Multi-axis linkage appearance detection device

Abstract

The utility model relates to a multi-axis linkage appearance detection device, the multi-axis linkage appearance detection device comprises a camera detection mechanism and a product moving mechanism, the product moving mechanism comprises an X-direction sliding assembly, a Y-direction sliding assembly, a second base, a third base and a fixing assembly, the Y-direction sliding assembly is connected to the X-direction sliding assembly, and the Y-direction sliding assembly is connected to the third base; the second base is arranged on the Y-direction sliding assembly, and the third base is rotationally arranged on the second base in the X direction; the fixing assembly is rotationally arranged on the third base, and the rotation axis of the third base is perpendicular to the rotation axis of the fixing assembly. According to the multi-axis linkage appearance detection device provided by the invention, the front / back surface, the inner cavity surface and the outer R angle of the product can be rotated upwards by adjusting the rotation angle of the third base in the detection process, and the to-be-detected part of the product can be adjusted to be right below the camera in the Y-axis direction through the Y-direction sliding assembly; the X-direction sliding assembly drives the fixing assembly to move, the flying shooting function can be achieved, and the detection precision is improved.

Description

Technical Field

[0001] The present application relates to the technical field of product appearance detection, and in particular to a multi-axis linkage appearance detection device. Background Art

[0002] In the manufacturing industry, in order to ensure the aesthetics of the products and the factory qualified rate, it is necessary to conduct appearance inspection on the products. Since the products usually have multiple inspection surfaces, the inspection surfaces include irregular structures such as curved surfaces and rounded surfaces in addition to flat surfaces. In order to achieve comprehensive inspection of the products, the existing inspection method is to manually place the products in different positions or angles, and then perform appearance inspection through a magnifying glass. This inspection method is time-consuming and labor-intensive, inefficient and prone to missed inspections. When there are differences in the inspection methods of different inspectors, it will lead to poor product consistency and low factory qualified rate.

[0003] Existing intelligent visual inspection equipment usually places the product on a transmission belt or a fixture and can only perform visual inspection in a single direction or at a single angle. When visual inspection of other inspection surfaces or inspection points is required, the product needs to be repositioned and clamped multiple times. Although the inspection efficiency is improved compared to manual inspection, there is still the problem of not being able to conveniently adjust the product inspection position. Utility Model Content

[0004] The present application provides a multi-axis linkage appearance inspection device to solve the problem in the prior art that the product inspection position cannot be conveniently adjusted during product appearance inspection.

[0005] The present application provides a multi-axis linkage appearance inspection device, including a camera inspection mechanism and a product moving mechanism, wherein the product moving mechanism includes:

[0006] X-direction sliding assembly;

[0007] A Y-direction sliding assembly, the Y-direction sliding assembly is connected to the X-direction sliding assembly;

[0008] A second base, the second base is arranged on the Y-direction sliding assembly;

[0009] A third base, the third base is rotatably arranged on the second base around the X direction;

[0010] The fixed component is rotatably arranged on the third base, and the rotation axis of the third base is perpendicular to the rotation axis of the fixed component.

[0011] Optionally, a plurality of fixing components are arranged in sequence on the third base along the X direction.

[0012] Optionally, the camera detection mechanism includes a plurality of cameras, the plurality of cameras are arranged in sequence along the X direction, and one camera corresponds to a plurality of fixed components.

[0013] Optionally, a support frame and a first rotating driving member arranged on the support frame are provided on the second base, a first end of the third base is rotatably connected to the support frame, and a second end of the third base is connected to the first rotating driving member.

[0014] Optionally, a first sensing sheet is provided on the third base, and a first detecting member matched with the first sensing sheet is provided on the supporting frame or the first rotating driving member.

[0015] Optionally, the fixing assembly includes a second rotating drive member, a rotating seat and a clamping unit, the second rotating drive member is arranged on the third base, the rotating seat is rotationally connected to the third base, the second rotating drive member is drivingly connected to the rotating seat, and the clamping unit is arranged on the rotating seat.

[0016] Optionally, a second sensing sheet is provided on the rotating seat, and a second detecting member matched with the second sensing sheet is provided on the third base.

