyor belt that transports the parts in the Y-axis direction to a position convenient for the material handling module 104 to handle, referred to here as the material handling position. Figure 1A , Figure 1B In this embodiment, the material handling module 104 has two clamps (not shown) arranged in the X-axis direction. First, the feeder 102 translates a part to the material handling position in the Y-axis direction, and the first clamp moves above the material handling position to pick up a part from the feeder 102. Then, the first clamp translates away from the material handling position in the X-axis direction. Next, the feeder 102 translates in the Y-axis direction to move the next part to the material handling position, and the second clamp moves above the material handling position to pick up another part from the feeder 102. After the material handling module 104 picks up the part, the subsequent inspection stage can be performed.

[0118] The material handling module 104 has a material handling X-axis (marked on) Figure 3 The upper vision module 114 has an upper vision X-axis 112, allowing the material picking module 104 and the upper vision module 114 to move individually in the X-axis direction. The material picking module 104 moves the two picked-up parts in the X-axis direction above the upper vision stage 106, so that the two parts are placed individually in the two material slots 110 of the upper vision stage 106. Then the upper vision stage 106 and the upper vision module 114 move toward each other. When the upper vision module 114 overlaps with one or more parts carried on the upper vision stage 106, the upper vision module 114 can take pictures of the parts from above, obtaining an image of the parts from above for visual inspection.

[0119] A "give way" configuration can be provided between the upper vision module 114 and the material handling module 104 to reduce the footprint of the inspection system 100. When the material handling module 104 needs to place a part on the upper vision stage 106, the upper vision module 114 moves away from the safety area 101 in the X-axis direction to make room for the material handling module 104, allowing it to move above the upper vision stage 106 to place the part. After the material handling module 104 places the part on the upper vision stage 106, it moves away from the safety area 101 in the X-axis direction (returning to above the feeder 102) to make room for the upper vision module 114, allowing it to move above the upper vision stage 106 to take pictures. This give way design of the inspection system 100 allows the material handling and inspection operations to be performed in a small space, thereby reducing the overall footprint of the inspection system 100.

[0120] After the upper vision module 114 completes its inspection, the upper vision stage 106 advances to a position convenient for the receiving module 108 to receive the material; this is referred to as the receiving position. Here, "picking up" and "receiving" refer to the actions of the corresponding mechanisms (such as picking up module 104 and receiving module 108) in acquiring the material. Although the actions are similar, they are distinguished by the different mechanisms used or for different inspections. The receiving module 108 has a clamp (not shown) that allows it to pick up the material supported on the upper vision stage 106 at the receiving position. The receiving module 108 is coupled to the receiving X-axis (marked on...). Figure 7 This allows the receiving module 108 to move in the X-axis direction. The receiving module 108 moves the two acquired parts to the lower vision module 116 and the side vision module 117 for visual inspection from below and the sides of the parts. Figure 1A As shown, the lower vision module 116 and the side vision module 117 are generally located in the same position. The lower vision module 116 performs detection from below the workpiece (e.g., acquiring a lower image), while the side vision module 117 performs detection from the side of the workpiece (e.g., acquiring a side image). Since the lower image and the side image of the workpiece can be captured simultaneously in the same position, it is not necessary to move to different positions to perform detection on different faces. Therefore, this design of the lower vision module 116 and the side vision module 117 can speed up the detection speed of the workpiece and also reduce the overall footprint of the detection system 100.

[0121] The side vision module 117 has a pair of cameras arranged in the Y-axis direction; when the part is placed between the pair of cameras of the side vision module 117 through the receiving module 108, the side vision module 117 can simultaneously acquire side images from both sides of the part. In order to be able to completely detect all sides of the part (e.g., the front, back, left, and right sides, but not limited to quadrilaterals), the receiving module 108 also has a receiving rotation axis (marked as...). Figure 7 The side vision module 117 can rotate the workpiece to obtain images of different sides of the same workpiece. For example, the side vision module 117 can first obtain a first pair of side images of the first side and the opposite second side of the workpiece, and then rotate the workpiece by 90 degrees using the take-up rotation axis to obtain a second pair of side images of the third side and the opposite fourth side of the workpiece. The rotation angle of the take-up rotation axis is not limited to 90 degrees; it can rotate to other angles. Through the design of the take-up rotation axis of the take-up module 108, different sides of the workpiece can be inspected at the same position, which also reduces the footprint of the inspection system 100.

