Appearance detection equipment

Abstract

The utility model discloses appearance detection equipment, which comprises a conveying assembly, an image acquisition assembly, a blanking assembly and a blanking carrying assembly, the conveying assembly is used for conveying articles along a first horizontal direction, and the image acquisition assembly comprises a first image acquisition unit and a second image acquisition unit; the first image collecting unit is arranged above the conveying face and used for collecting images of the upper surfaces of objects located on the conveying face, the second image collecting unit is arranged below the conveying face and used for collecting images of the lower surfaces of the objects, and the discharging assembly and the conveying assembly are arranged in a spaced and independent mode. The discharging carrying assembly is used for driving the articles collected by the first image collecting unit to move so as to pass through the collecting range of the second image collecting unit and be conveyed to the discharging assembly. According to the appearance detection equipment provided by the embodiment of the utility model, the upper surface and the lower surface of an object can be detected, and the detection accuracy and the detection efficiency are good.

Description

Technical Field

[0001] The utility model relates to the technical field of detection, in particular to an appearance detection device. Background Art

[0002] During the manufacturing process of some products, inspection is required to remove defective products. In the related technology, for items that require multi-faceted inspection, usually multiple devices or manual work are required, resulting in low inspection efficiency. At the same time, for products with high requirements for surface cleanliness, manual touch may affect the accuracy of product inspection. Utility Model Content

[0003] The utility model aims to solve at least one of the technical problems existing in the prior art. To this end, the utility model provides an appearance detection device, which can detect the upper and lower surfaces of an object and has good detection accuracy and detection efficiency.

[0004] The appearance inspection device according to the embodiment of the utility model includes: a conveying component, the conveying component has a conveying surface and is used to convey articles along a first horizontal direction; an image acquisition component, the image acquisition component includes a first image acquisition unit and a second image acquisition unit, the first image acquisition unit is arranged above the conveying surface and is used to acquire an image of the upper surface of the article located on the conveying surface, and the second image acquisition unit is arranged below the conveying surface and is used to acquire an image of the lower surface of the article; a material unloading component, the material unloading component is spaced apart from the conveying component and is independently arranged, and is used to stack and hold articles that have been acquired by the image acquisition component; a material unloading and handling component, the material unloading and handling component is used to drive the articles that have been acquired by the first image acquisition unit to move through the acquisition range of the second image acquisition unit and be delivered to the material unloading component.

[0005] According to the appearance inspection device of the embodiment of the utility model, it is possible to realize image acquisition and inspection of the upper and lower surfaces of the object, enriching the functions of the appearance inspection device and being beneficial to improving the appearance inspection efficiency of the object; moreover, during the entire image acquisition process, the object does not need to be turned over, which is convenient for simplifying the method of conveying the object and simplifying the structure of the components of the appearance inspection device used to convey the object, which is beneficial to reducing the cost of the appearance inspection device. At the same time, no manual touch is required, which is convenient for ensuring the cleanliness of the surface of the object, which is conducive to accurate inspection and further improving the inspection efficiency.

[0006] In some embodiments, the material unloading and handling assembly includes: a first base; a second base, the second base cooperates with the first base to jointly define a plurality of adsorption chambers arranged at intervals, the plurality of adsorption chambers are suitable for being connected to different negative pressure sources respectively, and a plurality of first adsorption holes are formed on the side of the second base facing away from the first base, each of the adsorption chambers is respectively connected to the corresponding plurality of the first adsorption holes; an adsorption unit, each of the first adsorption holes is respectively provided with an adsorption unit, and each of the adsorption units includes a plurality of vacuum suction cups arranged at intervals.

[0007] In some embodiments, the first base is formed as a square plate, the length of the first base is greater than the width of the first base, the multiple adsorption chambers include a first adsorption chamber, a second adsorption chamber and a third adsorption chamber arranged in sequence along the length direction of the first base, and the number of the first adsorption holes corresponding to the second adsorption chamber is greater than the number of the first adsorption holes corresponding to the first adsorption chamber and the number of the first adsorption holes corresponding to the third adsorption chamber.

[0008] In some embodiments, a distance between two adjacent first adsorption holes is greater than a distance between two adjacent vacuum suction cups.

[0009] In some embodiments, the adsorption unit further includes: a first mounting seat, the first mounting seat having a connecting cavity therein, a second adsorption hole connecting the first adsorption hole and the connecting cavity being formed on one side of the first mounting seat, a plurality of third adsorption holes being formed on the other side of the first mounting seat, each of the third adsorption holes being connected to one of the vacuum suction cups, and an orthographic projection of the peripheral wall of the first adsorption hole on a side surface of the first base corresponding to the adsorption cavity being within the orthographic projection range of the wall surface of the connecting cavity.

[0010] In some embodiments, in a single first mounting seat, a plurality of second adsorption holes spaced apart along the first horizontal direction constitute a group of adsorption hole groups, the adsorption hole groups are multiple groups and spaced apart along the second horizontal direction, the second adsorption holes of two adjacent groups of the adsorption hole groups are staggered one by one in the first horizontal direction, and the first horizontal direction intersects with the second horizontal direction.

[0011] In some embodiments, the unloading assembly includes: a first unloading structure, the first unloading structure is used to stack and hold items acquired by the second image acquisition unit; a second unloading structure, the second unloading structure is spaced apart from the first unloading structure; a conveying structure, the conveying structure is used to transport qualified items on the first unloading structure to the second unloading structure, the first unloading structure includes a first frame, a conveying mechanism and a first driving mechanism, the conveying mechanism is provided on the first frame, and the first driving mechanism is used to drive the conveying mechanism to convey unqualified items along a third horizontal direction.

[0012] In some embodiments, the third horizontal direction is parallel to the first horizontal direction, and the second unloading structure is provided on at least one side of the first unloading structure in the second horizontal direction. The second unloading structure includes a second frame and a loading platform. The loading platform is liftably arranged on the second frame. The second horizontal direction intersects with the third horizontal direction. The conveying structure is arranged on the second frame and includes a linear drive mechanism and an adsorption platform. The linear drive mechanism is used to drive the adsorption platform to move along the second horizontal direction to transport qualified items on the conveying mechanism to the loading platform.

[0013] In some embodiments, the conveying mechanism includes: a mounting frame; a driving wheel and a driven wheel, the driving wheel and the driven wheel are arranged at intervals along the third horizontal direction, and are respectively rotatably mounted on the mounting frame, and the position of at least one of the driving wheel and the driven wheel in the third horizontal direction is adjustable relative to the mounting frame so that the spacing between the driving wheel and the driven wheel in the third horizontal direction is adjustable; a first flexible transmission member, the first flexible transmission member is wound around the driving wheel and the driven wheel.

[0014] In some embodiments, the position of the driving wheel in the third horizontal direction is adjustable relative to the mounting frame, and the first driving mechanism includes a first driver and a second flexible transmission member. The first driver is fixed to the mounting frame and drives the driving wheel to rotate through the second flexible transmission member.

[0015] In some embodiments, the unloading assembly includes a first unloading structure, which is used to hold items acquired by the second image acquisition unit, and the first unloading structure includes: a first frame; a conveying mechanism, which is arranged on the first frame; a first driving mechanism, which is used to drive the conveying mechanism to convey items along a third horizontal direction; a second driving mechanism, which is arranged on the first frame and is used to drive the conveying mechanism and the first driving mechanism to rise and fall relative to the first frame; a detection mechanism, which is used to detect the change in the stacking height of items on the conveying mechanism and communicate with the first driving mechanism and the second driving mechanism respectively, so that the first driving mechanism controls whether the conveying mechanism is in operation according to the detection result of the detection mechanism, and the second driving mechanism controls the height position of the conveying mechanism according to the detection result of the detection mechanism.