[0017] Optionally, the clamp unit includes multiple clamps, multiple clamp mounting blocks, multiple clamp slide grooves and a clamp cylinder, the multiple clamp slide grooves are divergently arranged on the rotating seat, the clamp mounting blocks are slidably arranged in the clamp slide grooves, the clamp mounting blocks have strip holes for installing the clamps, the length direction of the strip holes and the sliding direction of the clamp mounting blocks are radial to the rotating seat, and the multiple clamps are connected to the clamp cylinder.

[0018] Optionally, the camera detection mechanism further includes a light source coaxially arranged with the camera.

[0019] Optionally, the multi-axis linkage appearance inspection device further includes a Z-direction sliding assembly, and the camera inspection mechanism is connected to the Z-direction sliding assembly.

[0020] The above technical solution provided by the embodiment of the present application has the following advantages compared with the prior art:

[0021] The multi-axis linkage appearance inspection device provided by the embodiment of the present application, when inspecting, the product is clamped on the fixed component, and by adjusting the rotation angle of the third base, the front / back side, inner cavity surface, and outer R angle of the product can be rotated upward respectively, and the part to be inspected of the product can be adjusted to the bottom of the camera in the Y-axis direction through the Y-direction sliding component, and the fixed component is driven to move by the X-direction sliding component, so that the product can be photographed and inspected by the camera above while moving, realizing the flying shooting function and improving the inspection accuracy; when inspecting the inner cavity surface and the outer R angle, through the rotation of the fixed component, the product moves along the X-axis while rotating, and all the inner cavity surfaces and all the outer R angles can be inspected at one time. During the inspection process, the camera inspection mechanism can take pictures continuously, and can quickly realize the visual inspection of each curved surface, edge and corner of the product with the least number of clamping times, thereby realizing the all-round appearance inspection of the product and improving the inspection efficiency of the product. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0023] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0024] One or more embodiments are exemplarily described by pictures in the corresponding drawings, and these exemplified descriptions do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings represent similar elements, and unless otherwise stated, the figures in the drawings do not constitute proportional limitations.

[0025] Figure 1 A schematic diagram of the structure of a multi-axis linkage appearance inspection device provided in an embodiment of the present application;

[0026] Figure 2 A schematic diagram of the partial structure of a multi-axis linkage appearance inspection device provided in an embodiment of the present application;

[0027] Figure 3 Provided in the embodiments of this application Figure 2 A magnified view of the details of part A;

[0028] Figure 4 Provided in the embodiments of this application Figure 2 A magnified view of the details of part B;

[0029] Figure 5 Provided in the embodiments of this application Figure 2 A top view of

[0030] Figure 6 Provided in the embodiments of this application Figure 5 A detailed enlarged view of part C in the middle;

[0031] Figure 7 Provided in the embodiments of this application Figure 2 Side view of

[0032] Figure 8 A schematic diagram of the product structure provided for the embodiment of the present application;

[0033] Fig. 9 A top view of a product provided in an embodiment of the present application;

[0034] Fig.10 Detection status diagram provided in the embodiment of the present application Figure 1;

[0035] Fig.11 Detection status diagram provided in the embodiment of the present application Figure 2 .

[0036] Description of reference numerals:

[0037] 1. Base; 11. X-axis sliding assembly;

[0038] 2. First base; 21. Y-axis sliding assembly;

[0039] 3. Second base; 31. Support frame; 32. First rotating driving member; 33. First detecting member;

[0040] 4. third base; 41. first sensing sheet; 42. second detection element;

[0041] 5. Fixed assembly; 51. Second rotary drive member; 52. Rotating seat; 521. Second induction sheet; 53. Claw unit; 531. Claw; 532. Claw mounting block; 5321. Strip hole; 533. Claw slideway; 534. Claw cylinder;

[0042] 6. Camera detection mechanism; 61. Camera; 62. Light source;

[0043] 7. Z-direction sliding assembly;

[0044] 8. Product; 81. Outer peripheral surface; 82. Rounded corner surface; 83. Inner cavity surface; 84. Front surface; 85. Back surface. DETAILED DESCRIPTION

[0045] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0046] The disclosure below provides many different embodiments or examples to realize the different structures of the present application. In order to simplify the disclosure of the present application, the parts and settings of specific examples are described below. Of course, they are only examples, and the purpose is not to limit the present application. In addition, the present application can repeat reference numbers and / or letters in different examples. This repetition is for the purpose of simplification and clarity, and does not itself indicate the relationship between the various embodiments and / or settings discussed.