[0122] After comprehensive inspection by the upper vision module 114, lower vision module 116, and side vision module 117, the system can determine whether the material passes or fails the inspection, and then place the material separately on the passing feeder 120 or the non-passing feeder 118 (i.e., material sorting). The operator can then unload and remove the sorted material. Figure 1A , Figure 1B The detection system 100 of the embodiment, by means of the clearance design between the material handling module 104 and the upper vision module 114, and by performing lower vision and side vision detection at the same position, can control the length, width and height of the entire detection system 100 (including the shell covering the detection system 100) to about 2800mm, 1400mm, 2000mm or less, respectively.

[0123] The structural design of the non-through feeder 118 and the through feeder 120 is similar to that of the feeder 102, and they will be located below. Figure 2A , Figure 2B To be further described.

[0124] Figure 2A and Figure 2B Embodiments of the loading and unloading machine 200 of the present invention are shown from different angles. To facilitate understanding, Figure 2A and Figure 2B This can be used as a reference at the same time. A 200-type loading / unloading machine can be used as a corresponding... Figure 1A , Figure 1B The feeding machine 102, the non-through unloading machine 118, or the through unloading machine 120 have similar structures, but their operating modes can be adjusted according to needs.

[0125] Taking the loading operation as an example, the loading / unloading machine 200 can be roughly divided into three areas: the infeed stacking position 202, the picking position 212, and the picking stacking position 216. The operator places the material trays 206 carrying the parts 222 to be inspected on the material trough 224 at the infeed stacking position 202, so that the loading / unloading machine 200 can perform tray feeding. First, the tray dividing Z-axis 210 rises to push the material trays 206 out of the tray dividing cylinder 204; the tray dividing cylinder 204 opens, and the tray dividing Z-axis 210 descends by the distance of one material tray 206; the tray dividing cylinder 204 clamps the material trays 206; the tray dividing Z-axis 210 moves to the infeed standby position 208. Next, the transfer mechanism 214 moves to the infeed standby position 208; the tray dividing Z-axis 210 descends to place the material trays 206 on the transfer mechanism 214; the transfer mechanism 214 moves the material trays 206 to the picking position 212 for the picking module (…). Figure 2A , Figure 2B(Not shown) Material picking; after picking is completed, the transfer mechanism 214 moves the empty material tray 206 to the tray picking standby position 218. Then the stacking tray Z-axis 220 rises to push the material tray 206 to the tray picking stacking position 216 to stack the empty material tray 206; the transfer mechanism 214 moves back to the material feeding standby position 208, and the stacking tray Z-axis 220 descends; finally, the operator can take away the stacked empty material tray 206.

[0126] After inspection, unloading can be performed using a similar procedure to loading. For example, the operator places the empty tray 206 in the infeed tray position 202; the transfer mechanism 214 moves to the infeed standby position 208 to receive the empty tray 206. Then, the transfer mechanism 214 moves the empty tray 206 to the pick-up position 212 to receive the inspected parts 222. (Receiving module) Figure 2A , Figure 2B (Not shown) The inspected parts 222 are placed on the tray 206 on the transfer mechanism 214; the transfer mechanism 214 moves to the tray pick-up position 218, and the Z-axis 220 of the stacking mechanism rises to eject the tray 206 for stacking. The operator can then remove the entire stack of trays 206 containing the inspected parts 222.

[0127] Based on the above, the loading / unloading machine 200 has a pre-sorting function, which allows for pre-sorting of trays, and then direct unloading after the transfer mechanism 214 has moved underneath, saving tray changing time. The stacking tray Z-axis 220 is specially designed to avoid the transfer mechanism 214, so that as soon as the tray 206 leaves the transfer mechanism 214, the transfer mechanism 214 can move directly away from the tray-retrieving stacking position 216 and return to the feeding standby position 208, without waiting for the stacking tray Z-axis 220 to complete its operation. All of these designs reduce equipment operation time.