[0016] In some embodiments, the appearance inspection equipment also includes a loading component and a loading and conveying component, the loading and conveying component is used to transfer the items on the loading component to the conveying component, the loading component includes: a third frame; a loading platform, the loading platform is liftably arranged on the third frame; a limiting structure, the limiting structure is arranged on the third frame and includes a first limiting plate and a second limiting plate, the limiting structure has a first limiting state, the limiting structure also has at least one of the second limiting state and the third limiting state, at least one of the first limiting plate and the second limiting plate is movably arranged, and in the first limiting state, the first limiting plate and the second limiting plate are cross-arranged And they are vertically penetrated through the loading platform so that the limiting structure is used to limit the movement of the items on the loading platform in the first horizontal direction and the second horizontal direction, the first horizontal direction intersects with the second horizontal direction, in the second limiting state, the first limiting plate is vertically penetrated through the loading platform so that the limiting structure is used to limit the movement of the items on the loading platform in the first horizontal direction, and the second limiting plate is located outside the loading platform, in the third limiting state, the second limiting plate is vertically penetrated through the loading platform so that the limiting structure is used to limit the movement of the items on the loading platform in the second horizontal direction, and the first limiting plate is located outside the loading platform.

[0017] In some embodiments, the loading assembly also includes: a fourth frame, the fourth frame defines an installation cavity, the installation cavity is open on one side and the top side in the fourth horizontal direction, the third frame, the loading platform and the limiting structure are all arranged in the installation cavity, the fourth horizontal direction is parallel to the first horizontal direction, or, the fourth horizontal direction is parallel to the second horizontal direction.

[0018] In some embodiments, the loading assembly also includes: a centering structure, which is arranged on the third frame and includes a third limit group and a fourth limit group, the third limit group and the fourth limit group are both vertically penetrated through the loading platform, and can move relative to and back to back with respect to the loading platform along a fifth horizontal direction, the limit structure is located between the third limit group and the fourth limit group, and the fifth horizontal direction is perpendicular to the fourth horizontal direction.

[0019] In some embodiments, the third limit group includes a plurality of first limit members spaced apart along a fourth horizontal direction, the fourth limit group includes a plurality of second limit members spaced apart along the fourth horizontal direction, the width of the first limit plate is smaller than the width of the second limit plate, the fifth horizontal direction and the second horizontal direction are respectively perpendicular to the first horizontal direction, and at least one first limit member and at least one second limit member are correspondingly provided on both sides of the first limit plate in the first horizontal direction.

[0020] In some embodiments, the appearance inspection equipment also includes: a first paper spacer assembly and a first paper spacer conveying assembly, the first paper spacer conveying assembly is used to transfer the paper spacer on the loading assembly to the first paper spacer assembly; and / or, a second paper spacer assembly and a second paper spacer conveying assembly, the second paper spacer conveying assembly is used to transfer the paper spacer on the second paper spacer assembly to the unloading assembly.

[0021] Additional aspects and advantages of the present invention will be given in part in the following description, and in part will become apparent from the following description, or will be learned through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0023] Figure 1 is a schematic diagram of an appearance inspection device according to an embodiment of the utility model;

[0024] Figure 2 yes Figure 1 An exploded view of the appearance inspection equipment shown in FIG.

[0025] Figure 3 yes Figure 1 A partial schematic diagram of the material handling assembly shown in ;

[0026] Figure 4 yes Figure 3 A cross-sectional view of the blanking and handling assembly shown in ;

[0027] Figure 5 yes Figure 3A schematic diagram of a second base shown in ;

[0028] Figure 6 yes Figure 3 A schematic diagram of the arrangement of multiple adsorption units shown in ;

[0029] Figure 7 yes Figure 6 Schematic diagram of the adsorption unit shown in;

[0030] Figure 8 yes Figure 7 A partial schematic diagram of the adsorption unit shown in ;

[0031] Fig. 9 yes Figure 7 A cross-sectional view of the adsorption unit shown in ;

[0032] Fig.10 yes Figure 7 Another schematic diagram of the adsorption unit shown in;

[0033] Fig.11 is a schematic diagram of an appearance inspection device according to an embodiment of the utility model;

[0034] Fig.12 yes Figure 1 and Fig.11 A schematic diagram of the first blanking structure shown in ;

[0035] Fig.13 yes Fig.11 Schematic diagram of the second material discharging structure and the conveying structure shown in ;

[0036] Fig.14 yes Figure 1 Schematic diagram of the loading assembly and the loading and handling assembly shown in ;

[0037] Fig.15 yes Fig.14 The schematic diagram of the feeding assembly shown in , the limiting structure is in the first limiting state;

[0038] Fig.16 yes Fig.15 Schematic diagram of the loading platform and the second limiting plate shown in , the limiting structure is in the third limiting state;

[0039] Fig.17 yes Fig.15 The schematic diagram of the loading platform and the first limiting plate shown in , the limiting structure is in the second limiting state;

[0040] Fig.18 yes Fig.15 An exploded view of the limiting structure shown in ;

[0041] Fig.19It is a schematic diagram of an appearance inspection device according to an embodiment of the utility model.

[0042] Reference numerals:

[0043] Appearance inspection device 100, conveying component 1, conveying surface 10, image acquisition component 2, first image acquisition unit 21, second image acquisition unit 22, unloading component 3, first unloading structure 31, first frame 311, conveying mechanism 312, mounting frame 3121, driving wheel 3122, driven wheel 3123, first flexible transmission member 3124, first driving mechanism 313, first driver 3131, second flexible transmission member 3132, second driving mechanism 314, second driver 3141, transmission screw 3142, sleeve 3143, guide structure 316, guide column 3161, guide cylinder 3162, second material unloading structure 32, second frame 321, loading platform 322, limiting component 323, conveying structure 33, linear drive mechanism 331, adsorption platform 332, unloading and handling assembly 4, adsorption chamber 40, first adsorption chamber 40a, second adsorption chamber 40b, third adsorption chamber 40c, first base 41, second base 42, first substrate 421, The second substrate 422, the first adsorption hole 42a, the mounting groove 42b, the adsorption unit 43, the vacuum suction cup 431, the first mounting seat 432, the connecting cavity 432a, the second adsorption hole 432b, the third adsorption hole 432c, the first plate 4321, the second plate 4322, the third plate 4323, the first sealing member 44, the connecting pipe 45, the loading assembly 5, the third frame 51, the loading platform 52, the limiting structure 53, the first limiting plate 531, the first mating groove 531a, the second limiting Plate 532, second plug-in slot 532a, fourth frame 54, installation cavity 540, centering structure 55, third limit group 551, first limit member 5511, fourth limit group 552, second limit member 5521, fourth driving mechanism 554, second mounting seat 555, third mounting seat 556, third driving mechanism 56, third limit plate 57, loading and conveying assembly 6, first paper partition assembly 71, first paper partition conveying assembly 72, second paper partition assembly 73, second paper partition conveying assembly 74. DETAILED DESCRIPTION

[0044] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0045] In the description of the embodiments of the present application, the term "and / or" is only a description of the association relationship of the associated objects, indicating that there may be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0046] The disclosure below provides many different embodiments or examples for realizing different structures of the utility model. In order to simplify the disclosure of the utility model, the components and settings of specific examples are described below. Of course, they are merely examples, and the purpose is not to limit the utility model. In addition, the utility model can repeat reference numbers and / or letters in different examples. This repetition is for the purpose of simplification and clarity, and does not itself indicate the relationship between the various embodiments and / or settings discussed. In addition, the utility model provides various specific examples of processes and materials, but those of ordinary skill in the art can be aware of the applicability of other processes and / or the use of other materials.

[0047] Below, with reference to the accompanying drawings, the appearance inspection device 100 according to an embodiment of the utility model is described; for example, the appearance inspection device 100 is used to perform appearance inspection on circuit boards (such as PCB boards, flexible circuit boards, etc.), and of course the appearance inspection device 100 can also be used to perform appearance inspection on other items.

[0048] like Figure 1 and Figure 2 As shown, the appearance inspection device 100 includes a conveying component 1, the conveying component 1 has a conveying surface 10, and the conveying component 1 is used to convey an object along a first horizontal direction, then the object can be placed on the conveying surface 10, and the conveying component 1 can drive the object on the conveying surface 10 to be conveyed along the first horizontal direction to change the position of the object in the first horizontal direction. Exemplarily, the conveying component 1 can include a conveyor belt structure, a conveyor chain structure, or a carrier (such as a vacuum adsorption carrier) that can move along the first horizontal direction.

