AVI appearance inspection machine

Abstract

The utility model relates to an AVI appearance inspection machine which comprises a detection device, and the detection device comprises a supporting module and a camera module. The supporting module comprises a first supporting assembly, a second supporting assembly and a first driving assembly. The first supporting assembly is connected with the camera module, and the first supporting assembly and the second supporting assembly are rotationally connected with each other by taking a first axis as an axis; the first driving assembly is used for driving the first supporting assembly or the second supporting assembly so that the first supporting assembly and the second supporting assembly can relatively rotate with the first axis as the axis. The first supporting assembly is provided with a first assembling hole, the second supporting assembly is provided with a second assembling hole matched with the first assembling hole, and the fastener can be arranged in the first assembling hole and the second assembling hole in a penetrating mode. According to the AVI appearance inspection machine, the shooting angle of the camera module can be adjusted according to requirements, so that the adaptive capacity of the camera module to different detection requirements is improved, and the adaptive capacity of the whole AVI appearance inspection machine can be improved.

Description

Technical Field

[0001] The utility model belongs to the technical field of appearance detection, and in particular relates to an AVI appearance inspection machine. Background Art

[0002] During the production of circuit boards, it is usually necessary to use corresponding testing equipment to perform appearance testing on the circuit boards. The testing equipment usually includes a conveying module, a camera module, and a processing module. The conveying module is used to support and place the circuit board to be tested, and to transfer the circuit board to the camera module. The camera module is used to take pictures of the circuit board to be tested, and the processing module is used to process the images taken by the camera module to determine whether the circuit board to be tested meets the requirements.

[0003] However, in the related art, the camera module can only shoot at a specific angle, resulting in poor adaptability of the appearance inspection equipment and failure to meet the growing testing needs. Utility Model Content

[0004] The technical problem to be solved by the utility model is: to provide an AVI appearance inspection machine in view of the problem that the camera module of the appearance inspection equipment in the related technology can only shoot along a specific angle, resulting in poor adaptability of the appearance inspection equipment.

[0005] In order to solve the above technical problems, an embodiment of the utility model provides an AVI appearance inspection machine, including a detection device, the detection device includes a support module and a camera module; the support module includes a first support component, a second support component and a first drive component; the first support component is connected to the camera module, and the first support component and the second support component are rotatably connected with a first axis as an axis; the first drive component is used to drive the first support component or the second support component so that the first support component and the second support component can rotate relative to each other with the first axis as an axis; the first support component is provided with a first assembly hole, and the second support component is provided with a second assembly hole matching the first assembly hole, and fasteners can be inserted into the first assembly hole and the second assembly hole.

[0006] Optionally, at least one of the first assembly hole and the second assembly hole is an arc-shaped hole; or at least one of the first assembly hole and the second assembly hole includes a plurality of sub-holes arranged at intervals along the same arc line.

[0007] Optionally, the first driving assembly includes a first adjusting rod, a first mounting seat and a rotating structure; the first mounting seat is connected to the second supporting assembly, the first mounting seat is provided with a first connecting through hole, and the second supporting assembly is provided with a second connecting through hole corresponding to the first connecting through hole; the first adjusting rod passes through the first connecting through hole and the second connecting through hole in sequence; the two ends of the rotating structure are respectively connected to the first adjusting rod and the first supporting assembly; when the first adjusting rod moves along its axial direction, the first adjusting rod can drive the rotating structure to rotate, and then drive the first supporting assembly to rotate around the first axis.

[0008] Optionally, the first adjustment rod includes a first connecting rod and a first manual force member, the first connecting rod passes through the first connecting through hole and the second connecting through hole in sequence, one end of the first connecting rod is connected to the first manual force member, and the other end of the first connecting rod is connected to the rotating structure.

[0009] Optionally, the angle between the optical axis of the camera module and the first axis is greater than or equal to 70 degrees and less than or equal to 110 degrees.

[0010] Optionally, the camera module includes a plurality of cameras, each of which is arranged in sequence on the first supporting assembly along the first axis, and a portion of the field of view of two adjacent cameras overlaps with each other.

[0011] Optionally, the AVI appearance inspection machine also includes a loading device and a conveying device; the loading device is used to place materials on the conveying device; the conveying device is used to move the materials along its own length direction so that the materials can be transferred to the detection device; the loading device includes a loading module and a loading robot; along the length direction of the loading module, the loading module includes a first loading component and a second loading component; the first loading component is used to transfer the material to the second loading component along the length direction of the loading module, the second loading component is used to transfer the material along the thickness direction of the loading module, and the loading robot is used to transfer the material on the second loading component to the conveying device.

[0012] Optionally, the first feeding component includes a material moving unit, a first feeding support unit, a first feeding drive unit, a first partition unit and a plurality of rolling units; the material moving unit, the first feeding drive unit and the first partition unit are all connected to the first feeding support unit; the material moving unit has a first material conveying channel, and the first material conveying channel is used to transfer materials along the length direction of the feeding module; the first feeding drive unit is used to drive the material moving unit; the first partition unit is used to divide the first material conveying channel into a plurality of first conveying channels, and each of the first conveying channels can transfer materials.

[0013] Optionally, the material moving unit includes a plurality of rolling units, which are all connected to the first feeding support unit and are arranged in sequence along the length direction of the feeding module. The rolling unit can rotate around its own axis relative to the first feeding support unit, and the plurality of rolling units constitute a first material conveying channel; and / or, the first partition unit includes a partition and a plurality of support columns; the partition is located in the first conveying channel and is used to separate the first conveying channel; each of the support columns is arranged in sequence on the same side of the partition along the length of the feeding module, and each of the support columns is connected to the first feeding support unit at one end away from the partition.

[0014] Optionally, the second loading component includes a second loading support unit, a third loading support unit, a second loading drive unit and a second separating unit; the third loading support unit and the second loading drive unit are both connected to the second loading support unit; the third loading support unit is used to hold the material on the first loading component; the second loading drive unit is used to drive the third loading support unit to move along the thickness direction of the loading module; the second separating unit is used to separate the third loading support unit into a plurality of second conveying channels; the second conveying channels correspond one-to-one to the first conveying channels, and the first conveying channel is used to transfer materials to the second conveying channel corresponding to it.

[0015] Optionally, the third feeding support unit includes a feeding support module, a feeding drive module and multiple rolling modules; each of the rolling modules is arranged on the support module at intervals along the length direction of the feeding module, and the rolling module can rotate around its own axis relative to the support module; multiple rolling modules form a second material conveying channel, and the partition unit is used to divide the second material conveying channel into multiple second conveying channels; the feeding drive module is used to drive the rolling module to rotate.

[0016] Optionally, the feeding device also includes a barrier module, which includes an isolation plate and a barrier drive unit, and the barrier drive unit is connected to the isolation plate, and is used to drive the isolation plate to move so that the isolation plate can switch between a first position and a second position; when the isolation plate is in the first position, the isolation plate is located between the first conveying channel and the corresponding second conveying channel to block the material in the first conveying channel from entering the corresponding second conveying channel; when the isolation plate is in the second position, the isolation plate is staggered with the first conveying channel and the second conveying channel.

[0017] Optionally, the conveying device includes a cache module; the loading robot is used to transfer the material in the loading space to the cache module; the cache module is a conveyor belt module, the conveyor belt of the conveyor belt module has a carrying surface for placing the material, and the carrying surface is provided with a plurality of adsorption holes that penetrate the conveyor belt.

[0018] Optionally, two of the support modules and the camera modules are provided, the two support modules are respectively a first support module and a second support module, and the two camera modules are respectively a first camera module and a second camera module; the first camera module is connected to the first support module, and the second camera module is connected to the second support module; the two support modules are respectively arranged on both sides of the thickness direction of the conveying device; the conveying device is provided with a detection window, and the detection window penetrates the conveying device along the thickness direction of the conveying device; the side of the conveying device away from the second support module is used for placing the material; the first camera module is used to photograph the material placed on the conveying device from the side of the conveying device away from the second support module; the second camera module is used to photograph the material placed on the conveying device from the detection window; the width direction of the conveying device is parallel to the first axis.

[0019] Optionally, the AVI appearance inspection machine also includes a unloading device; the loading module has multiple loading spaces, each of which can be used to place materials, and the loading robot can grab the materials in at least two of the loading spaces at the same time, and place the grabbed materials on the conveying device along the width direction of the conveying device; along the length direction of the conveying device, the unloading device is located on the side of the detection device away from the loading device; the unloading device can take away multiple materials arranged on the conveying device along the width direction of the conveying device.