[0128] Figure 3 This is an embodiment of the material handling module 300. The material handling module 300 includes a material handling fixture 308 configured to hold a material 310. Figure 3In this embodiment, the material handling module 300 further includes a material handling pitch adjustment module 304, which is coupled to two material handling fixtures 308. The material handling pitch adjustment module 304 is also coupled to the material handling X-axis 302. The configuration of the material handling pitch adjustment module 304 and the material handling X-axis 302 provides various ways to move the material 310 in the X-axis direction. For example, the material handling pitch adjustment module 304 can change the center distance D between the two material handling fixtures 308, or fix the center distance D between the two material handling fixtures 308 and move the two material handling fixtures 308 in parallel via the material handling X-axis 302, or simultaneously change the center distance D between the two material handling fixtures 308 and move them on the material handling X-axis 302. The material handling Z-axis 306 is coupled between the material handling fixtures 308 and the material handling pitch adjustment module 304, allowing the material handling fixtures 308 to move in the Z-axis direction to facilitate the picking up or placing of the material 310. In some embodiments, due to the miniaturized design of the Z-axis material handling mechanism 306, the center distance D between the two material handling fixtures 308 on the material handling pitch module 304 can be shortened to a minimum of 4.5 cm. The material handling pitch module 304 can adjust the distance between the two held material pieces 310 to match the spacing of the material slots on the subsequent upper vision stage. For example, when the distance between the two material slots on the upper vision stage is greater than the aforementioned center distance D (4.5 cm), the material handling module 300 can place the two material pieces 310 into the two material slots at once. The upper vision stage will then... Figure 5 Describe it.

[0129] Figure 3 The embodiments described are merely examples, and the present invention may include other variations. For example, in some variations, there may be more or fewer picking fixtures 308 coupled to the picking pitch module 304. In some other variations, the picking Z-axis 306 may be directly coupled to the picking X-axis 302 without passing through the picking pitch module 304. In still other variations, a picking rotation axis may be coupled between the picking fixture 308 and the picking Z-axis 306, allowing the picking fixture 308 to rotate on the picking Z-axis 306.

[0130] Figure 4This is an enlarged view of the clamp 400, which can be applied to various modules of the present invention, including but not limited to the material picking module and the material receiving module. The clamp 400 includes contact suction cups 408 and non-contact suction cups 410, which pick up the material 412 using an airflow principle (e.g., Bernoulli's principle). The contact suction cups 408 are distributed around the non-contact suction cups 410, wherein the contact suction cups 408 are configured to adsorb the peripheral area of ​​the material 412, while the non-contact suction cups 410 adsorb the central portion of the material 412. The contact suction cups 408 can hold the material 412 in place to prevent it from floating or rotating. The clamp 400 may be equipped with a buffer mechanism 402 to cushion the material 412 during pickup, preventing damage to the material 412 due to excessive pressure. Furthermore, the clamp 400 is configured with a quick-release design, which can be quickly released via quick-release female connector 404 and quick-release male connector 406, facilitating the replacement of different types of clamps 400, or the repair or replacement of clamps 400. In some variations, the clamp 400 may be other types, such as a clamping arm that physically holds the workpiece 412 from the side, or a magnetic clamp. The present invention allows for the selection of a suitable clamp 400 based on the actual application.

[0131] Figure 5 This is a schematic diagram of an embodiment of the upper vision stage 500. In this embodiment, the upper vision stage 500 has two material trays 502, which can accommodate materials. The upper vision stage 500 can move in the X-axis direction via the upper vision stage X-axis 504 to transport the materials to a suitable position according to the inspection process. The upper vision stage 500 can correspond to... Figure 1A and Figure 1B The upper visual platform 106. For example, as previously stated... Figure 1A and Figure 1B During material handling, the upper vision stage 500 can be moved closer to the feeder 102 to facilitate the material handling module 104 placing the material obtained from the feeder 102 onto the upper vision stage 500. Then, one or both of the upper vision stage 500 and the upper vision module 114 can be moved, allowing the upper vision module 114 to inspect the material from above. After the upper vision module 114 completes its inspection, the upper vision stage 500 moves the material it carries to the receiving module 108, facilitating the receiving module 108 to retrieve the material for subsequent inspection. Furthermore, as... Figure 5 As shown, there is a gap between the two material troughs 502, wherein the material handling module (e.g.) Figure 3 The material handling module 300) has a variable pitch material handling module (e.g., the material handling module with variable pitch). Figure 3 The material handling distance module 304 can adjust the distance between two materials to match the spacing between the material slots 502 of the upper vision stage 500.

[0132] In some variations, the upper visual stage 500 may have more or fewer troughs 502, and the shape of the troughs 502 may be adjusted as needed.