[0049] The appearance inspection device 100 also includes an image acquisition component 2, which includes a first image acquisition unit 21 and a second image acquisition unit 22. The first image acquisition unit 21 is arranged above the conveying surface 10, and the first image acquisition unit 21 is used to acquire an image of the upper surface of the article on the conveying surface 10. The second image acquisition unit 22 is arranged below the conveying surface 10, and the second image acquisition unit 22 is used to acquire an image of the lower surface of the article. The image acquisition component 2 can acquire images of the upper and lower surfaces of the article, so that the appearance inspection device 100 can detect the upper and lower surfaces of the article.

[0050] The appearance inspection equipment 100 also includes a blanking component 3, which is spaced apart from the conveying component 1 and independently arranged, that is, the working state of the conveying component 1 does not affect the working state of the blanking component 3, that is, whether the conveying component 1 is running, and state parameters such as the running speed are irrelevant to the blanking component 3, and similarly, whether the blanking component 3 is running, and state parameters such as the running speed are irrelevant to the conveying component 1; the blanking component 3 is used to stack and hold items that have been captured by the image acquisition component 2, and the items are stacked on the blanking component 3 in sequence after being captured by the first image acquisition unit 21 and the second image acquisition unit 22, so as to realize centralized processing of items stacked to a certain height on the blanking component 3.

[0051] The appearance inspection device 100 also includes a material unloading and handling component 4, which is used to drive the objects captured by the first image acquisition unit 21 to move through the acquisition range of the second image acquisition unit 22 and transfer them to the material unloading component 3. The material unloading and handling component 4 is used to transfer the objects on the conveying surface 10 whose upper surface images have been captured by the first image acquisition unit 21 to the material unloading component 3. In the process of the material unloading component 3 transferring the objects on the conveying surface 10 to the material unloading component 3, the objects pass through the acquisition range of the second image acquisition unit 22, so that the second image acquisition unit 22 captures the image of the lower surface of the objects.

[0052] It can be seen that for the appearance inspection device 100 including the conveying component 1, the image acquisition component 2, the unloading component 3 and the unloading and handling component 4, the articles placed on the conveying surface 10 are moved along the first horizontal direction driven by the conveying component 1. During the above-mentioned movement, the articles pass through the acquisition range of the first image acquisition unit 21, so that the first image acquisition unit 21 first acquires an image of the upper surface of the article; after the first image acquisition unit 21 completes the acquisition of the upper surface of the article, the unloading and handling component 4 is used to transfer the articles on the conveying surface 10 to the unloading component 3. In the process of being transferred from the conveying surface 10 to the unloading component 3, the articles pass through the acquisition range of the second image acquisition unit 22, so that the second image acquisition unit 22 acquires an image of the lower surface of the article. Among them, when the article is placed on the conveying surface 10, at least part of the lower surface of the article will be blocked by the conveying component 1, and the upper surface of the article will be exposed outside the conveying component 1. In the process of the conveying component 1 conveying the article along the first horizontal direction, the upper surface of the article passes through the collection range of the first image acquisition unit 21; when the article is placed on the unloading and handling component 4, at least part of the upper surface of the article is blocked by the unloading and handling component 4, and the lower surface of the article will be exposed outside the unloading and handling component 4. In the process of the unloading and handling component 4 conveying the article to the unloading component 3, the lower surface of the article passes through the collection range of the second image acquisition unit 22.

[0053] According to the appearance inspection device 100 of the embodiment of the utility model, image acquisition and inspection of the upper and lower surfaces of the object can be realized, which enriches the functions of the appearance inspection device 100 and is beneficial to improving the appearance inspection efficiency of the object; moreover, during the entire image acquisition process, the object does not need to be turned over, which is convenient for simplifying the method of conveying the object and simplifying the structure of the components of the appearance inspection device 100 used to convey the object, which is beneficial to reducing the cost of the appearance inspection device 100. At the same time, no manual touch is required, which is convenient for ensuring the cleanliness of the surface of the object, which is conducive to accurate inspection and further improving the inspection efficiency.

[0054] It is understandable that the embodiment of the present application does not impose any specific restrictions on the transport path of the article by the material unloading and handling component 4, and it is only necessary to make the lower surface of the article pass through the acquisition range of the second image acquisition unit 22 when the material unloading and handling component 4 transfers the article to the material unloading component 3. For example, the material unloading and handling component 4 can drive the article to move along the first horizontal direction; or, the material unloading and handling component 4 can drive the article to move along the first horizontal direction, or can drive the article to rise and fall; or, the material unloading and handling component 4 can drive the article to move along the second horizontal direction, and the second horizontal direction intersects with the first horizontal direction; or, the material unloading and handling component 4 can drive the article to move along the second horizontal direction, or can drive the article to rise and fall.

[0055] In some embodiments, Figure 3 and Figure 4 As shown, the material unloading and handling assembly 4 includes a first base 41, a second base 42 and an adsorption unit 43. The second base 42 cooperates with the first base 41 to jointly define a plurality of adsorption chambers 40 that are spaced apart. The plurality of adsorption chambers 40 are suitable for being respectively connected to different negative pressure sources (such as a vacuum pump or a vacuum system, etc.). A plurality of first adsorption holes 42a are formed on the side of the second base 42 that is away from the first base 41. Each adsorption chamber 40 is respectively connected to the corresponding plurality of first adsorption holes 42a. An adsorption unit 43 is respectively provided at each first adsorption hole 42a. Each adsorption unit 43 includes a plurality of vacuum suction cups 431 that are spaced apart.

[0056] Thus, the material unloading and handling component 4 can fix the objects by vacuum adsorption, and it is not easy to cause damage to the objects under the premise of achieving reliable fixation of the objects; by setting up multiple adsorption chambers 40 suitable for connecting to different negative pressure sources respectively, each adsorption chamber 40 can be individually controlled and adjusted, for example, the opening and closing of the negative pressure source can be controlled to control whether the adsorption chamber 40 works or not, and the power of the negative pressure source can be controlled to adjust the pressure in the adsorption chamber 40, etc., so that the material unloading and handling component 4 can have different adsorption areas, adsorption methods and adsorption strengths to adapt to the size and weight of the objects to be adsorbed, thereby improving the applicability of the material unloading and handling component 4 ; By setting each adsorption chamber 40 to correspond to multiple first adsorption holes 42a, and each first adsorption hole 42a corresponds to an adsorption unit 43, each adsorption chamber 40 is connected to multiple adsorption units 43 accordingly. By controlling and adjusting the adsorption chamber 40 to achieve simultaneous control and adjustment of multiple adsorption units 43, it is beneficial to simplify the structural design of the material unloading and handling component 4 and improve the applicability of the material unloading and handling component 4. Secondly, each adsorption chamber 40 corresponds to multiple adsorption units 43, and each adsorption unit 43 includes multiple vacuum suction cups 431, which can improve the adsorption density and adsorption stability of the material unloading and handling component 4, and facilitate the realization of the surface adsorption effect of the material unloading and handling component 4.

[0057] Among them, the arrangement of the multiple adsorption chambers 40 is not specifically limited in this application; illustratively, the multiple adsorption chambers 40 are arranged in sequence along the length direction of the first base 41; of course, in other examples, the multiple adsorption chambers 40 can also be constructed so that at least one adsorption chamber 40 is arranged around at least one other adsorption chamber 40.