[0020] In the AVI appearance inspection machine provided in the embodiment of the utility model, the shooting angle of the camera module when shooting materials can be adjusted as needed, thereby improving the adaptability of the camera module to different detection requirements, thereby improving the adaptability of the entire AVI appearance inspection machine. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a schematic diagram of the local structure of the detection device provided by an embodiment of the utility model Figure 1 ;

[0022] Figure 2 This is a schematic diagram of the local structure of the detection device provided by an embodiment of the utility model Figure 2 ;

[0023] Figure 3 This is a schematic diagram of the local structure of the detection device provided by an embodiment of the utility model Figure 3 ;

[0024] Figure 4 yes Figure 3 Enlarged view of the middle M region;

[0025] Figure 5 This is a schematic diagram of the local structure of the detection device provided by an embodiment of the utility model Figure 4 ;

[0026] Figure 6 This is a schematic diagram of the local structure of the detection device provided by an embodiment of the utility model Figure 5 ;

[0027] Figure 7 This is a schematic diagram of the structure of the light source module provided by an embodiment of the utility model Figure 1 ;

[0028] Figure 8 This is a schematic diagram of the structure of the light source module provided by an embodiment of the utility model Figure 2 ;

[0029] Fig. 9 This is a schematic diagram of the structure of the light source module provided by an embodiment of the utility model Figure 3 .

[0030] Fig.10 This is a schematic diagram of the structure of an AVI appearance inspection machine provided by an embodiment of the utility model. Figure 1 ;

[0031] Fig.11 This is a schematic diagram of the structure of an AVI appearance inspection machine provided by an embodiment of the utility model. Figure 2 ;

[0032] Fig.12 yes Fig.11 Enlarged view of the middle P region;

[0033] Fig.13 It is a partial structural schematic diagram of a conveying device provided by an embodiment of the utility model;

[0034] Fig.14 This is a schematic diagram of the local structure of the feeding device provided by an embodiment of the utility model. Figure 1 ;

[0035] Fig.15 yes Fig.14 Magnified view of the mid-Q region;

[0036] Fig.16 This is a schematic diagram of the local structure of the feeding device provided by an embodiment of the utility model. Figure 2 ;

[0037] Fig.17 This is a schematic diagram of the local structure of the feeding device provided by an embodiment of the utility model. Figure 3 .

[0038] The reference numerals in the specification are as follows:

[0039] 100. Detection device;

[0040] 10. Support module; 101. First support module; 102. Second support module;

[0041] 1. first support assembly; 11. first support plate; 12. first support seat; 13. rotating shaft; 14. connecting plate; 1a. first assembly hole;

[0042] 2. Second support assembly; 21. Second support plate; 211. Connecting hole; 212. Avoiding groove; 22. Second support seat; 23. Load-bearing plate; 24. Reinforcing plate; 25. Second guide structure; 26. First stopper; 27. Connecting block; 2a. Second assembly hole;

[0043] 3. First driving assembly; 31. First adjusting rod; 311. First connecting rod; 312. First manual force applying member; 32. First mounting seat; 33. Rotating structure; 331. First connecting part; 332. Second connecting part;

[0044] 4. Fasteners;

[0045] 5. third support assembly; 51. third support plate; 511. third threaded hole; 52. bracket; 53. first guide structure;

[0046] 6. Second driving assembly; 61. Second adjusting rod; 611. Second connecting rod; 612. Second manual force applying member; 62. Second mounting seat;

[0047] 7. Fourth support assembly; 71. Fourth support plate; 72. Fifth support plate; 73. Guide mechanism;

[0048] 8. third driving assembly; 81. motor; 82. screw mechanism;

[0049] 20. Camera module; 20a. Camera;

[0050] 30. Light source module; 30a. Locking threaded hole;

[0051] 40. Light source bearing module; 401. First mounting plate; 402. Second mounting plate; 403. Avoidance space; 404. Feeding drive assembly; 405. Vacuum adsorption assembly;

[0052] 50. Adjusting bolt;

[0053] 200, conveying device; 201, first conveying module; 202, second conveying module; 203, detection window; 204, carrier; 205, cache module; 206, conveying module; 207, first resisting module; 208, second resisting module; 209, baffle support 209; 210, baffle driving unit 210; 211, baffle; 21a, detection unit; 213, adsorption hole;

[0054] 300, feeding device; 301, feeding module; 302, feeding manipulator; 303, feeding space; 304, feeding drive assembly; 305, vacuum adsorption assembly;

[0055] 91. First feeding assembly; 911. First conveying channel; 912. Rolling unit; 913. First feeding support unit; 914. First feeding drive unit; 915. First separation unit; 916. First material conveying channel; 917. First avoidance structure; 918. Partition plate; 919. Support column;

[0056] 92, second feeding assembly; 921, second conveying channel; 922, second feeding support unit; 923, third feeding support unit; 924, second feeding drive unit; 925, second separation unit; 926, feeding support module; 927, rolling module; 928, feeding drive module; 929, second material conveying channel; 930, connecting piece; 931, isolation column;

[0057] 93. Blocking module; 931. Isolation board;

[0058] 400, unloading device; 40a, unloading module; 40b, unloading manipulator;

[0059] 500. Control device. DETAILED DESCRIPTION

[0060] In order to make the technical problems, technical solutions and beneficial effects solved by the utility model more clear, the utility model is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the utility model and are not used to limit the utility model.

[0061] like Figure 1 and Fig.10 As shown, in one embodiment, the AVI appearance inspection machine 1000 includes an inspection device 100, and the inspection device 100 includes a support module 10 and a camera module 20, and the camera module 20 is connected to the support module 10, and the camera module 20 is used to take pictures of the material. In addition, the inspection device 100 also includes a processing module, and the processing module is used to process the image taken by the camera module 20 to determine whether the appearance of the material meets the requirements.

[0062] like Figures 1 to 4 As shown, in one embodiment, the support module 10 includes a first support component 1, a second support component 2 and a first drive component 3. The first support component 1 is used to connect to the camera module 20, and the first support component 1 and the second support component 2 are rotatably connected with the first axis as the axis; the first drive component 3 is used to drive the first support component 1 or the second support component 2, so that the first support component 1 and the second support component 2 can rotate relative to each other with the first axis as the axis. Figure 1 and Figure 2 In the illustrated embodiment, the first axis is parallel to the X-axis.

[0063] When the first driving component 3 directly drives the first supporting component 1 to rotate relative to the second supporting component 2 around the first axis (the second supporting component 2 can be regarded as stationary at this time), it can drive the camera module 20 connected to the first supporting component 1 to rotate around the first axis, thereby adjusting the shooting angle of the camera module 20 when shooting the material. When the first driving component 3 directly drives the second supporting component 2 to rotate relative to the first supporting component 1 around the first axis (the first supporting component 2 can be regarded as stationary at this time), if the material is placed on the second supporting component 2 or the corresponding supporting object connected to the second supporting component 2, the second supporting component 2 can drive the material to rotate relative to the camera module 20 connected to the first supporting component 1 around the first axis, so that the shooting angle of the camera module 20 when shooting the material can also be adjusted.

[0064] In addition, after the camera module 20 is connected to the first support assembly 1, the optical axis of the camera module 20 is not parallel to the first axis, wherein the angle between the optical axis of the camera module 20 and the first axis is greater than or equal to 70 degrees and less than or equal to 110 degrees. In this way, when the camera module 20 rotates around the first axis, its shooting angle can be adjusted. Among them, the optical axis of the camera module 20 is the axis of the lens of the camera module 20. Preferably, the optical axis of the camera module 20 is perpendicular to the first axis.

[0065] Through the arrangement of this embodiment, it is possible to adjust the shooting angle of the camera module 20 when shooting materials, thereby improving the adaptability of the camera module 20 to different detection requirements, thereby improving the adaptability of the entire AVI appearance inspection machine 1000.

[0066] In addition, the first axis may be perpendicular to the arrangement direction of the first support assembly 1 and the second support assembly 2. In one application scenario, the first support assembly 1 and the second support assembly 2 may be arranged along the front-to-back direction, and the first axis extends along the left-to-right direction. When the first support assembly 1 drives the camera module 20 to rotate, the optical axis of the camera module 20 can rotate to be parallel to the vertical direction.

[0067] like Figure 2 and Figure 3 As shown, in one embodiment, the first driving assembly 3 includes a first adjusting rod 31, a first mounting seat 32 and a rotating structure 33; the first mounting seat 32 is connected to the second supporting assembly 2, the first mounting seat 32 is provided with a first connecting through hole, and the second supporting assembly 2 is provided with a second connecting through hole corresponding to the first connecting through hole; the first adjusting rod 31 passes through the first connecting through hole and the second connecting through hole in sequence; the two ends of the rotating structure 33 are respectively connected to the first adjusting rod 31 and the first supporting assembly 1; when the first adjusting rod 31 moves along its axial direction, the first adjusting rod 31 can drive the rotating structure 33 to rotate, and then drive the first supporting assembly 1 to rotate around the first axis. The rotating structure 33 can adjust the direction of force transmission, and the setting of the rotating structure 33 can make it more convenient for the first adjusting rod 31 to apply force to the first supporting assembly 1.