[0133] Figure 6A , Figure 6B Embodiments of the upper visual module 600 of the present invention are shown from different angles. To facilitate understanding, Figure 6A and Figure 6B This can be referenced simultaneously. The upper vision module 600 includes an upper vision camera 602, capable of acquiring an image of the workpiece 614 from above. The upper vision module 600 may include an upper vision lens 608 to see the details of the workpiece 614 more clearly; wherein, the upper vision module 600 may be coupled to the upper vision Z-axis 612 to adjust the distance between the upper vision lens 608 or the upper vision camera 602 and the workpiece 614, so that the upper vision lens 608 can focus on the workpiece 614. The upper vision module 600 also includes an upper vision lighting assembly, wherein the upper vision lighting assembly can be configured with different light source types as needed. For example, in... Figure 6A , Figure 6B In this embodiment, the upper vision module 600's upper vision lighting assembly includes three different light sources: an upper vision dome light 604, an upper vision strip light 606, and an upper vision coaxial light 616. The upper vision module 600 in this embodiment includes a first part 601 and a second part 603. The first part 601 of the upper vision module 600 includes the upper vision coaxial light 616 and the upper vision strip light 606, and the second part 603 of the upper vision module 600 includes the upper vision dome light 604 and the upper vision strip light 606. Each of the first part 601 and the second part 603 has an upper vision camera 602 and an upper vision lens 608. It should be noted that the first part 601 and the second part 603 of the upper vision module 600... Figure 6A The left and right labels in the text are merely illustrative; the present invention does not limit the positions of the first part 601 and the second part 603 or the combination of elements they contain. The upper visual dome light 604 and the upper visual coaxial light 616 are different light source types, but both illuminate the workpiece 614 approximately directly above it. The upper visual strip light 606 is distributed around the upper visual dome light 604, illuminating the workpiece 614 at an angle above it, with the angle between the illumination direction of the upper visual strip light 606 and the illumination direction of the upper visual dome light 604 approximately 45 degrees. Similarly, another set of upper visual strip lights 606 is distributed around the upper visual coaxial light 616, with the angle between the illumination direction of the upper visual strip lights 606 and the illumination direction of the upper visual coaxial light 616 approximately 45 degrees. The light source configuration in this embodiment can be used for different types of light source illumination for different detection items. In some variations, other different types or numbers of light sources can be used as needed.

[0134] like Figure 6BAs shown, the upper vision module 600 is coupled to the upper vision X-axis 610 and the upper vision Z-axis 612 to move the upper vision module 600 in the X-axis direction and the Z-axis direction, which are perpendicular to each other.

[0135] The upper vision module 600 can perform one or more different inspection items on the material 614. For example, in Figure 6A , Figure 6B In this embodiment, the first part 601 and the second part 603 of the upper vision module 600 can perform different inspection items on the two parts 614 respectively. In some embodiments, the inspection items may include at least one or more of the following: discoloration, scratches, contaminants, exposed substrate, dents, indentations, excess glue, damaged or missing parts, poor assembly, incorrect assembly, part offset or skew, poor quality of patterns or text, barcode reading failure, non-standard length or width, or other items that can be inspected visually.

[0136] (1) Move the upper vision module 600 along the upper vision X-axis 610 and advance it towards the upper vision stage, where two parts to be inspected are carried on the upper vision stage. At this time, the position of the upper vision module 600 has not yet intersected with the two parts;

[0137] (2) After being moved, the position of the first part 601 of the upper vision module 600 is intersected with the first material, so that the first part 601 of the upper vision module 600 is above the first material; the first part 601 of the upper vision module 600 performs inspection on the first material. At this time, the position of the second part 603 of the upper vision module 600 has not yet intersected with any material;

[0138] (3) Continue to move the upper vision module 600 in the same direction as in step (1) so that the position of the first part 601 of the upper vision module 600 is intersected with the second material and the position of the second part 603 of the upper vision module 600 is intersected with the first material; the first part 601 of the upper vision module 600 performs inspection items on the second material and the second part 603 of the upper vision module 600 performs inspection items on the first material, wherein the inspection items of the first part 601 and the second part 603 can be completely the same, completely different, or partially the same;

[0139] (4) Continue moving the upper vision module 600 in the same direction as in step (1) so that the position of the second part 603 of the upper vision module 600 intersects with the second material, and the second part 603 of the upper vision module 600 performs inspection on the second material. At this time, the position of the first part 601 of the upper vision module 600 does not intersect with any material;

[0140] (5) After the above steps (1)-(4), the first part 601 and the second part 603 of the upper vision module 600 have completed the inspection of the two materials. Therefore, the upper vision module 600 is returned to its original position in the opposite direction to step (1).