[0058] For example, Figure 3-Figure 5 As shown, the material unloading and handling assembly 4 includes a first base 41, a second base 42 and a plurality of adsorption units 43. The first base 41 is formed with a plurality of mounting holes extending through the upper and lower sides, and each mounting hole is connected to a negative pressure source via a connecting pipe 45. The second base 42 is located at the lower side of the first base 41, and a plurality of adsorption chambers 40 arranged at intervals are defined between the second base 42 and the first base 41. Each connecting pipe 45 is connected to a corresponding adsorption chamber 40. A plurality of first adsorption holes 42a are formed on the lower side of the second base 42, that is, a plurality of first adsorption holes 42a are formed on the bottom wall of the adsorption chamber 40, and the plurality of first adsorption holes 42a are arranged at intervals along the first horizontal direction and the second horizontal direction. A plurality of adsorption units 43 are arranged on the lower side of the second base 42, each adsorption unit 43 is connected to a corresponding first adsorption hole 42a, and each adsorption unit 43 includes a plurality of vacuum suction cups 431 arranged at intervals, and the vacuum suction cups 431 are located on the lower side of the adsorption unit 43. Thus, the material unloading and handling assembly 4 has a large adsorption density, and the adsorption area and adsorption strength of the material unloading and handling assembly 4 can be adjusted by controlling the negative pressure source, thereby improving the adsorption effect and applicability of the material unloading and handling assembly 4.

[0059] In some embodiments, Figure 3-Figure 5 As shown, the first base 41 is formed as a square plate, and the length of the first base 41 (for example, the length direction of the first base 41 is Figure 3 The first horizontal direction in the figure) is greater than the width of the first base 41 (for example, the width direction of the first base 41 is Figure 3 The second horizontal direction in the middle), the multiple adsorption chambers 40 include a first adsorption chamber 40a, a second adsorption chamber 40b and a third adsorption chamber 40c arranged in sequence along the length direction of the first base 41, the second adsorption chamber 40b is located between the first adsorption chamber 40a and the third adsorption chamber 40c, the number of first adsorption holes 42a corresponding to the second adsorption chamber 40b is greater than the number of first adsorption holes 42a corresponding to the first adsorption chamber 40a and the number of first adsorption holes 42a corresponding to the third adsorption chamber 40c, the number of adsorption units 43 corresponding to the second adsorption chamber 40b is greater than the number of adsorption units 43 corresponding to the first adsorption chamber 40a and the number of adsorption units 43 corresponding to the third adsorption chamber 40c.

[0060] Exemplarily, on a preset plane, the orthographic projection area of ​​the second adsorption chamber 40b is larger than the orthographic projection area of ​​the first adsorption chamber 40a and the orthographic projection area of ​​the third adsorption chamber 40c, and the length and width directions of the first base 41 are parallel to the preset plane; the multiple first adsorption holes 42a corresponding to each adsorption chamber 40 can be arranged in multiple rows and columns along the length and width directions of the first base 41.

[0061] It can be understood that when the number of vacuum suction cups 431 of multiple adsorption units 43 is equal, the number of vacuum suction cups 431 corresponding to the second adsorption chamber 40b is greater than the number of vacuum suction cups 431 corresponding to the first adsorption chamber 40a and the number of vacuum suction cups 431 corresponding to the third adsorption chamber 40c.

[0062] For example, combined with Figure 4, three adsorption chambers 40 are jointly defined between the first base 41 and the second base 42, and the three adsorption chambers 40 are respectively a first adsorption chamber 40a, a second adsorption chamber 40b and a third adsorption chamber 40c, and the three adsorption chambers 40 are arranged in sequence along the length direction of the first base 41, the first adsorption chamber 40a, the second adsorption chamber 40b and the third adsorption chamber 40c have the same width in the width direction of the first base 41, the length of the second adsorption chamber 40b in the length direction of the substrate is greater than the length of the first adsorption chamber 40a and the third adsorption chamber 40c, and the length of the first adsorption chamber 40a and the third adsorption chamber 40c in the length direction of the substrate is equal, and each adsorption chamber 40 is formed with a plurality of first adsorption holes 42a in a portion corresponding to the second base 42, then the number of first adsorption holes 42a corresponding to the second adsorption chamber 40b is greater than the number of first adsorption holes 42a corresponding to the first adsorption chamber 40a and the third adsorption chamber 40c, so that the adsorption surface corresponding to the second adsorption chamber 40b has a larger adsorption area. When the unloading and handling component 4 adsorbs some smaller items, the negative pressure source corresponding to the second adsorption chamber 40b works, and the negative pressure source corresponding to the first adsorption chamber 40a and the negative pressure source corresponding to the third adsorption chamber 40c may not work. At this time, the adsorption surface corresponding to the second adsorption chamber 40b adsorbs the items; when the unloading and handling component 4 adsorbs some larger items, the negative pressure source corresponding to the second adsorption chamber 40b, the negative pressure source corresponding to the first adsorption chamber 40a and the negative pressure source corresponding to the third adsorption chamber 40c may all work, thereby improving the applicability of the unloading and handling component 4.

[0063] In some embodiments, Figure 4 and Figure 5 As shown, a plurality of mounting grooves 42 b are formed on a side surface of at least one of the first base 41 and the second base 42 facing the other, each mounting groove 42 b is arranged around a corresponding adsorption chamber 40 , and a first sealing member 44 is provided in each mounting groove 42 b to improve the sealing performance of each adsorption chamber 40 .

[0064] In some embodiments, Figure 4 and Figure 5 As shown, the second base 42 includes a first substrate 421 and a second substrate 422, the first substrate 421 is connected to the first base 41 to define a plurality of adsorption chambers 40 between the first substrate 421 and the first base 41; the second substrate 422 is arranged on the side of the first substrate 421 away from the first base 41, and the second substrate 422 is sealed and connected between the first substrate 421 and the adsorption unit 43, and the first adsorption hole 42a penetrates the first substrate 421 and the second substrate 422 along the thickness direction of the first substrate 421.

[0065] In the above technical solution, the second base 42 includes a first substrate 421 and a second substrate 422. The first substrate 421 participates in defining a plurality of adsorption chambers 40. The second substrate 422 is used to achieve a sealed connection between the first substrate 421 and the adsorption unit 43, which is beneficial to improving the sealing performance of the second base 42 and the plurality of adsorption units 43. Meanwhile, the second base 42 has a simple structure, which is beneficial to simplifying the structure of the unloading and handling assembly 4.

[0066] Optionally, a plurality of second mounting grooves are formed on a surface of at least one of the first substrate 421 and the second substrate 422 facing the other, each second mounting groove is arranged around a first adsorption hole, and a second sealing member is disposed in each second mounting groove.

[0067] In some embodiments, the spacing x1 between two adjacent first adsorption holes 42a is greater than the spacing between two adjacent vacuum suction cups 431, so that at least one vacuum suction cup 431 can be correspondingly arranged in the area corresponding to the spacing between two adjacent first adsorption holes 42a, so that the arrangement density of multiple vacuum suction cups 431 is greater than the arrangement density of multiple first adsorption holes 42a, which is beneficial to improving the adsorption stability of the material unloading and handling component 4; and / or, the spacing between two adjacent vacuum suction cups 431 is smaller than the spacing x2 between two adjacent adsorption units 43, so that the adsorption unit 43 can correspond to more vacuum suction cups 431, which is beneficial to improving the adsorption density of the adsorption unit 43, thereby facilitating improving the adsorption effect of the material unloading and handling component 4, and at the same time facilitating reducing the assembly interference between adjacent adsorption units 43 to a certain extent, thereby improving the assembly convenience.

[0068] Further optionally, the distance between two adjacent adsorption units 43 is smaller than the distance between two adjacent vacuum suction cups 431 .

[0069] In some embodiments, Figure 6-Figure 9 As shown, the adsorption unit 43 also includes a first mounting seat 432, which has a connecting cavity 432a, and a second adsorption hole 432b connecting the first adsorption hole 42a and the connecting cavity 432a is formed on one side of the first mounting seat 432, and a plurality of third adsorption holes 432c are formed on the other side of the first mounting seat 432, each third adsorption hole 432c is connected to a vacuum suction cup 431, and on the side surface of the first base 41 corresponding to the adsorption cavity 40, the orthographic projection of the peripheral wall of the first adsorption hole 42a is located within the orthographic projection range of the wall surface of the connecting cavity 432a.