[0068] The axis of the first adjustment rod 31 is not parallel to the optical axis of the camera module 20. Figure 2 and Figure 3 In the illustrated embodiment, the axis of the first adjustment rod 31 is parallel to the Y axis, wherein the Y axis is perpendicular to the X axis. It should be understood that the force application point of the first adjustment rod 31 on the first support assembly 1 through the rotating structure 33 is spaced a certain distance from the first axis.

[0069] like Figure 3As shown, in one embodiment, the first adjustment rod 31 includes a first connecting rod 311 and a first manual force-applying member 312, the first connecting rod 311 passes through the first connecting through hole and the second connecting through hole in sequence, one end of the first connecting rod 311 is connected to the first manual force-applying member 312, and the other end of the first connecting rod 311 is connected to the rotating structure 33. The operator can manually apply force to the first manual force-applying member 312, thereby driving the first connecting rod 311 to move along the axis of the first connecting rod 311, so that the rotating structure 33 can be driven to rotate, and then the first support assembly can be driven to rotate around the first axis. Among them, the axis of the first connecting rod 311 is the axis of the first adjustment rod 31. That is, in this embodiment, the first adjustment rod 31 can be driven to move along its own axis direction manually.

[0070] In addition, the first connecting through hole can be through the first mounting seat 32 along the axial direction of the first adjusting rod 31, and the second connecting hole can be through the second supporting assembly 2 along the axis of the first adjusting rod 31. The second connecting hole plays a avoidance role to prevent the second supporting assembly from interfering with the movement of the first adjusting rod 31.

[0071] like Figure 5 As shown, in one embodiment, the rotating structure 33 includes a first connecting portion 331 and a second connecting portion 332 that are rotatably connected; the first connecting portion 331 is connected to the first adjusting rod 31, and the second connecting portion 332 is connected to the first supporting assembly 1. Specifically, the first connecting portion 331 can be connected to an end of the first connecting rod 311 away from the first manual force applying member 312.

[0072] In one embodiment, an internal thread is provided on the inner surface of the first connecting hole, that is, along the axial direction of the first connecting hole, at least a part of the first connecting hole is a threaded hole; an external thread is provided on the first adjusting rod 31, that is, along the axial direction of the first adjusting rod 31, at least a part of the first adjusting rod 31 is a stud, and the stud part of the first adjusting rod 31 is threadedly matched with the threaded hole part of the first connecting hole, and the first adjusting rod 31 can be driven to move along its axial direction by rotating the first adjusting rod 31. In addition, the stud part is actually located on the first connecting rod 311, and the first manual force applying member 312 can be a hand wheel. In addition, in this embodiment, the rotating structure 33 is a universal structure, and one of the first connecting part 331 and the second connecting part 332 can be universally rotated relative to the other.

[0073] like Figure 1 and Figure 4 As shown, in one embodiment, the first support component 1 is provided with a first assembly hole 1a, and the second support component 2 is provided with a second assembly hole 2a matching the first assembly hole 1a; the fastener 4 can be inserted into the first assembly hole 1a and the second assembly hole 2a.

[0074] When the fastener 4 is inserted into the first assembly hole 1a and the second assembly hole 2a, the first support assembly 1 and the second support assembly 2 can be fixed or loosened. When the fastener 4 fixes the first support assembly 1 and the second support assembly 2, the first support assembly 1 and the second support assembly 2 cannot rotate relative to each other around the first axis; when the fastener 4 loosens the first support assembly 1 and the second support assembly 2, the first support assembly 1 and the second support assembly 2 can rotate relative to each other around the first axis.

[0075] like Figure 1 As shown, in one embodiment, at least one of the first assembly hole 1a and the second assembly hole 2a is an arc-shaped hole; wherein the axis of the arc-shaped hole is the first axis.

[0076] In a feasible embodiment, the first assembly hole 1a is an arc-shaped hole, and the second assembly hole 2a is a threaded hole. In this case, the fastener 4 can be a locking bolt, and the fastener 4 passes through the first support assembly 1 from the first assembly hole 1a and then is threadedly matched with the second assembly hole 2a. By adjusting the depth of the fastener 4 screwed into the second assembly hole 2a, the first support assembly 1 and the second support assembly 2 can be fixed or loosened.

[0077] In another feasible embodiment, the first assembly hole 1a is an arc-shaped hole, and the second assembly hole 2a is a through hole that passes through the second support component 2 along the first axis. In this case, the fastener 4 may include a locking bolt and a nut. The locking bolt passes through the first support component 1 from the first assembly hole 1a, and passes through the second support component 2 from the second assembly hole 2a, and the locking bolt and the nut are threadedly matched. The first support component 1 and the second support component 2 can be fixed or loosened by the matching of the locking bolt and the nut.

[0078] In one embodiment, the arc angle of the arc-shaped hole is 10 degrees to 20 degrees. For example, the arc angle may be 10 degrees, 11 degrees, 12 degrees, 13 degrees, 14 degrees, 15 degrees, 16 degrees, 17 degrees, 18 degrees, 19 degrees or 20 degrees.

[0079] In one embodiment, the number of arc holes is two, and the two arc holes are arranged at intervals along the radial direction of the midpoint of the arc holes, wherein the "radial direction of the midpoint of the arc holes" refers to the extension direction of the radius passing through the midpoint of the two arc holes, and the radius is the radius of the arc holes. In addition, "the two arc holes are arranged at intervals along the radial direction of the midpoint of the arc holes" can also be understood as: the two arc holes are arranged at intervals along the direction perpendicular to the first axis, and the two arc holes are symmetrical with respect to the same plane. Among them, "the two arc holes are symmetrical with respect to the same plane" means that when one arc hole is divided into two mirror-symmetrical parts by the first plane, the other arc hole is also divided into two mirror-symmetrical parts by the first plane.

[0080] In addition, when there are two arc-shaped holes, the number of the assembly holes corresponding to the arc-shaped holes can also be two. Among them, when the first assembly hole 1a is an arc-shaped hole, the assembly hole corresponding to the arc-shaped hole is the second assembly hole 2a, and when the second assembly hole 2a is an arc-shaped hole, the assembly hole corresponding to the arc-shaped hole is the first assembly hole 1a. In this case, there can also be two fasteners 4, one fastener 4 cooperates with one arc-shaped hole and the assembly hole corresponding to the arc-shaped hole.

[0081] like Figure 3 and Figure 6 As shown, in one embodiment, the first support assembly 1 includes a first support plate 11, which is connected to the second support assembly 2 and can rotate relative to the second support assembly 2 around a first axis. The camera module 20 is connected to the first support plate 11. In addition, the first support plate 11 can be a flat plate structure.

[0082] like Figure 3 and Figure 6 As shown, in one embodiment, the second support assembly 2 includes a second support plate 21, and the first support assembly 1 is connected to the second support plate 21 and can rotate relative to the second support plate 21 around a first axis. Specifically, the first support plate 11 is rotatably connected to the second support plate 21.

[0083] like Figure 3 The first support assembly 1 further includes a first support seat 12 and a rotating shaft 13, wherein the first support seat 12 is connected to the first support plate 11, and the rotating shaft 13 is connected to the first support seat 12. Specifically, the first support seat 12 is provided with a first mounting hole, and the rotating shaft 13 is arranged in the first mounting hole, wherein the rotating shaft 13 and the first support seat 12 may be fixedly connected. The second support assembly 2 further includes a second support seat 22, wherein the second support seat 22 is connected to the second support plate 21, and the second support seat 22 is provided with a second mounting hole, and the rotating shaft 13 is arranged in the second mounting hole, and can rotate relative to the second support seat 22 around its own axis, wherein the axis of the rotating shaft 13 is the first axis, and the rotating shaft 13 may be installed in the second mounting hole through a bearing.

[0084] In addition, the first support seat 12, the rotating shaft 13 and the second support seat 22 are all located between the first support plate 11 and the second support plate 21. The first support seat 12 is spaced apart from the second support plate 21, and the second support seat 22 is spaced apart from the first support plate 11. The rotating shaft 13 is spaced apart from the first support plate 11 and the second support plate 21.

[0085] In addition, the first mounting seat 32 may be connected to the second support plate 21 and located on the side of the second support plate 21 away from the first support plate 11. The avoidance hole on the second support assembly 2 is actually arranged on the second support plate 21 and penetrates the second support plate 21 along the axial direction of the first adjustment rod 31. The first adjustment rod 31 is connected to the first support plate 11 through a universal structure, and then connected to the first support assembly 1, wherein the second connection portion 332 may be connected to the surface of the first support plate 11 close to the second support plate 21.