[0141] Figure 7 This is a schematic diagram of an embodiment of the receiving module 700. The receiving module 700 includes a receiving fixture 710, wherein the receiving fixture 710 can be, for example... Figure 4 The fixture 400 is used to retrieve and hold the workpiece from the upper vision stage for subsequent lower vision and side vision inspection. Figure 7 In this embodiment, the receiving clamp 710 is coupled to the receiving rotation axis 708, enabling the receiving clamp 710 to rotate. In this embodiment, the receiving module 700 also includes a receiving pitch adjustment module 704, which is coupled to two receiving clamps 710. The receiving pitch adjustment module 704 is further coupled to the receiving X-axis 702. The configuration of the receiving pitch adjustment module 704 and the receiving X-axis 702 provides various ways to move the material in the X-axis direction. For example, the receiving pitch adjustment module 704 can change the center distance D between the two receiving clamps 710, or fix the center distance D between the two receiving clamps 710 and move the two receiving clamps 710 in parallel via the receiving X-axis 702, or simultaneously change the center distance D between the two receiving clamps 710 and move them along the receiving X-axis 702. The take-up Z-axis 706 is coupled between the take-up clamp 710 and the take-up pitch control module 704, allowing the take-up clamp 710 to move in the Z-axis direction for easy acquisition, positioning, or placement of parts. The take-up pitch control module 704 can adjust the center distance D between two parts to match the spacing of subsequent side vision modules and / or bottom vision modules. Furthermore, in some embodiments, due to the miniaturized design of the take-up Z-axis 706, the center distance D between the two take-up clamps 710 on the take-up pitch control module 704 can be shortened to a minimum of 4.5 cm; when the distance between the two material slots on the top vision stage is greater than the aforementioned center distance D (4.5 cm), the take-up module 700 can pick up two parts from the material slots at once.

[0142] As previously targeted Figure 3 In some variations, the material handling module 300 can be modified, and such modifications can also be applied to... Figure 7 The material receiving module 700 will not be described in detail here.

[0143] Figure 8A and Figure 8B Embodiments of the lower vision module 800 of the present invention are shown from different angles. To facilitate understanding, Figure 8A and Figure 8B This can be used as a reference at the same time. (Receiving module) Figure 8A and Figure 8B(Not shown in the image) From the upper visual platform ( Figure 8A and Figure 8B (Not shown in the image) After obtaining part 810, part 810 is held above the lower vision module 800 for inspection. The lower vision module 800 can interact with the upper vision module (e.g., Figure 6A The upper vision module 600 includes several vision detections that are the same as or different from those of the lower vision module 600. The lower vision module 800 includes a lower vision camera 802, capable of acquiring an image of the lower part of the workpiece 810 from below. The lower vision module 800 may include a lower vision lens 808 to see the details of the workpiece 810 more clearly; wherein, the lower vision module 800 may be coupled to the lower vision Z-axis 812 to adjust the distance between the lower vision lens 808 or the lower vision camera 802 and the workpiece 810, so that the lower vision lens 808 can focus on the workpiece 810. The lower vision module 800 also includes a lower vision lighting assembly, wherein the lower vision lighting assembly can be configured with different light source types as needed. For example, in Figure 8A , Figure 8B In this embodiment, the lower vision module 800's lower vision lighting assembly includes two different light sources: a lower vision dome light 804 and a lower vision strip light 806. The lower vision dome light 804 illuminates approximately directly below the workpiece 810. The lower vision strip light 806 is distributed around the lower vision dome light 804, illuminating the workpiece 810 from below at an angle, with the angle between the illumination direction of the lower vision strip light 806 and the illumination direction of the lower vision dome light 804 being approximately 45 degrees. The light source configuration in this embodiment can provide different types of light source illumination for different detection items. In some variations, other different types or numbers of light sources can be used as needed. Furthermore, although the figures show that the lower vision module 800 has two lower vision cameras 802, two lower vision lenses 808, and two lower vision lighting assemblies, more or fewer combinations of components can be used in some variations, and the invention is not limited thereto.