[0047] For ease of description, spatial relative terms may be used herein to describe the relative positional relationship or movement of one element or feature relative to another element or feature as shown in the figure, such as "inside", "outside", "inner side", "outer side", "below", "below", "above", "above", "front", "back", etc. Such spatial relative terms are intended to include different orientations of the device in use or operation in addition to the orientation depicted in the figure. For example, if the device in the figure undergoes a position flip or a posture change or a motion state change, then these directional indications also change accordingly, for example: an element described as "below other elements or features" or "below other elements or features" will subsequently be oriented as "above other elements or features" or "above other elements or features". Therefore, the example term "below..." may include both upper and lower orientations. The device may be otherwise oriented (rotated 90 degrees or in other directions) and the spatial relative descriptors used herein are interpreted accordingly.

[0048] The present application provides a multi-axis linkage appearance inspection device, which can realize the sliding and rotation of the product during the appearance inspection process, and can conveniently adjust the inspection position of the product during intelligent visual inspection, which is conducive to reducing the number of product clamping times and improving the efficiency of product appearance inspection.

[0049] See also Figures 1 to 11 The embodiment of the present application provides a multi-axis linkage appearance inspection device, including a camera inspection mechanism 6 and a product moving mechanism, the product moving mechanism including an X-direction sliding component 11, a Y-direction sliding component 21, a second base 3, a third base 4 and a fixed component 5; the Y-direction sliding component 21 is connected to the X-direction sliding component 11, the second base 3 is arranged on the Y-direction sliding component 21, and the third base 4 is arranged on the second base 3 to rotate around the X direction; the fixed component 5 is rotatably arranged on the third base 4, and the rotation axis of the third base 4 is perpendicular to the rotation axis of the fixed component 5. By moving the X-direction sliding component 11, moving the Y-direction sliding component 21, rotating the third base 4 and rotating the fixed component 5, the product 8 can be adjusted to different inspection angles, such as Figure 1 , Fig.10 and Fig.11 As shown, the number of clamping times of product 8 can be reduced, greatly improving the appearance inspection efficiency of product 8.

[0050] See also Figures 8 to 9, taking the metal middle frame of a watch as the product 8 to be inspected in the embodiment of the present application, the parts of the product 8 that need to be inspected for appearance include the outer peripheral surface 81, the rounded surface 82, the inner cavity surface 83, the front surface 84 and the back surface 85; since the outer peripheral surface 81 is an arc surface, the rounded surface 82 is arranged at the four corners of the product 8, and the inner cavity surface 83 is arranged inside the product 8, the existing intelligent visual inspection equipment can only inspect the front surface 84 and the back surface 85, and the inspection of the outer peripheral surface 81, the rounded surface 82 and the inner cavity surface 83 is mostly carried out manually using a magnifying glass, and the inspection efficiency is low and it is easy to miss the inspection. When inspecting the metal middle frame of the watch by the multi-axis linkage appearance inspection device in the present application, the product 8 is clamped on the fixed component 5, and the product 8 is moved into the visual inspection range by the X-axis sliding component 11 and the Y-axis sliding component 21. The visual inspection of the inner cavity surface 83 and the arc-shaped outer peripheral surface 81 can be realized by rotating the third base 4, as shown Fig.11 As shown, by rotating the product 8 with the fixing component 5, visual inspection of the rounded surfaces 82 and the outer peripheral surface 81 around the product 8 can be achieved. During the inspection process, when the position of the product 8 changes, the camera inspection mechanism 6 can take pictures continuously to achieve a comprehensive appearance inspection of the product 8.

[0051] During the inspection, by adjusting the rotation angle of the third base 4, the front side 84 / back side 85, the inner cavity surface 83, and the outer R angle (i.e., the outer peripheral surface 81 and the rounded corner surface 82) of the product can be rotated upwards respectively. The Y-axis sliding component can be used to adjust the part of the product 8 to be inspected to the bottom of the camera in the Y-axis direction. The X-axis sliding component drives the fixed component 5 to move, so that the product 8 can be photographed and inspected by the upper camera 61 while moving, realizing the flying shooting function and improving the inspection accuracy; when inspecting the inner cavity surface 83 and the outer R angle, the fixed component 5 rotates by itself, and the product 8 moves along the X-axis while rotating, so that all the inner cavity surfaces 83 and all the outer R angles can be inspected at one time. During the inspection process, the camera inspection mechanism 6 can take pictures continuously, and can quickly realize the visual inspection of each curved surface, edge and corner of the product 8 with the least number of clamping times, thereby realizing the all-round appearance inspection of the product 8 and improving the inspection efficiency of the product 8.