[0086] like Figure 1 and Figure 3 As shown, in one embodiment, the first support assembly 1 further includes a connecting plate 14, the connecting plate 14 is connected to the first support plate 11, the first assembly hole 1a is provided on the connecting plate 14, and the second assembly hole 2a is provided on the second support plate 21. In addition, along the extension direction of the first axis, the connecting plate 14 is connected to the side surface of the first support plate 1, and after assembly, in the extension direction of the first axis, the first support plate 11 and the second support plate 21 are located on the same side of the connecting plate 14.

[0087] exist Figure 1 and Figure 4 In the illustrated embodiment, the first assembly hole 1a is an arc-shaped hole, wherein the first assembly hole 1a passes through the connecting plate 14 along the first axis. A corresponding connecting block 27 is connected to the second support plate 21, and in the extension direction of the first axis, the first support plate 11 and the connecting block 27 are located on the same side of the connecting plate 14, and the second assembly hole 2a is a threaded hole provided on the connecting block 27, wherein the connecting block 27 may be located between the first support plate 11 and the second support plate 21. Of course, the second assembly hole 2a may also be a threaded hole provided on the side of the second support plate 21.

[0088] like Figure 3 The second support assembly 2 further includes a bearing plate 23 and a reinforcing plate 24. The bearing plate 23 is connected to the second support plate 21, and the bearing plate 23 is connected to the second support plate 21 to form an L-shaped structure. The bearing plate 23 may be connected to the surface of the second support plate 21 away from the first support plate 11. In addition, the bearing plate 23 may be connected to an end of the second support plate 21 away from the second support seat 22. In an application scenario, the second support seat 22 is connected to the upper end of the second support plate 21, and the bearing plate 23 is connected to the lower end of the second support plate 21.

[0089] The reinforcing plate 24 is connected to the second support plate 21 and the bearing plate 23, respectively, wherein the reinforcing plate 24 is connected to the surface of the second support plate 21 away from the first support plate 11, and the reinforcing plate 24 is used to reinforce the L-shaped structure formed by the second support plate 21 and the bearing plate 23. Two reinforcing plates 24 may be provided, and the two reinforcing plates 24 are spaced apart along the first axis. The first driving assembly 3 is disposed between the two reinforcing plates 24, and is spaced apart from the bearing plate 23 and the two reinforcing plates 24.

[0090] like Figure 3 and Figure 6 As shown, in one embodiment, the support module 10 further includes a third support assembly 5 and a second drive assembly 6; the second support assembly 2 is connected to the third support assembly 5 and can move relative to the third support assembly 5 to generate displacement in the arrangement direction of the first support assembly 1 and the second support assembly 2; the second drive assembly 6 is connected to the third support assembly 5 and is used to drive the second support assembly 2 to move relative to the third support assembly 5, so that the second support assembly 2 generates displacement in the arrangement direction of the first support assembly 1 and the second support assembly 2. Figure 3 and Figure 6 In the illustrated embodiment, the arrangement direction of the first support assembly 1 and the second support assembly 2 is parallel to the Z axis, wherein the Z axis is perpendicular to the X axis, and the Z axis is perpendicular to the Y axis.

[0091] Among them, the arrangement direction of the second support component 2 and the third support component 5 is defined to be parallel to the first direction; the second driving component 6 can directly drive the second support component 2 to move along the first direction, so that the second support component 2 is displaced in the first direction; or, the second driving component 6 can also drive the second support component 2 to move in a direction that is an acute angle or an obtuse angle with the first direction. At this time, the second support component 2 has a displacement component in the first direction.

[0092] In an application scenario, the second support assembly 2 is located above the third support assembly 5, and the two are arranged along the vertical direction, and the first direction and the first axis are parallel to the horizontal direction. The first axis can be parallel to the left-right direction, and the first direction can be parallel to the front-back direction, that is, the first direction is parallel to the axis of the first adjustment rod 31.

[0093] like Figure 3 and Figure 6As shown, in one embodiment, the third support assembly 5 includes a third support plate 51 and a bracket 52, the third support plate 51 is connected to the bracket 52, and the second support assembly 2 is connected to the third support plate 51. Among them, the second support assembly 2 can be connected to the surface of the third support plate 51 away from the bracket 52. Specifically, the bracket 52 is connected to the lower surface of the third support plate 51, and the second support assembly 2 is connected to the upper surface of the third support plate 51. After assembly, the bearing plate 23 is placed on the upper surface of the third support plate 51, the reinforcing plate 24 is located on the upper surface of the bearing plate 23, and the second support plate 21 is located above the third support plate 51. The second support plate 21 can be in direct contact with the upper surface of the third support plate 51, or can be spaced a certain distance from the upper surface of the third support plate 51.

[0094] like Figure 3 and Figure 6 As shown, the third support assembly 5 is provided with a first guide structure 53, and the second support assembly 2 is provided with a second guide structure 25. The first guide structure 53 cooperates with the second guide structure 25 to guide the movement of the second support assembly 2 along the first direction.

[0095] In one embodiment, the first guide structure 53 is a guide groove provided on the upper surface of the third support plate 51, and the guide groove extends along the first direction; the second guide structure 25 is a guide block connected to the bearing plate 23. In addition, two guide grooves and two guide blocks are provided, one guide groove and one guide block cooperate, and the two guide grooves are spaced apart along the first axis.

[0096] like Figure 3 As shown, the first drive assembly 3 and the second drive assembly 6 are both connected to the side of the second support plate 21 away from the first support plate 11 , which facilitates the connection and adjustment of the first drive assembly 3 and the second drive assembly 6 .

[0097] like Figure 3 As shown, in one embodiment, the second driving assembly 6 includes a second adjusting rod 61 and a second mounting seat 62, the second mounting seat 62 is connected to the third supporting assembly 5, and the second mounting seat 62 is provided with a third connecting hole, the second adjusting rod 61 passes through the third connecting hole, and when the second adjusting rod 61 moves along its own axis, it can apply force to the second supporting assembly 2 to drive the second supporting assembly 2 to move along the first direction.

[0098] In addition, the third connecting hole can be a second threaded hole, and the second adjusting rod 61 has a stud, which is threadedly engaged with the third connecting hole. When the second adjusting rod 61 rotates around its own axis relative to the second mounting seat 62, the second adjusting rod 61 can apply force to the second support assembly 2 to drive the second support assembly 2 to move in the first direction.

[0099] The second mounting seat 62 may be connected to the upper surface of the third support plate 51 , the third connecting hole penetrates the second mounting seat 62 along the first direction, and the second adjusting rod 61 passes through the second mounting seat 62 from the third connecting hole and contacts the second support assembly 2 .

[0100] In addition, if Figure 3 As shown, the second adjustment rod 61 includes a second connecting rod 611 and a second manual force-applying member 612, the second connecting rod 611 is the stud portion of the first adjustment rod, the second manual force-applying member 612 is connected to one end of the second connecting rod 611, the second connecting rod 611 is threadedly matched with the third connecting hole, the axis of the second connecting rod 611 is the axis of the second adjustment rod 61, and the second connecting rod 611 can apply force to the second support assembly 2 when rotating around its own axis to drive the second support assembly 2 to move in the first direction. The second manual force-applying member 612 can also be a hand wheel, which is coaxial with the second connecting rod 611.

[0101] like Figure 3 As shown, the second support assembly 2 also includes a first stop block 26, which is connected to the second support plate 21. A through hole is provided on the first stop block 26, and the through hole penetrates the first stop block 26 along the first direction. The end of the second connecting rod 611 away from the second manual force member 612 passes through the first stop block 26 from the through hole. The end of the second connecting rod 611 away from the second manual force member 612 is provided with a second stop. When the second connecting rod 611 moves in the direction from the second stop block to the second manual force member 612, the second stop block can interfere with the first stop block 26 to drive the second force assembly to move along the first direction.

[0102] In addition, the second support plate 21 is provided with a connection hole 211, which penetrates the second support plate 21 along the direction from the second support plate 21 to the third support plate 51, and the third support plate 51 is provided with a third threaded hole 511. The support module 10 also includes a connection bolt, which passes through the second support plate 21 from the connection hole 211 and then is threadedly engaged with the third threaded hole 511, so that the second support plate 21 and the third support plate 51 can be locked together. The connection hole 211 is a long hole extending along the first direction.

[0103] like Figure 3 As shown, the second support plate 21 is provided with an avoidance groove 212, which is arranged on the surface of the second support plate 21 facing away from the first support plate 11, and the avoidance groove 212 passes through the second support plate 21 along the arrangement direction of the second support assembly 2 and the third support assembly 5. When the second support assembly 2 moves along the first direction, the second mounting seat 62 can enter the avoidance groove 212.