[0144] Figure 9A and Figure 9B Embodiments of the side view module 900 of the present invention are shown from different angles. To facilitate understanding, Figure 9A and Figure 9B You can refer to both. Figure 9A , Figure 9B Display side vision module 900, which includes a pair of side vision cameras 902. Receiving module ( Figure 9A and Figure 9B (Not shown in the image) From the upper visual platform ( Figure 9A and Figure 9B (Not shown in the image) After obtaining part 910, part 910 is held between the side vision module 900 and the side vision camera 902 for inspection. The side vision module 900 can interact with the upper vision module (e.g., Figure 6AThe side vision module 900 includes several vision detections that are the same as or different from those of the top vision module 600. The side vision camera 902 of the side vision module 900 can acquire a side image of the workpiece 910 from its side. The side vision module 900 may include a side vision lens 908 to see the details of the workpiece 910 more clearly; wherein, the side vision module 900 may be coupled to the side vision Y-axis to adjust the distance between the side vision lens 908 or the side vision camera 902 and the workpiece 910, so that the side vision lens 908 can focus on the workpiece 910. The side vision Y-axis may include a motor 912 and a strip 916 coupled to the motor 912, wherein the side vision module 900 clamps the strip 916 at a clamping point 914 so that the motor 912 can drive the side vision module 900 to move in the Y-axis direction.

[0145] The side vision module 900 also includes a side vision lighting assembly, which can be configured with different light source types as needed. For example, in Figure 9A , Figure 9B In this embodiment, the side vision module 900's side vision lighting assembly includes two different light sources: a side vision ring-shaped shadowless lamp 904 and a side vision strip light 906. The side vision strip light 906 is distributed around (e.g., above) the side vision ring-shaped shadowless lamp 904, illuminating the workpiece 910 from the side at an angle, and the angle between the illumination direction of the side vision strip light 906 and the illumination direction of the side vision ring-shaped shadowless lamp 904 is approximately 45 degrees. The light source configuration in this embodiment can provide different types of light source illumination for different detection items. In some variations, other different types or numbers of light sources can be used as needed. Furthermore, although the figures show that the side vision module 900 has two side vision cameras 902, two side vision lenses 908, and two side vision lighting assemblies, more or fewer combinations of components can be used in some variations, and the invention is not limited thereto.

[0146] Since the side vision module 900 has a pair of side vision cameras 902, when the receiving module places the part 910 between the side vision cameras 902, the side vision module 900 can simultaneously acquire a first pair of side images from both sides of the part 910 for detection. Then, the receiving module rotates the part 910 via a receiving rotation axis, for example, by 90 degrees, allowing the side vision cameras 902 to acquire a second pair of side images from the other two sides of the part 910 for detection. In this way, the four sides of the part 910 can be detected simply by rotation without needing to translate the part 910. Because this design can acquire images of all four sides of the part 910 using the same side vision module 900, it reduces the actions and required structures for transporting and transferring the part 910, achieving the effects of saving time, reducing costs, and saving space. In some variations, the invention can be applied to parts 910 of shapes other than squares, allowing the part 910 to be rotated by angles other than 90 degrees as needed.

[0147] Furthermore, lateral visual detection and downward visual detection can be performed simultaneously. (See reference) Figures 8A-9B While the side vision module 900 performs inspection from the sides of the parts 810 and 910, the bottom vision module 800 can perform inspection from below the parts 810 and 910. For example, the bottom image acquired by the bottom vision module 800 and the first pair of side images acquired by the side vision module 900 are captured simultaneously, and / or the bottom image acquired by the bottom vision module 800 and the second pair of side images acquired by the side vision module 900 are captured simultaneously. The above-described design of the side vision module 900 and the bottom vision module 800 of the present invention also achieves the effects of saving time, reducing costs, and saving space.

[0148] Figures 10A-10C This invention discloses some embodiments for removing particles. Particles may adhere to the part to be inspected, affecting the inspection quality. To remove these particles, [the invention can be used...] Figures 10A-10C The technical means shown. In Figure 10A In the illustrated embodiment, the feeder 1000 may include an ion bar 1002, which removes particles from above the workpiece to prevent the particles from affecting subsequent upper vision inspection. Figure 10B In the illustrated embodiment, the lower vision module 1012 may include an ion bar 1004 that removes particles from below the material held in the receiving module 1010 before the lower vision module 1012 performs lower vision detection, in order to prevent the particles from affecting the lower vision detection. The removed particles may fall below the detection system through the hole 1016. Figure 10C The display detection system is enclosed by a housing 1014. The housing 1014 prevents external particles from entering the detection system and affecting detection. Furthermore, the housing 1014 may house an ULPA (Ultra-Low Particulate Air filter) 1006 and a fan 1008. The detection system blows filtered air downwards via the ULPA 1006; particles blown downwards pass through… Figure 10B The hole 1016 falls below the detection system and is then discharged outside the detection system by the fan 1008.