[0052] In some embodiments of the present application, the X-direction sliding assembly 11 includes a base 1, an X-direction sliding rail provided in the base 1, an X-direction slider slidably matched with the X-direction sliding rail, and an X-direction driving motor connected to the X-direction slider, and both sides of the first base 2 are connected to the X-direction slider. The Y-direction sliding assembly 21 includes a first base 2, a Y-direction sliding rail provided on the first base 2, a Y-direction slider slidably matched with the Y-direction sliding rail, and a Y-direction driving motor connected to the Y-direction slider, and the second base 3 is provided on the Y-direction slider. The X-direction sliding assembly 11 is used to make the first base 2 slide along the X-direction, so as to adjust the detection position of the product 8 in the X-direction; the Y-direction sliding assembly 21 is provided on the first base 2, and the second base 3 is connected to the Y-direction sliding assembly 21, so as to make the second base 3 slide along the Y-direction, so as to adjust the detection position of the product 8 in the Y-direction, so as to realize the adjustment of the product 8 to any position in the XOY plane.

[0053] In order to simultaneously implement appearance inspection of multiple products 8, in some embodiments of the present application, please refer to Figure 1 and Figure 5 , multiple fixing components 5 are arranged in sequence along the X direction on the third base 4, and multiple inspection stations can be formed on the third base 4 to improve the appearance inspection efficiency of the product 8.

[0054] In the present application, one camera 61 may correspond to multiple fixed components 5, or multiple cameras 61 may correspond to multiple fixed components 5. In some embodiments of the present application, please refer to Figure 1 The camera detection mechanism 6 includes a plurality of cameras 61, and the plurality of cameras 61 are arranged in sequence along the X direction. One camera 61 corresponds to a plurality of fixed components 5. The detection of products 8 on a plurality of fixed components 5 can be realized through one camera 61, which is beneficial to reduce the number of expensive cameras 61 to be set and reduce the equipment cost.

[0055] Specifically, Figure 1 For example, the multi-axis linkage appearance inspection device is provided with two cameras 61 and four fixed components 5, the spacing between two adjacent cameras 61 is greater than the spacing between two adjacent fixed components 5, and the product 8 is controlled to move from left to right along the X direction, and the two cameras 61 first respectively perform flying shots on the first and third position products 8, and then respectively perform flying shots on the second and fourth position products 8. When the appearance inspection device is provided with two cameras 61 and six fixed components 5, the product 8 is controlled to move from left to right along the X direction, and the first and fourth position products 8 can be firstly performed flying shots, and then the second and fifth position products 8 can be performed flying shots, and finally the third and sixth position products 8 can be performed flying shots. Multiple products 8 can be inspected by one camera 61. Since multiple fixed components 5 are all on the same horizontal plane, the focal length between the camera 61 and the product 8 is the same. When the third base 4 moves along the X direction, multiple products 8 can be performed flying shots by one camera 61.

[0056] In order to realize the rotation of the third base 4 relative to the second base 3, in some embodiments of the present application, a support frame 31 and a first rotation driving member 32 provided on the support frame 31 are provided on the second base 3, a first end of the third base 4 is rotatably connected to the support frame 31, and a second end of the third base 4 is connected to the first rotation driving member 32, and the third base 4 is driven to rotate around the X direction by the first rotation driving member 32, such as Figure 7 shown.

[0057] It should be noted that the first rotating drive member 32 includes a rotating motor and a reducer. The output shaft of the reducer is fixedly connected to the third base 4, so that the third base 4 rotates around the X direction, thereby driving the fixed component 5 and the product 8 to rotate around the X direction. At the same time, the rotation position of the third base 4 can be precisely adjusted by the rotating motor and the reducer.

[0058] In order to confirm the rotation angle of the third base 4 and the product 8, it is necessary to monitor the rotation angle of the third base 4. In some embodiments of the present application, please refer to Figure 2 and Figure 4 A first sensing sheet 41 is provided at the end of the third base 4, and a first detecting member 33 matching the first sensing sheet 41 is provided on the supporting frame 31 or the first rotating driving member 32, for detecting the rotation angle of the third base 4, so as to facilitate precise adjustment of the detection position of the product 8.