[0104] like Figure 3 and Figure 6As shown, in one embodiment, the support module 10 also includes a fourth support assembly 7 and a third drive assembly 8; the fourth support assembly 7 is connected to the first support assembly 1 and can move relative to the first support assembly 1 to generate displacement in the arrangement direction of the second support assembly 2 and the third support assembly 5; the first support assembly 1 is connected to the camera module 20 through the fourth support assembly 7; the third drive assembly 8 is connected to the first support assembly 1, and is used to drive the fourth support assembly 7 to move; the arrangement direction of the second support assembly 2 and the third support assembly 5 is defined as the second direction, the second direction is perpendicular to the first axis, and the second direction is perpendicular to the first direction. In the application scenario where the first direction and the first axis are parallel to the horizontal direction, the second direction is the vertical direction. Among them, the second direction is parallel to the Z axis.

[0105] In addition, after the detection device is assembled, the third driving assembly 8 drives the fourth supporting assembly 7 to move in a direction parallel to the optical axis direction of the camera module 20. When the camera module 20 rotates until the optical axis is parallel to the vertical direction, the third driving assembly 8 can drive the fourth supporting assembly 7 to move in the second direction (vertical direction). When the camera module 20 rotates until the optical axis is not parallel to the vertical direction, the third driving assembly 8 actually drives the fourth supporting assembly 7 to move in a direction that is an acute angle or an obtuse angle with the second direction. At this time, the fourth supporting assembly 7 has a displacement component in the second direction.

[0106] like Figure 3 As shown, in one embodiment, the fourth support assembly 7 includes a fourth support plate 71, a fifth support plate 72 and a guide mechanism 73, the fourth support plate 71 is connected to the first support plate 11 through the guide mechanism 73, the fifth support plate 72 is connected to the fourth support plate 71, and the fourth support plate 71 is used to connect the camera module 20. Among them, the fourth support plate 71 is arranged in parallel with the first support plate 11, the fifth support plate 72 is arranged perpendicular to the fourth support plate 71, the surface of the fifth support plate 72 used to connect the camera module 20 is parallel to the first axis, and the fifth support plate 72 is located on the side of the fourth support plate 71 away from the first support plate 11, and the guide mechanism 73 is used to guide the movement of the fourth support plate 71. Among them, the movement of the fourth support plate 71 can drive the fifth support plate 72 and the camera module 20 connected to the fifth support plate 72 to move, thereby realizing that the fourth support assembly 7 drives the camera module 20 to move relative to the first support assembly 1, so that the fourth support assembly 7 and the camera module 20 are displaced in the second direction.

[0107] like Figure 6 As shown, in one embodiment, the third driving assembly 8 includes a motor 81 and a screw mechanism 82. The motor 81 drives the fourth support plate 71 to move through the screw mechanism 82 so as to cause the fourth support plate 71 to be displaced in the second direction.

[0108] It should also be understood that the support module 10 also includes a corresponding control module, which is used to control the operation of components such as the motor 81 in the support module 10. The control module can be a PLC, a single-chip microcomputer, and the like.

[0109] like Figure 2 As shown, in one embodiment, the camera module 20 includes a plurality of cameras 20a, each camera 20a is sequentially arranged on the first support assembly 1 along the first axis, and a portion of the field of view of two adjacent cameras 20a overlaps with each other. This can increase the shooting range of the entire camera module 20. At this time, each camera 20a has an optical axis, and the optical axes of the cameras 20a can be parallel to each other, and the optical axis of the camera module 20 is the optical axis of each camera 20a.

[0110] like Figure 7 and Figure 8 As shown, in one embodiment, the detection device 100 also includes a light source module 30 and a light source bearing module 40; the light source bearing module 40 is connected to the support module 10, and the light source module 30 is connected to the light source bearing module 40. The light source module 30 is used to project light to the material, and the light can be reflected by the material into the camera module 20 so that the camera module 20 can form an image. In addition, the light source module 30 can rotate relative to the light source bearing module 40 around the second axis to adjust the angle at which the light source module 30 projects light to the material; the second axis is parallel to the first axis. When the angle of the camera module 20 is adjusted, the angle of the light source module 30 can be adjusted accordingly so that the camera module 20 has a better shooting effect.

[0111] In actual use, the angle of the light source module 30 can be adjusted so that the light emitted by the light source module 30 is reflected by the material and propagates along the direction parallel to the optical axis of the camera module 20, so that the camera module 20 has a better imaging effect.

[0112] In addition, the light source bearing module 40 and the supporting module 10 can be respectively connected to corresponding supporting devices, in which case the light source bearing module 40 can be connected to the supporting module 10 through the supporting device; or, the light source bearing module 40 can also be directly connected to the supporting module 10, for example, the light source bearing module 40 can be connected to the bracket 52.

[0113] like Figure 7 and Figure 8 As shown, the light source bearing module 40 includes a first mounting plate 401 and a second mounting plate 402, the first mounting plate 401 and the second mounting plate 402 are spaced apart along a second axis, the light source module 30 is installed between the first mounting plate 401 and the second mounting plate 402, and the light source module 30 is rotatably connected to the first mounting plate 401 and the second mounting plate 402, respectively.

[0114] In addition, if Fig. 9 As shown, the detection device 100 also includes an adjusting bolt 50, a locking threaded hole 30a is provided on the light source module 30, and an escape space 403 is provided on the second mounting plate 402. The escape space 403 is a through hole that penetrates the second mounting plate 402 along the second axis. The stud of the adjusting bolt 50 passes through the second mounting plate 402 from the escape space 403 and cooperates with the locking threaded hole 30a. The depth of the adjusting bolt 50 screwed into the locking threaded hole 30a can be adjusted to make the bolt head of the adjusting bolt 50 contact the second mounting plate 402, thereby locking the light source module 30 and the second mounting plate 402 together, so that the light source module 30 is locked together with the light source bearing module 40. In addition, along the circumferential direction of the light source module 30 rotating around the second axis, there is a gap between the hole wall of the escape space 403 and the stud of the adjusting bolt 50, so that the adjusting bolt 50 can rotate around the second axis with the light source module 30 at a certain angle. When the bolt head of the adjusting bolt 50 does not interfere with the second mounting plate 402 (i.e., the adjusting bolt 50 does not lock the second mounting plate 402 and the light source module 30), and the stud of the adjusting bolt 50 cooperates with the locking threaded hole 30a, the light source module 30 can rotate around the second axis, and the adjusting bolt 50 will rotate accordingly.

[0115] In addition, the light source module 30 includes a light source and a supporting structure, the light source is connected to the supporting structure, both ends of the supporting structure are rotatably connected to the first mounting plate 401 and the second mounting plate 402, and the locking threaded hole 30a is set on the surface of the supporting structure close to the second mounting plate 402.

[0116] like Fig.10 As shown, in one embodiment, the AVI visual inspection machine 1000 further includes a conveying device 200, which is used to transfer materials along its length direction so that the materials can be transferred to the detection device 100, so that the module can be set to shoot the materials on the conveying device 200. Moreover, when the detection device 100 shoots the materials on the conveying device 200, the conveying device 200 keeps the state of transferring the materials, that is, at this time, the materials will move relative to the detection device 100 along the length direction of the conveying device 200, and when the materials completely pass through the detection device 100, the surface of the materials to be tested will be photographed by the detection device 100.

[0117] exist Fig.10 In the example shown, the length direction of the conveying device 200 is parallel to the Y axis, the width direction of the conveying device 200 is parallel to the X axis, and the thickness direction of the conveying device 200 is parallel to the Z axis. Any two of the Y axis, the X axis, and the Z axis are perpendicular to each other. Of course, in other embodiments, the angle between any two of the Y axis, the X axis, and the Z axis can also be other values ​​other than 0 degrees and 180 degrees. In addition, the first axis can be parallel to the width direction of the conveying device 200.

[0118] like Fig.11 and Fig.12 As shown, in one embodiment, there are two support modules and two camera modules, the two support modules are respectively a first support module and a second support module, and the two camera modules are respectively a first camera module and a second camera module; the first camera module is connected to the first support module, and the second camera module is connected to the second support module. In addition, the two support modules are respectively arranged on both sides of the thickness direction of the conveying device 200, so that the two camera modules are also respectively arranged on both sides of the thickness direction of the conveying device 200, wherein the first support module and the first camera module are located on the same side of the thickness direction of the conveying device 200, and the second support module and the second camera module are located on the same side of the thickness direction of the conveying device 200.

[0119] like Fig.10 and Fig.12 As shown, the conveying device 200 is provided with a detection window 203, and the detection window 203 penetrates the conveying device 200 along the thickness direction of the conveying device 200; the side of the conveying device 200 away from the second support module is used to place materials; the first camera module is used to shoot the materials placed on the conveying device 200 from the side of the conveying device 200 away from the second support module; the second camera module is used to shoot the materials placed on the conveying device 200 from the detection window 203. In this way, it is possible to shoot the two opposite surfaces of the material without turning over the material. Fig.10 and Fig.12 In the example shown, the first camera module is located above the second camera module.