[0149] This invention discloses various types of inspection systems. The configuration of the material handling module, upper vision module, material receiving module, lower vision module, and side vision module in this invention enables a faster inspection process, a smaller system size, and reduced equipment manufacturing costs.

[0150] In some variations of the present invention, the order of detection of the upper vision, lower vision and side vision can be adjusted.

[0151] The scope of the claims of this invention is not limited to the above description. Therefore, all equivalent technical changes made based on the description and drawings of this invention are included within the scope of the claims of this invention.

Claims

1. A detection module for detecting a workpiece, the detection module comprising: A receiving module, comprising: a receiving clamp and a receiving rotary shaft, the receiving clamp being configured to hold the material, the receiving rotary shaft being coupled to the receiving clamp and capable of rotating the receiving clamp; and A side vision module, which includes a pair of side vision cameras; The receiving module is configured as follows: The workpiece held in the receiving clamp is placed between the opposite vision cameras, allowing the opposite vision cameras to acquire a first pair of side images of the workpiece; and The material held in the receiving fixture is rotated by an angle using the receiving rotation axis, so that the opposite vision camera can obtain a second pair of side images of the material. The first pair of side images and the second pair of side images reflect different side visual positions of the material.

2. The detection module of claim 1, further comprising a lower vision module, the lower vision module including a lower vision camera configured to capture a lower image of the workpiece from below, held in the receiving clamp.

3. The detection module as described in claim 2, wherein the lower image and the first pair of side images are captured simultaneously, and / or the lower image and the second pair of side images are captured simultaneously.

4. The detection module as claimed in claim 2, wherein the lower vision module further includes a lower vision Z-axis, the lower vision camera is coupled to the lower vision Z-axis, and the lower vision Z-axis is configured to adjust a distance between the lower vision camera and the workpiece.

5. The detection module of claim 1, wherein the side vision module includes a side vision Y-axis configured to adjust a distance between the opposite side vision camera and the workpiece.

6. The detection module as claimed in claim 1, wherein the receiving module further comprises: A receiving X-axis and a receiving Z-axis are provided, and a receiving clamp is coupled to the receiving X-axis and the receiving Z-axis. The receiving X-axis enables the receiving clamp to translate in an X-axis direction, and the receiving Z-axis enables the receiving clamp to translate in a Z-axis direction. The X-axis direction and the Z-axis direction are perpendicular to each other.

7. The detection module as claimed in claim 6, wherein the receiving module includes two receiving fixtures, and the receiving module further includes a receiving pitch module, the receiving pitch module being coupled to the receiving X-axis and the two receiving fixtures, the receiving pitch module being configured to adjust a center distance between the two receiving fixtures in the X-axis direction, or to move the two receiving fixtures in parallel via the receiving X-axis at a fixed center distance.

8. The detection module as described in claim 7, wherein the center distance is as small as 4.5 cm.

9. The detection module as claimed in claim 1, wherein the angle is 90 degrees.

10. An inspection system for inspecting a workpiece, the inspection system comprising: A material handling module, the material handling module including a material handling clamp configured to hold the material; An upper vision stage configured to carry the material from the picking fixture, wherein the picking fixture is configured to place the material on the upper vision stage in a safe area; An upper vision module, the upper vision module including an upper vision camera configured to capture an upper image of the material from above the material carried on the upper vision stage; A receiving module includes: a receiving clamp and a receiving rotating shaft. The receiving clamp is configured to pick up and hold the material from the upper vision stage, and the receiving rotating shaft is coupled to the receiving clamp and can rotate the receiving clamp. A lower vision module, comprising a lower vision camera configured to capture an image of the workpiece from below, held in the receiving clamp; and A side vision module, the side vision module including a side vision camera, the side vision camera being configured to acquire a side image from the side of the material held on the receiving clamp; in: During the period when the material is placed on the upper vision platform by the material picker, the material picker enters the safety area and the upper vision module leaves the safety area; Furthermore, during the period when the upper vision module captures the upper image of the material, the upper vision module enters the safe area and the material handling fixture leaves the safe area.