[0059] It should be noted that a plurality of first sensing sheets 41 may be evenly arranged along the circumference of the third base 4 , and the first detection member 33 may be a detection element such as a proximity switch, and the rotation angle of the third base 4 may be monitored through the detection signal of the proximity switch.

[0060] In order to rotate the product 8 by the fixing assembly 5 to realize the circumferential appearance detection of the product 8, in some embodiments of the present application, please refer to Figure 2 , Figure 3 and Figure 6The fixed assembly 5 includes a second rotating drive member 51, a rotating seat 52 and a clamping jaw unit 53. The second rotating drive member 51 is arranged on the third base 4, and the rotating seat 52 is rotatably connected to the third base 4. The second rotating drive member 51 and the rotating seat 52 are drivingly connected to drive the rotating seat 52 to rotate relative to the third base 4. The clamping jaw unit 53 is arranged on the rotating seat 52. Specifically, the outer shell of the second rotating drive member 51 is fixedly connected to the third base 4, and the output shaft of the second rotating drive member 51 is connected to the rotating seat 52 through a coupling, so that the rotating seat 52 can rotate relative to the third base 4. The rotating seat 52 is connected to the clamping jaw unit 53. When the third base 4 is in a horizontal state, the rotating seat 52 can drive the clamping jaw unit 53 and the product 8 to rotate in a horizontal plane. When the third base 4 is in a vertical state, the rotating seat 52 can drive the clamping jaw unit 53 and the product 8 to rotate in a vertical plane, which is convenient for appearance inspection of the rounded surface 82 of the product 8, such as Figure 1 and Fig.10 shown.

[0061] In the present application, the rotating seat 52 and the clamping unit 53 are driven to rotate by the second rotating driving member 51. Each second rotating driving member 51 is controlled individually, so that the products 8 on the multiple fixed components 5 can be independently rotated and controlled. When the types of products 8 on the multiple fixed components 5 are different, different models of cameras 61 with different focal lengths, pixels, fields of view, etc. can be used above the products 8 for inspection to meet the needs of inspecting different products.

[0062] In addition, since each second rotating driving member 51 is controlled separately, different rotation angles can be adjusted according to the detection position of the product 8, and multiple types of product 8 detection can be realized at the same time; when the types of products 8 on multiple fixed components 5 are the same, the rotation angles of the multiple fixed components 5 are different, and multiple postures of the product 8 can be detected at the same time. In addition, since each product 8 can independently control its rotation, the number of products 8 to be detected at the same time can be freely selected, and one product 8 can be detected at a time or multiple products 8 can be detected at a time.

[0063] It should be noted that the second rotary drive member 51 may be a stepper motor, the precision of which may reach the micron level or even the nanometer level, so as to facilitate the refined appearance inspection of the product 8 while realizing the forward and reverse rotation of the product 8 through the second rotary drive member 51. The connection between the third base 4 and the second base 3 is realized through the support frame 31, so that an accommodation space for accommodating the second rotary drive member 51 is formed between the third base 4 and the second base 3.

[0064] In order to confirm the rotation angle of the clamping unit 53 and the product 8, the rotation angle of the rotating seat 52 can be monitored. In some embodiments of the present application, the rotating seat 52 has a second sensing sheet 521, and the third base 4 has a second detection member 42 matched with the second sensing sheet 521. Specifically, a plurality of second sensing sheets 521 are arranged along the circumference of the rotating seat 52, and the second detection member 42 can be a detection element such as a proximity switch, and the rotation angle monitoring of the rotating seat 52 is realized through the detection signal of the proximity switch.

[0065] In order to keep the position of product 8 fixed during the inspection process, product 8 needs to be fixed by the clamping unit 53. However, when inspecting the outer surface 81 of product 8, the clamping unit 53 needs to be abutted against the inner cavity surface 83 of product 8. When inspecting the inner cavity surface 83 of product 8, the clamping unit 53 needs to be clamped on the outer surface 81 of product 8. In order to facilitate the rapid clamping and adjustment of product 8, the clamping unit 53 needs to be able to achieve rapid adjustment.