[0070] In the above technical scheme, by setting the orthographic projection of the peripheral wall of the first adsorption hole 42a to be located within the orthographic projection range of the wall surface of the connecting cavity 432a, it is beneficial to reduce the connecting distance between the connecting cavity 432a and the first adsorption hole 42a, so that the structural design of the first mounting seat 432 is relatively compact, and the path distance of the negative pressure source transmitting the negative pressure can be reduced, which is beneficial to improving the adsorption effect of the material unloading and handling component 4; at the same time, it is convenient for the connecting cavity 432a to provide sufficient arrangement space for multiple vacuum suction cups 431, so as to reasonably utilize the area corresponding to the spacing between adjacent first adsorption holes 42a to arrange the vacuum suction cups 431, which is beneficial to improve the arrangement density of the vacuum suction cups 431, and to improve the surface adsorption effect of the material unloading and handling component 4.

[0071] Alternatively, if Figure 7-Figure 9 As shown, the first mounting seat 432 includes a first plate 4321, a second plate 4322 and a third plate 4323, the first plate 4321 is formed with a second adsorption hole 432b, the first plate 4321 is sealed and connected to the second plate 4322 to define a connecting cavity 432a between the first plate 4321 and the second plate 4322, the second adsorption hole 432b connects the first adsorption hole 42a and the connecting cavity 432a, the third plate 4323 is arranged on the side of the second plate 4322 away from the first plate 4321, and is sealed between the second plate 4322 and a plurality of vacuum suction cups 431, a plurality of third adsorption holes 432c penetrate the second plate 4322 and the third plate 4323 along the thickness direction of the first substrate 421, and each third adsorption hole 432c is connected to a vacuum suction cup 431. Therefore, by setting the first plate 4321 and the second plate 4322 to be sealed and connected, and the second plate 4322 and the third plate 4323 to be sealed and connected, the sealing of the first mounting seat 432 can be achieved, and by setting the third plate 4323 to be sealed and connected between the second plate 4322 and the multiple vacuum suction cups 431, it is convenient to achieve the sealed connection between the first mounting seat 432 and the multiple vacuum suction cups 431, which is beneficial to improve the sealing between the first mounting seat 432 and the multiple vacuum suction cups 431 and to simplify the structure of the first mounting seat 432.

[0072] In some embodiments, in combination Fig. 9 , the opening area of ​​the second adsorption hole 432b is larger than the opening area of ​​the first adsorption hole 42a. Therefore, the second adsorption hole 432b has a larger flow rate than the first adsorption hole 42a, and the second adsorption hole 432b can better transfer the negative pressure of the first adsorption hole 42a to the connecting cavity 432a, so that the vacuum suction cup 431 has a suitable adsorption force to adsorb the object.

[0073] In some embodiments, in combination Fig.10In a single first mounting seat 432, a plurality of second adsorption holes 432b spaced apart along the first horizontal direction constitute a group of adsorption hole groups. There are multiple adsorption hole groups and they are spaced apart along the second horizontal direction. The second adsorption holes 432b of two adjacent groups of adsorption hole groups are staggered one by one in the first horizontal direction, and the first horizontal direction intersects with the second horizontal direction.

[0074] In the above technical solution, by arranging the second adsorption holes 432b of two adjacent groups of adsorption holes to be staggered one by one in the first direction, the first mounting seat 432 can accommodate more second adsorption holes 432b, thereby increasing the occupancy rate of the second adsorption holes 432b on the first mounting seat 432, so that the first mounting seat 432 can correspond to more vacuum suction cups 431, which is beneficial to improving the adsorption density of the material unloading and handling component 4, and can improve the adsorption performance of the material unloading and handling component 4.

[0075] In some embodiments, Fig.11 and Fig.12 As shown, the unloading component 3 includes a first unloading structure 31, which is used to stack and hold items that have been captured by the second image acquisition unit 22. The unloading and handling component 4 can transfer the items on the conveying surface 10 to the first unloading structure 31 to achieve stacking of the items on the first unloading structure 31.

[0076] The unloading component 3 also includes a second unloading structure 32 and a conveying structure 33. The second unloading structure 32 is spaced apart from the first unloading structure 31, so as to realize the independent setting of the second unloading structure 32 and the first unloading structure 31. The working states of the two do not affect each other. The conveying structure 33 is used to transport the qualified articles on the first unloading structure 31 to the second unloading structure 32, and the unqualified articles are retained on the first unloading structure 31, so as to realize the separate storage of qualified articles and unqualified articles, so as to facilitate the subsequent centralized statistics of qualified articles and / or unqualified articles for separate processing; for example, in the subsequent processing process of qualified articles and unqualified articles, the processing methods of the two are different. The above-mentioned setting can realize the separate storage of qualified articles and unqualified articles for subsequent differentiated processing, so as to save manual picking costs, etc.

[0077] The first material discharging structure 31 includes a first frame 311, a conveying mechanism 312 and a first driving mechanism 313. The conveying mechanism 312 is arranged on the first frame 311. The first driving mechanism 313 is used to drive the conveying mechanism 312 to convey unqualified articles along a third horizontal direction; the third horizontal direction is parallel or non-parallel to the first horizontal direction. The first frame 311 can be used as a supporting component of the first material discharging structure 31 to facilitate the arrangement of the conveying structure and the first driving mechanism 313.

[0078] It can be seen that the above-mentioned setting of the present application can convey unqualified items along the third horizontal direction through the conveying mechanism 312. For example, the conveying mechanism 312 can convey unqualified items to other conveyor belts, and operators can further inspect and judge the unqualified items one by one, or repair them, etc., while qualified items do not need to be subjected to subsequent manual inspection and processing, and can be retained on the second unloading structure 32. Therefore, the unloading component 3 can realize the orderly and sorted unloading of items, which is conducive to improving the production capacity of the appearance inspection device 100.

[0079] In other embodiments of the present application, the second unloading structure 32 can also be used to place unqualified items, and the conveying structure 33 is used to transport the unqualified items on the first unloading structure 31 to the second unloading structure 32, and the qualified items are retained on the first unloading structure 31.

[0080] In some embodiments, Figure 11-13 As shown, the third horizontal direction is parallel to the first horizontal direction, the second blanking structure 32 is provided on at least one side of the first blanking structure 31 in the second horizontal direction, and the second horizontal direction intersects with the third horizontal direction, and the second horizontal direction also intersects with the first horizontal direction. Exemplarily, there is one second blanking structure 32 and it is provided on any one side of the two sides of the first blanking structure 31 in the second horizontal direction; or, there are multiple second blanking structures 32, and at least one second blanking structure 32 is provided on each side of the two sides of the first blanking structure 31 in the second horizontal direction; or multiple second blanking structures 32 can be provided on the same side of the first blanking structure 31 in the second horizontal direction.

[0081] Among them, the second unloading structure 32 includes a second frame 321 and a loading platform 322, the loading platform 322 can be raised and lowered on the second frame 321, and the loading platform 322 is used to hold qualified items; the conveying structure 33 is arranged on the second frame 321, and the conveying structure 33 includes a linear drive mechanism 331 and an adsorption platform 332, the linear drive mechanism 331 is used to drive the adsorption platform 332 to move along the second horizontal direction to transfer the qualified items on the conveying mechanism 312 to the loading platform 322. Therefore, the loading platform 322 can realize stacking and placing of qualified articles, and the loading platform 322 can be raised and lowered to provide a relatively consistent unloading reference for the conveying structure 33, that is, when the conveying structure 33 releases qualified articles to the loading platform 322, the height position of the loading platform 322 can adapt to the height position of the conveying structure 33, so that no matter how many times the conveying structure 33 unloads toward the loading platform 322, it is convenient to ensure that the qualified articles to be released on the conveying structure 33 and the load-bearing surface below have a consistent height difference. At the same time, the conveying structure 33 has a simple structure and is easy to implement, and the conveying path is simple, which is convenient for achieving good conveying efficiency.

[0082] It can be understood that the linear drive mechanism 331 includes but is not limited to a rack and pinion mechanism, a screw and nut mechanism, a linear motor, and the like.