[0120] In one embodiment, the detection device 100 also has two light source modules, which are respectively a first light source module and a second light source module. The first light source module and the second light source module are respectively arranged on both sides of the thickness direction of the conveying device 200; the first light source module is used to project light from the side of the conveying device 200 away from the second camera module to the material placed on the conveying device 200; the second light source module is used to project light from the detection window 203 to the material placed on the conveying device 200.

[0121] During operation, the light projected by the first light source module onto the material can be reflected to the first camera module, and the light projected by the second light source module onto the material can be reflected to the second camera module, which can improve the shooting effects of the first camera module and the second camera module.

[0122] In addition, if Fig.12As shown, the detection device 100 also has two light source carrying modules 40 , one light source carrying module 40 is used to connect one light source module 30 , wherein the two light source carrying modules are also respectively arranged on both sides of the conveying device 200 in the thickness direction.

[0123] like Fig.10 As shown, in one embodiment, along the length direction of the conveying device 200, the conveying device 200 includes a first conveying module 201 and a second conveying module 202 which are arranged in sequence, and the interval area between the first conveying module 201 and the second conveying module 202 is the detection window 203. Among them, the first conveying module 201 and the second conveying module 202 can both be conveyor belt modules. In addition, the first conveying module 201 can be located upstream of the second conveying module 202. When working, the material is transferred from the first conveying module 201 to the second conveying module 202, and then the second conveying module 202 transfers the material to the detection device 100. In addition, the length directions of the first conveying module 201 and the second conveying module 202 are consistent, and both transfer materials along their own length directions.

[0124] like Fig.10 As shown, in one embodiment, the conveying device 200 further includes a carrier frame 204, the first conveying module 201 and the second conveying module 202 are both arranged on the carrier frame 204, and the first support module, the second support module and the two light source bearing modules can also be connected to the carrier frame 204. At this time, the light source bearing module is connected to the support module through the carrier frame 204.

[0125] like Fig.10 As shown, in one embodiment, the AVI appearance inspection machine 1000 also includes a loading device 300, the loading device 300 includes a loading module 301 and a loading robot 302, the loading module 301 has a plurality of loading spaces 303, each of which can hold materials, the loading robot 302 can grab materials in at least two loading spaces 303 at the same time, and place the grabbed materials on the conveying device 200 along the width direction of the conveying device 200; the conveying device 200 can simultaneously transfer a plurality of materials arranged along its own length direction to the detection device 100.

[0126] Among them, a plurality of materials arranged in sequence along the width direction of the conveying device 200 can be called a row of materials. When working, the camera module can simultaneously shoot this row of materials, thereby improving the detection efficiency. In addition, when no materials are placed on the conveying device 200, the width of the part of the conveying device 200 included in the camera module's framing can be greater than, equal to, or less than the width of the conveying device 200. That is, the field of view width of the first camera module can be greater than, equal to, or less than the width of the conveying device 200.

[0127] like Fig.13 As shown, in one embodiment, the conveying device 200 includes a buffer module 205 and a conveying module 206; the loading manipulator 302 is used to transfer the material in the loading space 303 to the buffer module 205; the buffer module 205 is a conveyor belt module, and the conveyor belt of the conveyor belt module has a bearing surface for placing the material, and the bearing surface is provided with a plurality of adsorption holes 213 penetrating the conveyor belt; the buffer module 205 is used to transfer the material to the conveying module 206, and the conveying module 206 is used to transfer the material to the detection device 100. The adsorption holes 213 are provided on the bearing surface, so that when placing the material, the material can be prevented from bouncing due to the impact of the gas between the material and the bearing surface, so that the material can be placed more stably to ensure that the material is placed in a suitable position on the bearing surface.

[0128] In addition, the conveying module 206 may be a conveyor belt module, which also transfers materials through a conveyor belt. The buffer module 205 and the conveying module 206 may be arranged at intervals along the length direction of the conveying device 200. In addition, the first conveying module 201 and the second conveying module 202 may constitute the conveying module 206.

[0129] The feeding manipulator 302 grabs one material from one feeding space 303 each time. The number of feeding spaces 303 from which the feeding manipulator 302 grabs materials each time may be equal to the total number of feeding spaces 303, or the number of feeding spaces 303 from which the feeding manipulator 302 grabs materials each time may be less than the total number of feeding spaces 303. Preferably, the number of feeding spaces 303 from which the feeding manipulator 302 grabs materials each time may be equal to the total number of feeding spaces 303. In addition, after the feeding manipulator 302 grabs materials each time, the grabbed materials may be placed on the conveying device 200 at the same time.

[0130] The material can be a plate such as a circuit board. During operation, one material can be placed in each loading space 303; or, multiple materials can be placed in each loading space 303 and these materials are stacked together. At this time, the loading robot 302 only takes the material closest to it each time. In an application scenario, multiple materials can be stacked from top to bottom in the loading space 303, and the loading robot 302 only takes the material located at the top of the loading space 303 each time.

[0131] In one embodiment, after the loading robot 302 places the grabbed materials on the conveying device 200 each time, the materials are arranged at intervals along the width direction of the conveying device 200, that is, the materials are placed side by side on the conveying device 200. At this time, the loading spaces 303 can be arranged in sequence along the width direction of the conveying device 200, so that the loading robot 302 does not need to change direction after taking the materials each time, so that the materials placed on the conveying device 200 each time can be arranged in sequence along the width direction of the conveying device 200, thereby further improving the loading efficiency.

[0132] like Fig.14 As shown, in one embodiment, along the length direction of the loading module 301, the loading module 301 includes a first loading component 91 and a second loading component 92 which are arranged in sequence; wherein the first loading component 91 has a plurality of first conveying channels 911, each of which is arranged in sequence along the width direction of the loading module 301, and each of which is used to transfer materials along the length direction of the loading module 301; the second loading component 92 has a plurality of second conveying channels 921, each of which is arranged in sequence along the width direction of the loading module 301; each of which is used to transfer materials along the thickness direction of the loading module 301; the first conveying channels 911 correspond to the second conveying channels 921 one by one, and the first conveying channels 911 are used to transfer materials to the second conveying channels 921 corresponding thereto; the first conveying channels 911 and the second conveying channels 921 corresponding thereto constitute a loading space 303.

[0133] During operation, an operator or other material transfer device can place materials in each first conveying channel 911 of the first loading assembly 91, and then each first conveying channel 911 can transfer the materials placed thereon to the corresponding second conveying channel 921, and then each second conveying channel 921 drives the materials to move a certain distance along the thickness direction of the loading module 301, so that the loading robot 302 can grab the materials in each second conveying channel 921. In addition, the materials in each first conveying channel 911 can be transferred to the second loading assembly 92 at the same time, and the materials in each second conveying channel 921 can be driven at the same time to move along the thickness direction of the loading module 301.

[0134] The materials placed in each first conveying channel 911 are actually placed on the first loading assembly 91 , and the materials placed in each second conveying channel 921 are actually placed on the second loading assembly 92 .

[0135] In an application scenario, the length direction of the feeding module 301 and the width direction of the feeding module 301 can both be horizontal directions, and the length direction of the feeding module 301 and the width direction of the feeding module 301 can be perpendicular to each other. In addition, the length direction of the feeding module 301 is parallel to the length direction of the conveying device 200, the width direction of the feeding module 301 is parallel to the width direction of the conveying device 200, and the thickness direction of the feeding device 300 is parallel to the thickness direction of the conveying device 200.

[0136] like Fig.14 and Fig.15 As shown, in one embodiment, the first feeding assembly 91 includes a material transfer unit, a first feeding support unit 913, a first feeding drive unit 914 and a first partition unit 915, wherein the material transfer unit, the first feeding drive unit 914 and the first partition unit 915 are all arranged on the first support unit 913; the material transfer unit has a first material conveying channel 916, and the first material conveying channel 916 is used to transfer materials along the length direction of the feeding module; the first feeding drive unit 914 is used to drive the material transfer unit, and the first partition unit 915 is used to separate the first material conveying channel 916 into a plurality of first conveying channels 911, and each first conveying channel 911 can transfer materials. Among them, the length direction of the feeding module 301 is parallel to the length direction of the conveying device 200, the width direction of the feeding module 301 is parallel to the width direction of the conveying device 200, and the thickness direction of the feeding module 301 is parallel to the thickness direction of the conveying device 200.