[0066] In order to achieve the above effects, in some embodiments of the present application, please refer to Figure 2 , Figure 3 , Figure 5 and Figure 6 The clamping jaw unit 53 includes a plurality of clamping jaws 531, a plurality of clamping jaw mounting blocks 532, a plurality of clamping jaw slide grooves 533 and a clamping jaw cylinder 534. The plurality of clamping jaw slide grooves 533 are divergently arranged on the rotating seat 52. The clamping jaw mounting block 532 is slidably arranged in the clamping jaw slide groove 533. The clamping jaw mounting block 532 has a strip hole 5321 for mounting the clamping jaw 531. The length direction of the strip hole 5321 and the sliding direction of the clamping jaw mounting block 532 are the radial direction of the rotating seat 52. The plurality of clamping jaws 531 are connected to the clamping jaw cylinder 534. By changing the installation position of the clamping jaw 531 on the strip hole 5321, the limit size of the space enclosed by the plurality of clamping jaws 531 can be adjusted, so as to realize the internal support type fixation of the product 8 when detecting the outer peripheral surface 81 of the product 8, such as Figure 3 As shown, it is convenient to realize external clamping fixation when detecting the inner cavity surface 83 of the product 8, that is, the clamping jaw 531 is pressed against the outer peripheral surface 81 of the product 8, and the clamping jaw mounting block 532 is slidably connected with the clamping jaw slide groove 533, and the clamping jaw mounting block 532 and the clamping jaw slide groove 533 are driven by the clamping jaw cylinder 534 to slide relative to each other, so that the multiple clamping jaws 531 are brought closer to the center of the clamping jaw cylinder 534, or the multiple clamping jaws 531 are separated to the periphery of the clamping jaw cylinder 534, thereby realizing the size adjustment of the space enclosed by the multiple clamping jaws 531, which can form different clamping methods for the product 8 and can also be suitable for clamping products 8 of different specifications.

[0067] It should be noted that, since the clamping jaw 531 abuts against the inner cavity surface 83 when inspecting the outer circumferential surface 81 of the product 8, the inner cavity surface 83 cannot be inspected, and the back surface 85 of the product 8 cannot be inspected when inspecting the front side 84 of the product 8. The outer circumferential surface 81, the rounded surface 82 and the front side 84 (or the back side 85) can be inspected through a first internal support clamping, and the inner cavity surface 83 and the back side 85 (or the front side 84) can be inspected through a second external clamping. In this way, the entire inspection process only requires two clampings to achieve a full-scale appearance inspection of the product 8. Compared with the existing technology, the number of clamping times can be greatly reduced, thereby improving the inspection efficiency.

[0068] It should be noted that the number and arrangement of the clamping jaws 531 can be determined according to the shape of the product 8. As a specific embodiment of the present application, when the product 8 is as follows: Figure 8 In the rectangular frame structure shown in FIG. 1 , the clamping jaw unit 53 includes two sets of clamping jaws 531 arranged opposite to each other, and a plurality of clamping jaw sliding grooves 533 are arranged in a cross shape, such as Figure 6 shown.

[0069] In some embodiments of the present application, the camera detection mechanism 6 further includes a light source 62 coaxially arranged with the camera 61. In order to obtain detection images of the product 8 under different light source 62 scenes, a plurality of different types of light sources 62 may be coaxially arranged with the camera 61 lens, such as Figure 1 shown.

[0070] In order to facilitate the adjustment of the focal length of the camera 61 and place the inspection surface of the product 8 at the focus of the camera 61 lens, in some embodiments of the present application, the multi-axis linkage appearance inspection device further includes a Z-direction sliding assembly 7, and the camera inspection mechanism 6 is connected to the Z-direction sliding assembly 7, so that the camera inspection mechanism 6 slides along the Z direction, and the distance between the product 8 and the lens can be adjusted. Specifically, the Z-direction sliding assembly 7 can adopt a lifting mechanism in the prior art to adjust the height position of the camera inspection mechanism 6, thereby adjusting the distance between the camera 61 and the product 8, so that the inspection surface of the product 8 is located at the focus of the camera 61 lens.