[0083] Exemplarily, the loading platform 322 is configured such that each time the conveying structure 33 transports an item to the loading platform 322, the loading platform 322 descends by one layer of the item, so as to further enable the loading platform 322 to provide a consistent unloading reference for the conveying structure 33; of course, in other examples, the loading platform 322 may also be configured such that after the conveying structure 33 transports multiple items to the loading platform 322, the loading platform 322 descends to a certain height.

[0084] In some embodiments, the second material unloading structure 32 includes a plurality of material loading platforms 322 spaced apart along the second horizontal direction, so as to increase the holding capacity of the second material unloading structure 32, and the arrangement of the plurality of material loading platforms 322 matches the driving mode of the linear drive mechanism 331, so that the conveying structure 33 can move qualified articles to any material loading platform 322. Of course, there can also be one material loading platform 322.

[0085] In some embodiments, Fig.13 As shown, the second material unloading structure 32 includes a plurality of loading platforms 322, and the second material unloading structure 32 also includes a limiting component 323 and / or a centering component. The limiting component 323 is arranged on the second frame 321, and a limiting component 323 is arranged between two adjacent loading platforms 322. The limiting component 323 is used to limit the movement of the corresponding articles on the two adjacent loading platforms 322 in the second horizontal direction, so as to improve the stacking interference of the articles on the adjacent loading platforms 322, which is beneficial to improving the stacking stability of the articles; and the centering component is arranged on the second frame 321 and includes a first limiting group and a second limiting group, the first limiting group and the second limiting group are both vertically penetrated through the corresponding loading platform 322, and the first limiting group and the second limiting group can move toward and away from each other along the second horizontal direction relative to the loading platform 322, then the moving directions of the first limiting group and the second limiting group are opposite, so that the articles are clamped between the first limiting group and the second limiting group to achieve centering and regular stacking.

[0086] Exemplarily, the limiting component 323 is configured as a limiting plate or includes a plurality of limiting columns; the first limiting group includes a plurality of first limiting rods spaced apart along the first horizontal direction, and the second limiting group includes a plurality of second limiting rods spaced apart along the first horizontal direction.

[0087] In some embodiments, the second unloading structure 32 further includes a limiting component 323 and a plurality of loading platforms 322, at least one loading platform 322 is detachably connected to the second frame 321, and the position of the limiting component 323 in the second horizontal direction is adjustable. In practical applications, when it is necessary to unload objects of different sizes, the operator can remove the original loading platform 322 and replace it with a plurality of smaller loading platforms 322 or a larger loading platform 322 as needed, or remove the at least one loading platform 322 from the second frame 321 without replacing other loading platforms 322, and unload objects of different sizes by using the loading platform 322 and the limiting component 323 remaining on the second frame 321. This arrangement can enhance the applicability and versatility of the unloading assembly 3.

[0088] In some embodiments, Fig.12 As shown, the conveying mechanism 312 includes a mounting frame 3121, a driving wheel 3122, a driven wheel 3123 and a first flexible transmission member 3124. The mounting frame 3121 is arranged on the first frame 311, and the driving wheel 3122 and the driven wheel 3123 are arranged at intervals along the third horizontal direction, that is, the driving wheel 3122 and the driven wheel 3123 are arranged at intervals along the conveying direction of the conveying mechanism 312. The driving wheel 3122 and the driven wheel 3123 are respectively rotatably mounted on the mounting frame 3121, and the first flexible transmission member 3124 is wound around the driving wheel 3122 and the driven wheel 3123. The driving wheel 3122 drives the driven wheel 3123 to rotate through the first flexible transmission member 3124 (such as a conveyor belt, a conveyor chain, etc.), so that the first flexible transmission member 3124 drives the objects to be conveyed. Among them, the position of at least one of the driving wheel 3122 and the driven wheel 3123 in the third horizontal direction is adjustable relative to the mounting frame 3121, so that the spacing between the driving wheel 3122 and the driven wheel 3123 in the third horizontal direction is adjustable. On the one hand, the transmission mechanism 312 can be adjusted accordingly according to the objects of different sizes. When it is necessary to transmit larger objects, the spacing between the driving wheel 3122 and the driven wheel 3123 can be appropriately increased to ensure that the objects can be placed. On the contrary, when transmitting smaller objects, the spacing can be reduced to make the layout of the transmission mechanism 312 more compact, shorten the transmission distance, and improve the transmission efficiency. On the other hand, by adjusting the spacing between the driving wheel 3122 and the driven wheel 3123, it can also help adjust the tension of the first flexible transmission member 3124, which helps the operator to control the tension of the first flexible transmission member 3124.

[0089] In some embodiments, Fig.12As shown, the position of the driving wheel 3122 in the third horizontal direction is adjustable relative to the mounting frame 3121, and the first driving mechanism 313 includes a first driver 3131 and a second flexible transmission member 3132 (such as a conveyor belt, a conveyor chain, etc.), the first driver 3131 is fixed to the mounting frame 3121, and the first driver 3131 drives the driving wheel 3122 to rotate through the second flexible transmission member 3132, that is, the first driver 3131 transmits power to the driving wheel 3122 through the second flexible transmission member 3132. Therefore, it is convenient to simultaneously realize the tension control and adjustment of the first flexible transmission member 3124 and the second flexible transmission member 3132, and it is conducive to making the transmission of the driving force more stable and reliable.

[0090] In some embodiments, Fig.12 As shown, the material unloading assembly 3 includes a first material unloading structure 31, and the first material unloading structure 31 is used to hold the items collected by the second image acquisition unit 22; the first material unloading structure 31 includes a first frame 311, a conveying mechanism 312, a first driving mechanism 313 and a second driving mechanism 314, the conveying mechanism 312 is arranged on the first frame 311, the first driving mechanism 313 is used to drive the conveying mechanism 312 to convey the items along the third horizontal direction, the second driving mechanism 314 is arranged on the first frame 311, and the second driving mechanism 314 is used to drive the conveying mechanism 312 and the first driving mechanism 313 to rise and fall relative to the first frame 311. Among them, the third horizontal direction is parallel or non-parallel to the first horizontal direction. It can be seen that the material unloading and handling assembly 4 is used to drive the items collected by the first image acquisition unit 21 to be conveyed to the conveying mechanism 312.

[0091] The first unloading structure 31 also includes a detection mechanism, which is used to detect the change in the stacking height of the items on the conveying mechanism 312, and the detection mechanism communicates with the first driving mechanism 313 and the second driving mechanism 314 respectively, so that the first driving mechanism 313 controls whether the conveying mechanism 312 is running according to the detection result of the detection mechanism, and the second driving mechanism 314 controls the height position of the conveying mechanism 312 according to the detection result of the detection mechanism.

[0092] First, a detection mechanism is set to detect the change in the height of the stacking of items on the conveying mechanism 312 and is connected to the second driving mechanism 314 in communication, so that the second driving mechanism 314 can drive the conveying mechanism 312 to rise and fall according to the detection result of the detection mechanism to control the height position of the conveying mechanism 312. For example, if the detection mechanism detects that the height of the stacking of items on the conveying mechanism 312 increases, the second driving mechanism 314 drives the conveying mechanism 312 to descend a certain height according to the above detection result, and / or, if the detection mechanism detects that the height of the stacking of items on the conveying mechanism 312 decreases, the second driving mechanism 314 drives the conveying mechanism 312 to rise and move according to the above detection result, so that the conveying mechanism 312 can be raised and lowered to achieve a certain compensation for the change in the height of the stacking of items on the conveying mechanism 312, which is conducive to reducing the movement complexity of the structure (such as a robot) on which the items are placed on the conveying mechanism 312 and reducing the self-contained conveying mechanism 312. 2, for example, the complexity of the movement of the manipulator; wherein, the change in the height of the stacked objects detected by the detection mechanism is related to the lifting distance of the conveying mechanism 312, for example, the change in the height of the stacked objects is equal to the lifting distance of the conveying mechanism 312, so that the manipulator and the uppermost object on the conveying mechanism 312 have a relatively stable upper and lower relative position, and the manipulator has a relatively stable unloading position and picking position regardless of adding materials to the conveying mechanism 312 or picking materials from the conveying mechanism 312, and the movement stroke of the manipulator is relatively simple; of course, the change in the height of the stacked objects may also be different from the lifting distance of the conveying mechanism 312.