[0137] In addition, the material transfer unit includes a plurality of rolling units 912, and each rolling unit 912 is sequentially arranged on the first material feeding support unit 913 along the length direction of the feeding module 301; the rolling unit 912 is used to support the placed material, and each rolling unit 912 can rotate relative to the first material feeding support unit 913 around its own axis to drive the material placed thereon to move, and the axis of each rolling unit 912 can be parallel to the width direction of the feeding module; the first feeding drive unit 914 drives the material transfer unit to drive each rolling unit 912, so that each rolling unit 912 can rotate around its own axis. Each rolling unit 912 together forms a first material conveying channel 916, and the first separation unit 915 is connected to the first material feeding support unit 913, and is used to separate the first material conveying channel 916 to form a first conveying channel 911. In addition, a corresponding first avoidance structure 917 is provided on the first separation unit 915 to prevent the first separation unit 915 from interfering with the rotation of the rolling unit 912.

[0138] In addition, the first partition unit includes a partition 918 and a plurality of support columns 919; the partition 918 is located in the first conveying channel and is used to separate the first material conveying channel 916; the support columns 919 are arranged on the same side of the partition in sequence along the length of the feeding module, and the ends of the support columns facing away from the partition are connected to the first feeding support unit. The gap between two adjacent support columns is the first avoidance structure.

[0139] like Fig.14 , Fig.16 as well as Fig.17 As shown, the second loading component 92 includes a second loading support unit 922, a third loading support unit 923, a second loading drive unit 924 and a second separation unit 925. The third loading support unit 923, the second loading drive unit 924 and the second separation unit 925 are all connected to the second loading support unit 922; the second loading drive unit 924 is used to drive the third loading support unit 923 to move along the thickness direction of the loading module 301; the third loading support unit 923 is used to place materials, which is used to hold the materials on the first loading component, that is, the first loading component transfers the materials to the third loading support unit; the second separation unit 925 is connected to the third loading support unit 923, and is used to separate the third loading support unit 923 to form a plurality of second conveying channels 921. The materials placed in the second conveying channel 921 are actually placed on the third loading support unit 923. The second conveying channel corresponds to the first conveying channel one by one, and the first conveying channel is used to transfer the materials to the corresponding second conveying channel;

[0140] In an actual use scenario, when the second loading drive unit 924 drives the third loading support unit 923 to move to the bottom, the second conveying channel 921 and the corresponding first conveying channel 911 are connected, and at this time, the material in the first conveying channel 911 can be transferred to the corresponding second conveying channel 921. When the second loading drive unit 924 drives the third loading support unit 923 to move upward for a certain distance, the first conveying channel 911 and the corresponding second conveying channel 921 are staggered, and at this time, the material in the first conveying channel 911 cannot be transferred to the corresponding second conveying channel 921.

[0141] like Fig.17 As shown, the third feeding support unit 923 includes a feeding support module 926, a rolling module 927 and a feeding drive module 928 (refer to Fig.14); there are multiple rolling modules 927, and along the length direction of the feeding module 301, each rolling module 927 is arranged on the feeding support module 926 in sequence and at intervals; the rolling module 927 is used to support the placement of materials, and each rolling module 927 can rotate relative to the feeding support module 926 around its own axis to drive the movement of the materials placed thereon; the feeding drive module 928 is used to drive each rolling module 927 so that each rolling module 927 can rotate around its own axis. The axis of each rolling module 927 can be parallel to the width direction of the feeding module, and each rolling module 927 together forms a second material conveying channel 929. The second partition unit 925 is connected to the second feeding support unit 922 to separate the second material conveying channel 929 to form a second conveying channel 921. The material placed on the third feeding support unit 923 is actually placed on the rolling module 927. In addition, a second avoidance structure is provided on the second partition unit 925 to avoid interference with the rotation of the rolling module 927.

[0142] In addition, both the rolling unit 912 and the rolling module 927 may be cylindrical structures.

[0143] like Fig.17 As shown, the second partition unit 925 includes a connecting member 930 and a plurality of isolation columns 931. The connecting member is a rod-shaped structure, which extends along the length direction of the feeding module. Each isolation column 931 is arranged on the connecting member 930 at intervals along the length direction of the connecting member 930. The connecting member 930 is connected to the feeding support module 926 and is located below the rolling module 927. The isolation columns 931 can extend to the top of the rolling module to separate the second material conveying channel 929. The distance between adjacent isolation columns 931 is the second avoidance structure. In addition, some isolation columns 931 can pass between two adjacent rolling modules 927.

[0144] The feeding device 300 also includes a blocking module 93, which includes an isolation plate 931 and a blocking drive unit. The blocking drive unit is connected to the isolation plate 931 and is used to drive the isolation plate 931 to move so that the isolation plate 931 can switch between the first position and the second position; when the isolation plate 931 is in the first position, the isolation plate 931 is located between the first conveying channel and the second conveying channel corresponding thereto, so as to block the material in the first conveying channel from entering the second conveying channel corresponding thereto; when the isolation plate 931 is in the second position, the isolation plate 931 is staggered with the first conveying channel and the second conveying channel. In this way, when the material in the first conveying channel moves to the second conveying channel corresponding thereto, it will not be blocked by the isolation plate 931. This arrangement can avoid material piling in the second conveying channel, and when the second feeding assembly lifts the material, it can prevent the material in the first conveying channel from moving into the second conveying channel.

[0145] The barrier driving unit may be configured to drive the isolation plate 931 to move linearly along the first direction so as to switch between the first position and the second position. The barrier driving unit may include a cylinder configured to drive the isolation plate 931 to move linearly along the first direction. In addition, the barrier driving unit may be mounted on the second loading support unit.

[0146] like Fig.14 As shown, in one embodiment, the feeding robot 302 includes a feeding drive component 304 and a vacuum adsorption component 305. The feeding drive component 304 is used to drive the vacuum adsorption component 305 to move, and the vacuum adsorption component 305 is used to grab materials.

[0147] like Fig.13 As shown, the conveying device 200 further includes a first resisting module 207 and a second resisting module 208, which are arranged on the conveying module 206 at intervals along the length direction of the conveying device 200, and the first resisting module 207 is located on the side of the second resisting module 208 away from the detection device 100, and the first resisting module 207 and the second resisting module 208 can resist and release the materials on the conveying device 200. Taking the first resisting module 207 as an example, when the first resisting module 207 resists the conveying module 206 to block the materials, the materials cannot be further transferred to the detection device 100, and when the first resisting module 207 releases the conveying module 206 to block the materials, the materials can be further transferred to the detection device 100.

[0148] During operation, a material (or a row of materials arranged along the width direction of the conveying device 200) can be stored on the side of the first resisting module 207 facing away from the second resisting module 208, and between the first resisting module 207 and the second resisting module 208. When the second resisting module 208 releases the material, the first resisting module 207 continues to maintain the state of resisting the material. After the material released by the second resisting module 208 is detected by the detection device 100, the first resisting module 207 releases the material blocked by it again. After the material flows to the second resisting module 208, it will be blocked by the second resisting module 208 first to achieve position adjustment of the material (or the row of materials), and then the second resisting module 208 releases it again so that the material can flow to the detection device 100. Moreover, after the material released by the first resisting module 207 has completely flowed through the first resisting module 207 (for example, after completely moving between the first resisting module 207 and the second resisting module 208), the loading device 300 can place a material (or a row of materials) on the conveying device 200. When the first resisting module 207 resists the material, the loading device 300 stops placing the material on the conveying device 200.

[0149] like Fig.13As shown, the first resisting module 207 includes a baffle support 209, a baffle driving unit 210, a baffle 211 and a detection unit 21a; the baffle support 209 is connected to the carrier 204, the baffle driving unit 210 is connected to the baffle support 209, and the baffle driving unit 210 is used to drive the baffle 211 to approach or move away from the conveying device 200, wherein the baffle 211 can release the material when it is away from the conveying device 200, and can block the material when it is close to the conveying device 200. The detection unit 21a is arranged on the side of the baffle 211 away from the second resisting module 208, and is used to detect whether there is material approaching the baffle 211. When the detection unit 21a detects the material, the baffle driving unit 210 drives the baffle 211 to approach the material. After that, when the conveying device 200 transfers the material, the detection unit 21a can continuously detect the material. When the detection unit 21a cannot detect the material, it can be regarded that the material has completely flowed through the first resisting module 207.

[0150] The baffle support 209 may be a gantry, and two upright columns of the gantry are respectively arranged on both sides of the conveying device 200 in the width direction, and the baffle driving unit 210 is connected to the crossbeam of the gantry.

[0151] The baffle driving unit 210 may be a device that drives the baffle 211 to rotate around a third axis, thereby making the baffle 211 approach or move away from the conveying device 200. The third axis may be parallel to the width direction of the conveying device 200. In addition, the baffle driving unit 210 may be a device that can drive an object to rotate in the prior art, and this embodiment is not specifically limited here. The detection unit 21a may include a metal sensor and a photoelectric sensor, which are connected in parallel and are both used to detect materials. In addition, the structure of the second resisting module 208 may be the same as the structure of the first resisting module 207, and this application will not repeat them.