[0071] In some embodiments of this application, please refer to Figures 1 to 11 , the detection method of the above multi-axis linkage appearance detection device is as follows:

[0072] Step 1: Clamp a plurality of products 8 on a plurality of clamping claw units 53, move the products 8 into the detection range of the camera 61 through the X-axis sliding assembly 11 and the Y-axis sliding assembly 21, and move the camera 61 through the Z-axis sliding assembly 7 so that the products 8 are located at the focus of the camera 61 lens;

[0073] Step 2: Make product 8 Figure 1The state shown, in which the appearance inspection of the front side 84 or the back side 85 of the product 8 can be performed;

[0074] Step 3: Drive the third base 4 to rotate toward the side where the camera 61 is located by the first rotating driving member 32, and adjust the distance between the product 8 and the camera 61 in the Y direction by the Y-direction sliding assembly 21, so that the product 8 is always within the detection range of the camera 61, that is, the product 8 is in Fig.10 In the state shown, the camera 61 takes pictures continuously to detect the front side 84 / back side 85 of the product, and then the third base 4 rotates to realize the continuous detection of the arc-shaped outer peripheral surface 81 of the product; the product 8 is presented in sequence Fig.11 and Fig.10 Status shown;

[0075] Step 4: When product 8 is in Fig.10 In the state shown, the product 8 is controlled to rotate, and the outer peripheral surface 81 and the rounded surface 82 of the product 8 can be inspected by the camera 61; during the rotation of the product 8, the position of the product 8 in the X direction can be adjusted by the X-direction sliding component 11, so that the appearance inspection point of the product 8 is always at the focus of the camera 61 lens.

[0076] Step 5: The rotating seat 52 is driven to rotate by the second rotating driving member 51, so that the rotating seat 52 differs from the initial angle by θ degrees, and the third base 4 is driven to rotate in the opposite direction (i.e., rotate toward the side away from the camera 61) by the first rotating driving member 32. During the reverse rotation of the third base 4, the action of step 3 is repeated to realize continuous detection of the symmetric surface of the arc-shaped outer peripheral surface 81 of the product;

[0077] It should be noted that before the third base 4 rotates in the opposite direction, the difference θ between the rotating seat 52 and the initial angle can be determined according to the structural characteristics of the product 8. As a specific embodiment of the present application, when the product 8 is a rectangular structure, θ is 90°, and the appearance inspection of the two adjacent arc-shaped outer peripheral surfaces 81 can be achieved through steps three to five.

[0078] Step 6: Repeat steps 3 to 5 until all the peripheral surfaces 81 and fillet surfaces 82 are inspected;

[0079] Step seven: Clamp the product 8 in reverse so that the clamping jaws 531 are clamped on the outer peripheral surface 81 and the reverse side 85 of the product 8 faces upward, so as to facilitate the appearance inspection of the inner cavity surface 83 and the reverse side 85 of the product 8. The inspection steps can be carried out with reference to steps two to six and will not be repeated here.

[0080] It should be noted that the inspection order and clamping method of each inspection surface can be adjusted as needed. During the inspection process, the four-axis linkage between the X-axis sliding component 11, the Y-axis sliding component 21, the first rotating drive component 32 and the second rotating drive component 51 can conveniently adjust the inspection position of the product 8. Through the multi-axis linkage between the X-axis sliding component 11, the Y-axis sliding component 21, the first rotating drive component 32, the second rotating drive component 51 and the Z-axis sliding component 7, the camera 61 can obtain a clear all-round appearance inspection image, and can quickly realize visual inspection of various curved surfaces, edges and corners of the product 8 with a minimum number of clamping times. The camera 61 can use both line scanning detection and fixed-point detection. During the movement of the product 8, the camera 61 can take pictures continuously to obtain appearance detection images and realize the flying shooting function of the product 8. In some preferred embodiments of the present application, 62 photos can be taken within 4 seconds, thereby realizing all-round appearance inspection of the product 8.

[0081] In the present application, the motion trajectories of the X-axis sliding component 11, the Y-axis sliding component 21, the first rotating drive component 32, the second rotating drive component 51 and the Z-axis sliding component 7 can be programmed according to the shapes of different products 8. When the product 8 is changed, the relevant program can be directly called to achieve rapid production, which is conducive to realizing automated appearance inspection and improving the inspection efficiency of the product 8.

[0082] It should be understood that the terms used herein are only for the purpose of describing specific example embodiments and are not intended to be limiting. Unless the context clearly indicates otherwise, the singular forms "one", "an" and "said" as used herein may also be meant to include plural forms. The terms "include", "comprise", "contain", and "have" are inclusive, and therefore specify the existence of stated features, steps, operations, elements and / or parts, but do not exclude the existence or addition of one or more other features, steps, operations, elements, parts, and / or combinations thereof. The method steps, processes, and operations described herein are not interpreted as necessarily requiring them to be performed in the specific order described or illustrated, unless the execution order is clearly indicated. It should also be understood that additional or alternative steps may be used.