[0093] For example, when the detection mechanism detects that the stacking height of the objects on the conveying mechanism 312 increases, the second driving mechanism 314 drives the conveying mechanism 312 to descend according to the above detection result: the second driving mechanism 314 can control the descending height of the conveying mechanism 312 according to the detection result of the detection mechanism. When the detection mechanism detects that the stacking height of the objects on the conveying mechanism 312 increases (for example, the height of one or more layers of objects is increased), the detection mechanism communicates with the second driving mechanism 314 so that the second driving mechanism 314 drives the conveying mechanism 312 to descend, so as to leave stacking space on the upper side of the objects and prepare for the next stacking of objects. In this way, the second driving mechanism 314 communicates with the detection mechanism, that is, the second driving mechanism 314 repeats the above stacking process with the detection mechanism, so that objects of a suitable height can be stacked on the conveying mechanism 312, and the stacked objects will not be easily interfered with other components due to the increase in the stacking height of the objects; wherein the descending height of the conveying mechanism 312 can be related to the increase in the stacking height of the objects detected by the detection mechanism, for example, the descending height is equal to the increase in the stacking height of the objects.

[0094] For example, when the detection mechanism detects that the stacking height of the objects on the conveying mechanism 312 is reduced, the second driving mechanism 314 drives the conveying mechanism 312 to rise according to the above-mentioned detection structure: the second driving mechanism 314 can control the rising height of the conveying mechanism 312 according to the detection result of the detection mechanism. When the detection mechanism detects that the stacking height of the objects on the conveying mechanism 312 is reduced (for example, the height of one or more layers of objects is reduced), the detection mechanism communicates with the second driving mechanism 314 so that the second driving mechanism 314 drives the conveying mechanism 312 to rise, so that the conveying mechanism 312 can provide a more consistent stacking reference for stacking objects and prepare for the next stacking of objects. In this way, the second driving mechanism 314 communicates with the detection mechanism, that is, the second driving mechanism 314 and the detection mechanism repeat the above-mentioned stacking process, and objects of a suitable height can be stacked on the conveying mechanism 312; wherein, the rising height of the conveying mechanism 312 can be related to the reduction in the stacking height of the objects detected by the detection mechanism, for example, the rising height is equal to the reduction in the stacking height of the objects.

[0095] Optionally, the detection mechanism can detect the stacking height of the objects by itself to obtain the change in the stacking height, or the detection mechanism can cooperate with the second driving mechanism 314 to obtain the change in the stacking height of the objects. Optionally, in some examples, the detection mechanism is disposed on the first frame 311.

[0096] Optionally, the value of the change in the stacking height of the items detected by the detection mechanism is not limited. For example, when the detection mechanism detects that the stacking height of the items increases by one or more items, the detection mechanism communicates with the second drive mechanism 314, and the second drive mechanism 314 drives the conveying mechanism 312 to descend by one or more items relative to the first rack 311. For example, when a layer of items is added to the conveying mechanism 312 so that the stacking height of the items increases by the thickness of one item, the detection mechanism detects that the stacking height of the items increases by the thickness of one item, and the detection mechanism transmits the detection result to the second drive mechanism 314, and the second drive mechanism 314 drives the conveying mechanism 312 to descend by a height corresponding to the thickness of one item relative to the first rack 311, so that the upper side of the uppermost item is vacated to place an item, so that a new item can be stacked on the upper side of the previous item; the operation process of reducing a layer of items on the conveying mechanism 312 is similar to the above process, and this application will not repeat it.

[0097] For another example, the detection mechanism includes a signal transmitter and a signal receiver. When a layer of objects is placed on the conveying mechanism 312, the signal emitted by the signal transmitter is blocked by the layer of objects, and the signal receiver does not receive the signal. The detection mechanism transmits the detection result to the second driving mechanism 314. The second driving mechanism 314 drives the conveying mechanism 312 to move downward by a certain distance, and a certain space is left on the upper side of the objects until the signal receiver can just receive a certain amount of signal value from the signal transmitter. The second driving mechanism 314 stops working. In the above process, the conveying mechanism 312 is lowered to a height substantially equal to the stacking thickness of a layer of objects, and the objects can continue to be stacked at this time. Of course, if the objects on the conveying mechanism 312 are taken away so that the stacking height of the objects is reduced by the thickness of a layer of objects, the detection result of the detection mechanism changes, for example, the signal value received by the signal receiver increases, and the second driving mechanism 314 drives the conveying mechanism 312 to move upward until the signal receiver can just receive a certain amount of signal value from the signal generator. The second driving mechanism 314 stops working. In the above rising process, the conveying mechanism 312 is raised to a height substantially equal to the stacking thickness of a layer of objects.

[0098] It is understandable that the stacking height of the articles can be the height difference between the first height limit position and the second height limit position of the conveying mechanism 312, or any value less than the height difference between the first height limit position and the second height limit position. Of course, the change value of the stacking height of the articles detected by the detection mechanism can be any value greater than or equal to the thickness of the articles. The first height limit position is the highest height position that the conveying mechanism 312 can rise to under the drive of the second driving mechanism 314, and the second height limit position is the lowest height position that the conveying mechanism 312 can descend under the drive of the second driving mechanism 314.

[0099] Secondly, by setting a detection mechanism to detect the change in the stacking height of the items on the conveying mechanism 312 and communicating with the first drive mechanism 313, the first drive mechanism 313 can control whether the conveying mechanism 312 is running according to the detection result of the detection mechanism. For example, the detection mechanism relies on itself to detect the stacking height of the items and thus detects the change in the stacking height of the items. Then the detection mechanism can also obtain the stacking height of the items. When the items of a suitable height are stacked on the conveying mechanism 312, the detection mechanism communicates with the first drive mechanism 313 so that the first drive mechanism 313 drives the conveying mechanism 312 to operate, so as to convey the stacked items to the corresponding position (such as the unloading position) along the third horizontal direction. Thus, the unloading component 3 can realize automatic stacking and conveying of the items, save the conveying time and occupied space of the items, and improve the conveying efficiency of the items. The overall structure of the unloading component 3 is simple and has good working stability. Of course, if the detection mechanism cooperates with the second driving mechanism 314 to obtain the change in the stacking height of the items, the detection mechanism can detect and obtain the stacking height of the items based on the above height change, so that the first driving mechanism 313 controls whether the conveying mechanism 312 performs conveying according to the detection result.

[0100] Optionally, the detection mechanism can detect the change in the stacking height of the objects of the conveying mechanism 312 in real time or at certain time intervals (for example, the time interval is the time for stacking one or more layers of objects).

[0101] Optionally, the distance that the first drive mechanism 313 drives the conveying mechanism 312 to operate to convey the objects along the third horizontal direction is not limited. For example, when a group of objects of a suitable height are stacked on the conveying mechanism 312, the first drive mechanism 313 drives the conveying mechanism 312 to operate to convey the objects to the unloading position, and the moving distance of the objects at this time is the distance between the stacking position and the unloading position; or, when the first group of objects of a suitable height are stacked on the conveying mechanism 312, the first drive mechanism 313 drives the conveying mechanism 312 to operate to move the first group of objects toward the unloading position by a certain distance, and then the detection mechanism cooperates with the second drive mechanism 314 to stack the second group of objects, and the first drive mechanism 313 drives the conveying mechanism 312 to operate to move the second group of objects toward the unloading position by a certain distance, and the above process is repeated, and multiple groups of objects can be placed on the upper side of the conveying mechanism 312, and the moving distance of the objects at this time is the moving distance of the conveying mechanism 312 to convey the objects. For example, the detection mechanism also includes a height sensor, which can measure the distance between the height sensor and the conveying mechanism 312. When the height sensor detects that the height sensor and the conveying mechanism 312 are at an appropriate distance, and the objects on the conveying mechanism 312 are stacked to an appropriate height, the detection mechanism communicates with the first driving mechanism 313, and the first driving mechanism 313 drives the conveying mechanism 312 to operate to complete the unloading of objects.