[0152] like Fig.10 As shown, in one embodiment, the AVI visual inspection machine 1000 further includes a material unloading device 400, which is used to take away materials on the conveying device 200. The material unloading device 400 is located on the side of the inspection device 100 away from the loading device 300 along the length direction of the conveying device 200; the material unloading device 400 can take away multiple materials arranged on the conveying device 200 along the width direction of the conveying device 200, which can improve the unloading efficiency.

[0153] like Fig.10As shown, in one embodiment, the unloading device 400 includes an unloading module 40a and an unloading manipulator 40b; the unloading manipulator 40b is used to transfer the material on the conveying device 200 to the unloading module 40a, and the unloading module 40a is used to transfer the material to the target position. It should be understood that the unloading manipulator 40b transfers the material located on the second conveying module 202 to the unloading module 40a.

[0154] In addition, the structure of the unloading manipulator 40b can be the same as that of the loading manipulator 302, and the unloading module 40a can be a conveyor module. The target position can be other supporting devices, and the supporting device can be a conveyor device, a material rack, etc. In actual operation, the unloading manipulator 40b can take away all the materials arranged side by side at one time and place them on the unloading module 40a at the same time.

[0155] like Fig.10 As shown, in one embodiment, the AVI appearance inspection machine 1000 also includes a control device 500, and the control group device is respectively connected to the loading device, the conveying device, the detection device and the unloading device to control the operation of the loading device, the conveying device, the detection device and the unloading device.

[0156] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. An AVI appearance inspection machine, characterized in that: A detection device is included, and the detection device includes a support module and a camera module; The support module includes a first support assembly, a second support assembly and a first driving assembly; The first supporting assembly is connected to the camera module, and the first supporting assembly is rotatably connected to the second supporting assembly with a first axis as an axis; The first driving component is used to drive the first supporting component or the second supporting component so that the first supporting component and the second supporting component can rotate relative to each other about the first axis; a first assembly hole is provided on the first supporting component, and a second assembly hole matching the first assembly hole is provided on the second supporting component, and fasteners can be inserted into the first assembly hole and the second assembly hole.

2. The AVI visual inspection machine according to claim 1, characterized in that: At least one of the first assembly hole and the second assembly hole is an arc-shaped hole; or at least one of the first assembly hole and the second assembly hole includes a plurality of sub-holes arranged at intervals along the same arc line.

3. The AVI visual inspection machine according to claim 1, characterized in that: The first driving assembly includes a first adjusting rod, a first mounting seat and a rotating structure; The first mounting seat is connected to the second supporting assembly, the first mounting seat is provided with a first connecting through hole, and the second supporting assembly is provided with a second connecting through hole corresponding to the first connecting through hole; The first adjusting rod passes through the first connecting through hole and the second connecting through hole in sequence; Two ends of the rotating structure are respectively connected to the first adjusting rod and the first supporting assembly; When the first adjusting rod moves along its axial direction, the first adjusting rod can drive the rotating structure to rotate, thereby driving the first supporting assembly to rotate around the first axis.

4. The AVI visual inspection machine according to claim 3, characterized in that: The first adjustment rod includes a first connecting rod and a first manual force applying member, the first connecting rod passes through the first connecting through hole and the second connecting through hole in sequence, one end of the first connecting rod is connected to the first manual force applying member, and the other end of the first connecting rod is connected to the rotating structure.

5. The AVI visual inspection machine according to claim 1, characterized in that: The angle between the optical axis of the camera module and the first axis is greater than or equal to 70 degrees and less than or equal to 110 degrees.

6. The AVI visual inspection machine according to claim 1, characterized in that: The camera module includes a plurality of cameras, each of which is arranged in sequence on the first supporting assembly along the first axis, and a portion of the field of view of two adjacent cameras overlaps with each other.

7. The AVI visual inspection machine according to claim 1, characterized in that: The AVI visual inspection machine also includes a feeding device and a conveying device; The loading device is used to place materials on the conveying device; The conveying device is used to transfer the material along its length direction so that the material can be transferred to the detection device; The feeding device comprises a feeding module and a feeding robot; along the length direction of the feeding module, the feeding module comprises a first feeding component and a second feeding component; The first loading assembly is used to transfer the material to the second loading assembly along the length direction of the loading module, the second loading assembly is used to transfer the material along the thickness direction of the loading module, and the loading robot is used to transfer the material on the second loading assembly to the conveying device.

8. The AVI visual inspection machine according to claim 7, characterized in that: The first feeding assembly includes a material moving unit, a first feeding support unit, a first feeding drive unit, a first separation unit and a plurality of rolling units; The material moving unit, the first material feeding driving unit and the first separation unit are all connected to the first material feeding supporting unit; The material transfer unit has a first material conveying channel, and the first material conveying channel is used to transfer materials along the length direction of the loading module; The first material loading driving unit is used to drive the material moving unit; The first partition unit is used to divide the first material conveying channel into a plurality of first conveying channels, and each of the first conveying channels can transfer materials.

9. The AVI visual inspection machine according to claim 8, characterized in that: The material transfer unit includes a plurality of rolling units, which are all connected to the first feeding support unit and are arranged in sequence along the length direction of the feeding module. The rolling units can rotate around their own axes relative to the first feeding support unit, and the plurality of rolling units form a first material conveying channel; and / or, The first partition unit includes a partition and a plurality of support columns; The partition is located in the first conveying channel and is used to separate the first conveying channel; The support columns are arranged in sequence and at intervals on the same side of the partition along the length of the loading module, and one end of each support column away from the partition is connected to the first loading support unit.

10. The AVI visual inspection machine according to claim 8, characterized in that: The second loading assembly includes a second loading support unit, a third loading support unit, a second loading drive unit and a second separation unit; The third loading support unit and the second loading drive unit are both connected to the second loading support unit; The third loading support unit is used to receive the material on the first loading assembly; The second feeding drive unit is used to drive the third feeding support unit to move along the thickness direction of the feeding module; The second partition unit is used to divide the third loading support unit into a plurality of second conveying channels; The second conveying channel corresponds to the first conveying channel one by one, and the first conveying channel is used to transfer materials to the second conveying channel corresponding thereto.

11. The AVI visual inspection machine according to claim 10, characterized in that: The third feeding support unit includes a feeding support module, a feeding drive module and a plurality of rolling modules; Each of the rolling modules is arranged on the supporting module at intervals along the length direction of the feeding module, and the rolling module can rotate around its own axis relative to the supporting module; A plurality of the rolling modules form a second material conveying channel, and the partition unit is used to divide the second material conveying channel into a plurality of the second conveying channels; The feeding drive module is used to drive the rolling module to rotate.

12. The AVI visual inspection machine according to claim 10, characterized in that: The feeding device further comprises a barrier module, wherein the barrier module comprises a barrier plate and a barrier driving unit, wherein the barrier driving unit is connected to the barrier plate and is used to drive the barrier plate to move so that the barrier plate can switch between a first position and a second position; When the isolation plate is located at the first position, the isolation plate is located between the first conveying channel and the second conveying channel corresponding thereto, so as to prevent the material in the first conveying channel from entering the second conveying channel corresponding thereto; When the isolation plate is located at the second position, the isolation plate is staggered with the first conveying channel and the second conveying channel.

13. The AVI visual inspection machine according to claim 7, characterized in that: The conveying device includes a cache module; The feeding robot is used to transfer the material in the feeding space of the feeding module to the buffer module; The buffer module is a conveyor belt module. The conveyor belt of the conveyor belt module has a carrying surface for placing the material. The carrying surface is provided with a plurality of adsorption holes penetrating the conveyor belt.

14. The AVI visual inspection machine according to claim 7, characterized in that: The supporting modules and the camera modules are each provided with two, the two supporting modules are respectively a first supporting module and a second supporting module, and the two camera modules are respectively a first camera module and a second camera module; the first camera module is connected to the first supporting module, and the second camera module is connected to the second supporting module; The two support modules are respectively arranged on both sides of the conveying device in the thickness direction; The conveying device is provided with a detection window, and the detection window penetrates the conveying device along the thickness direction of the conveying device; the side of the conveying device away from the second supporting module is used for placing the material; The first camera module is used to photograph the material placed on the conveying device from a side of the conveying device away from the second supporting module; The second camera module is used to photograph the material placed on the conveying device from the detection window; The width direction of the conveying device is parallel to the first axis.

15. The AVI visual inspection machine according to claim 7, characterized in that: The AVI appearance inspection machine also includes a feeding device; The feeding module has a plurality of feeding spaces, each of which can hold materials, and the feeding manipulator can simultaneously grab the materials in at least two of the feeding spaces, and place the grabbed materials on the conveying device along the width direction of the conveying device; Along the length direction of the conveying device, the unloading device is located on a side of the detection device away from the loading device; The unloading device can take away a plurality of the materials arranged on the conveying device along the width direction of the conveying device.

Images