[0083] Although the terms first, second, third, etc. can be used in the text to describe multiple elements, components, regions, layers and / or sections, these elements, components, regions, layers and / or sections should not be limited by these terms. These terms can only be used to distinguish an element, component, region, layer or section from another region, layer or section. Unless the context clearly indicates, terms such as "first", "second" and other numerical terms do not imply order or sequence when used in the text. Therefore, the first element, component, region, layer or section discussed below can be referred to as the second element, component, region, layer or section without departing from the teaching of the example embodiments.

[0084] The above description is only a specific implementation of the present application, so that those skilled in the art can understand or implement the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest range consistent with the principles and novel features applied for herein.

Claims

1. A multi-axis linkage appearance inspection device, characterized in that: It comprises a camera detection mechanism (6) and a product moving mechanism, wherein the product moving mechanism comprises: X-direction sliding assembly (11); A Y-direction sliding component (21), wherein the Y-direction sliding component (21) is connected to the X-direction sliding component (11); A second base (3), wherein the second base (3) is arranged on the Y-direction sliding component (21); a third base (4), the third base (4) being rotatably arranged on the second base (3) around an X direction; A fixed component (5), wherein the fixed component (5) is rotatably disposed on the third base (4), and the rotation axis of the third base (4) is perpendicular to the rotation axis of the fixed component (5).

2. The multi-axis linkage appearance inspection device according to claim 1, characterized in that: The plurality of fixing components (5) are arranged in sequence along the X direction on the third base (4).

3. The multi-axis linkage appearance inspection device according to claim 1 or 2, characterized in that: The camera detection mechanism (6) comprises a plurality of cameras (61), wherein the plurality of cameras (61) are arranged in sequence along the X direction, and one camera (61) corresponds to a plurality of the fixing components (5).

4. The multi-axis linkage appearance inspection device according to claim 3, characterized in that: The second base (3) is provided with a support frame (31) and a first rotating driving member (32) provided on the support frame (31); the first end of the third base (4) is rotatably connected to the support frame (31); and the second end of the third base (4) is connected to the first rotating driving member (32).

5. The multi-axis linkage appearance inspection device according to claim 4, characterized in that: A first sensing sheet (41) is provided on the third base (4), and a first detecting member (33) matched with the first sensing sheet (41) is provided on the support frame (31) or the first rotating driving member (32).

6. The multi-axis linkage appearance inspection device according to claim 1, characterized in that: The fixing assembly (5) comprises a second rotating driving member (51), a rotating seat (52) and a clamping jaw unit (53); the second rotating driving member (51) is arranged on the third base (4); the rotating seat (52) is rotationally connected to the third base (4); the second rotating driving member (51) is drivingly connected to the rotating seat (52); and the clamping jaw unit (53) is arranged on the rotating seat (52).

7. The multi-axis linkage appearance inspection device according to claim 6, characterized in that: The rotating seat (52) is provided with a second sensing sheet (521), and the third base (4) is provided with a second detecting member (42) matched with the second sensing sheet (521).

8. The multi-axis linkage appearance inspection device according to claim 6 or 7, characterized in that: The clamping jaw unit (53) comprises a plurality of clamping jaws (531), a plurality of clamping jaw mounting blocks (532), a plurality of clamping jaw slide grooves (533) and a clamping jaw cylinder (534). The plurality of clamping jaw slide grooves (533) are arranged on the rotating seat (52) in a divergent shape. The clamping jaw mounting block (532) is slidably arranged in the clamping jaw slide groove (533). The clamping jaw mounting block (532) has a strip hole (5321) for mounting the clamping jaw (531). The length direction of the strip hole (5321) and the sliding direction of the clamping jaw mounting block (532) are radial directions of the rotating seat (52). The plurality of clamping jaws (531) are connected to the clamping jaw cylinder (534).

9. The multi-axis linkage appearance inspection device according to claim 3, characterized in that: The camera detection mechanism (6) also includes a light source (62) arranged coaxially with the camera (61).

10. The multi-axis linkage appearance inspection device according to claim 9, characterized in that: It also includes a Z-direction sliding component (7), and the camera detection mechanism (6) is connected to the Z-direction sliding component (7).

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