11. The detection system of claim 10, wherein during the period when the material is placed on the upper vision stage by the material pick-up fixture, the material receiving module moves the material receiving fixture above the lower vision module.

12. The detection system of claim 10, wherein the receiving module is configured to: The workpiece held in the receiving clamp is placed in front of the side vision camera, allowing the side vision camera to capture a first side image of the workpiece; and The material held in the receiving fixture is rotated by an angle using the receiving rotation axis, so that the side vision camera can obtain a second side image of the material. The first side image and the second side image reflect different side visual positions of the material.

13. The detection system of claim 12, wherein the lower image and the first side image are captured simultaneously, and / or the lower image and the second side image are captured simultaneously.

14. The inspection system of claim 10, wherein one or more of the upper vision module, the lower vision module, and the side vision module further comprises: A luminaire and a beam are configured to illuminate the component, wherein the beam is positioned around the luminaire and the angle between a direction of illumination of the beam and a direction of illumination of the luminaire is approximately 45 degrees.

15. The detection system as described in claim 10, wherein: The material handling module further includes a material handling X-axis, a material handling pitch adjustment module, and two material handling fixtures. The material handling X-axis enables the material handling fixtures to translate in an X-axis direction. The material handling pitch adjustment module is coupled to the material handling X-axis and the two material handling fixtures. The material handling pitch adjustment module is configured to adjust a distance between the two material handling fixtures in the X-axis direction, or to move the two material handling fixtures parallel to each other via the material handling X-axis at a fixed distance. During the period when the upper vision module captures the upper image of the material, the material handling distance module shortens the distance between the two material handling fixtures to cause the two material handling fixtures to leave the safe area.

16. The detection system of claim 10, wherein the material handling fixture and / or the material receiving fixture includes a contact suction cup and a non-contact suction cup, the contact suction cup being distributed around the non-contact suction cup, wherein the non-contact suction cup is configured to non-contactly adsorb a central region of the material, and the contact suction cup is configured to contactally adsorb a peripheral region of the material.

17. The detection system of claim 10, wherein whenever the upper vision module and the workpiece on the upper vision platform intersect, the upper vision module captures the upper image of the workpiece.

18. The detection system of claim 10, wherein the lower vision module further includes an ion bar configured to remove particles from below the material held in the receiving fixture before the lower vision camera captures the lower image of the material.

19. The inspection system of claim 10, further comprising an infeed and outfeed machine, the infeed and outfeed machine comprising: One material handling position, one tray stacking position, one transfer mechanism, and one tray stacking Z-axis, wherein: The transfer mechanism is configured to carry a tray on which the material is loaded, and to move the tray to the picking position so that the picking module can pick up the material; After the material picking module obtains the material, the empty material tray is moved to the tray stacking position. The Z-axis of the stack is configured to push the tray located on the transfer mechanism upward at the tray take-up position, so that the tray is disengaged from the transfer mechanism; When the tray is detached from the transfer mechanism, the stacked tray moves downward along the Z-axis to make room for the transfer mechanism to leave the tray removal stack position.

20. A detection module for detecting a workpiece, the detection module comprising: A material handling module, the material handling module including a material handling clamp configured to hold the material; An upper vision stage configured to carry the material from the pick-up fixture; An upper vision module, the upper vision module including an upper vision camera configured to capture an upper image of the material from above the material carried on the upper vision stage; A receiving module includes: a receiving clamp and a receiving rotating shaft. The receiving clamp is configured to pick up and hold the material from the upper vision stage, and the receiving rotating shaft is coupled to the receiving clamp and can rotate the receiving clamp. A lower vision module, comprising a lower vision camera configured to capture an image of the workpiece from below, held in the receiving clamp; and A side vision module, which includes a pair of side vision cameras; The receiving module is configured as follows: The material held in the receiving clamp is placed between the opposite vision cameras, so that the opposite vision cameras can obtain a first pair of side images of the material. The material held in the receiving fixture is rotated by an angle using the receiving rotation axis, so that the opposite vision camera can obtain a second pair of side images of the material. The lower image and the first pair of side images are captured simultaneously, and / or the lower image and the second pair of side images are captured simultaneously.

Images