[0102] For example, combined with Fig.12 , taking the third horizontal direction as the left and right direction as an example, the first driving mechanism 313 can drive the conveying mechanism 312 to convey the items from left to right, the second driving mechanism 314 is arranged on the lower side of the conveying mechanism 312, and the second driving mechanism 314 can drive the conveying mechanism 312 and the first driving mechanism 313 to rise and fall synchronously along the up and down directions, the conveying mechanism 312 has a first height limit position and a second height limit position in the vertical direction, and the second height limit position is located on the lower side of the first height limit position, then the second driving mechanism 314 can drive the conveying mechanism 312 to move between the first height limit position and the second height limit position, that is, the second driving mechanism 314 can change the height position of the conveying mechanism 312 to facilitate stacking of items in the vertical direction.

[0103] Optionally, the detection mechanism is arranged on the first frame 311 and can detect the change in the stacking height of the objects on the conveying mechanism 312. When the unloading arm transports an object to the stacking position, the detection mechanism detects the change in the stacking height of the objects. At this time, the detection mechanism communicates with the second driving mechanism 314, and the second driving mechanism 314 works to drive the conveying mechanism 312 to lower the height by the thickness of an object. The unloading arm transports the new objects to the stacking position, and the new objects are stacked on the upper side of the objects. The above process is repeated until the objects are stacked to a suitable height. At this time, the detection mechanism detects that the stacking height of the objects is at a suitable value. The detection mechanism communicates with the first driving mechanism 313, and the first driving mechanism 313 drives the conveying mechanism 312 to operate so that the stacked objects move from front to back to the unloading position to complete the unloading.

[0104] Optionally, the objects stacked together on the conveying mechanism 312 are grouped, and a group of objects includes one or more rows of objects stacked in sequence in the vertical direction. For example, the unloading and handling assembly can simultaneously carry four objects to the stacking position, that is, the stacking position can simultaneously stack four rows of objects, and a group of objects stacked together includes four stacks of objects.

[0105] It can be understood that when the unloading component 3 includes a first unloading structure 31, a second unloading structure 32 and a conveying structure 33, the conveying mechanism 312 of the first unloading structure 31 is used to stack and hold items that have been captured by the second image acquisition unit 22, that is, it is used to stack and hold items transferred from the unloading and handling component 4, and the conveying structure 33 is used to transfer qualified items on the conveying mechanism 312 to the second unloading structure 32, and the conveying mechanism 312 is used to transfer unqualified items along a third horizontal direction.

[0106] In some embodiments, the second driving mechanism 314 is configured to intermittently drive the conveying mechanism 312 to descend according to the detection result of the detection mechanism. Thus, the control difficulty of stacking objects of the unloading assembly 3 can be simplified.

[0107] In some embodiments, Fig.12 As shown, the conveying mechanism 312 and the first frame 311 slide up and down through a plurality of guide structures 316 surrounding the second driving mechanism 314 and arranged at intervals. The guide structure 316 includes a guide hole and a guide column 3161 slidingly matched with the guide hole.

[0108] For example, combined with Fig.12 The guide structure 316 includes a guide cylinder 3162 and a guide column 3161. The guide cylinder 3162 is formed with a through guide hole, and the guide column 3161 is slidably matched with the guide cylinder 3162 through the guide hole. A plurality of guide cylinders 3162 are arranged on the first frame 311, and a plurality of guide columns 3161 are respectively inserted into the corresponding guide cylinders 3162, and the same end of each guide column 3161 facing the conveying mechanism 312 is connected to the conveying mechanism 312. Therefore, by setting a plurality of guide structures 316, the conveying mechanism 312 can be guided to move in the vertical direction relative to the first frame 311, so that the guide structure 316 has a certain guiding and limiting effect, which can reduce the influence of vibration on the movement of the conveying mechanism 312, and can improve the accuracy of the position and the lifting stability of the conveying mechanism 312 during lifting.

[0109] In some embodiments, Fig.12 As shown, the second driving mechanism 314 includes a second driver 3141, a transmission screw 3142, and a sleeve 3143. The second driver 3141 is disposed on the first frame 311 and is used to drive the transmission screw 3142 to rotate. The sleeve 3143 is threadedly sleeved on the outside of the transmission screw 3142 and is vertically arranged. The upper end of the sleeve 3143 is connected to the middle part of the transmission mechanism 312.

[0110] For example, combined with Fig.12 The sleeve 3143 is fixed to the first frame 311 and the upper end of the sleeve 3143 is connected to the middle of the transmission mechanism 312. The transmission screw 3142 is threadedly connected to the sleeve 3143 and is vertically arranged. The lower end of the transmission screw is connected to the output end of the second driver 3141. When the second driver 3141 is working, the transmission screw 3142 rotates to make the sleeve 3143 rise and fall relative to the second driver 3141, so as to drive the transmission mechanism 312 to rise and fall relative to the frame 1. Among them, a plurality of guide structures 316 are provided between the transmission mechanism 312 and the frame 1, and the plurality of guide structures 316 are arranged around the sleeve 3143. Each guide structure 316 includes a guide cylinder 3162 and a guide column 3161. The guide cylinder 3162 is fixed to the frame 1, and the guide column 3161 and the corresponding guide cylinder 3162 slide and cooperate in the vertical direction. The plurality of guide structures 316 can limit the sleeve 3143 from following the rotation of the transmission screw 3142 to realize the lifting and lowering of the sleeve 3143 relative to the transmission screw 3142.

[0111] In some embodiments, Figure 1 , Figure 2 , Fig.14 and Fig.15 As shown, the appearance inspection device 100 also includes a loading assembly 5 and a loading and conveying assembly 6. The loading and conveying assembly 6 is used to transfer the items on the loading assembly 5 to the conveying assembly 1, so as to realize automatic loading of the appearance inspection device 100, so as to improve the inspection efficiency. The loading assembly 5 includes a third frame 51, a loading platform 52 and a limiting structure 53. The loading platform 52 is liftably arranged on the third frame 51, and the limiting structure 53 is arranged on the third frame 51, and the limiting structure 53 includes a first limiting plate 531 and a second limiting plate 532.

[0112] The limiting structure 53 has a first limiting state, such as Fig.14 and Fig.15 As shown, in the first limiting state, the first limiting plate 531 and the second limiting plate 532 are cross-arranged and both the first limiting plate 531 and the second limiting plate 532 are vertically arranged on the loading platform 52, so that the limiting structure 53 is used to limit the movement of the items on the loading platform 52 in the first horizontal direction and the second horizontal direction, and the first horizontal direction intersects the second horizontal direction. It can be seen that in the first limiting state, the limiting structure 53 can play its limiting role and will not affect the lifting and lowering of the loading platform 52.

[0113] Specifically, in the first limiting state, the limiting structure 53 can form four limiting areas on the loading platform 52, which can be used to place up to four groups of items and load them at the same time, thereby improving the efficiency of the loading assembly 5; for example, four-piece loading of plates can be realized. When loading, the two adjacent sides of a group of items are abutted against the limiting structure 53 of a certain limiting area, that is, the two adjacent sides of each group of items are suitable for abutting against the first limiting plate 531 and the second limiting plate 532 respectively, so that the limiting structure 53 can limit the corresponding items of each limiting group in the first horizontal direction and the second horizontal direction, so that each group of items is firmly abutted by the limiting structure 53 in the first horizontal direction and the second horizontal direction, thereby realizing the positioning of the items on the loading platform 52. Exemplarily, the first limit plate 531 and the second limit plate 532 are vertically crossed and arranged, and the first horizontal direction and the second horizontal direction are perpendicular. At this time, the first limit plate 531 and the second limit plate 532 are roughly in a cross-shaped structure; of course, the first limit plate 531 and the second limit plate 532 can also be crossed and arranged at non-right angles.

[0114] At least one of the first limiting plate 531 and the second limiting plate 532 can be movably arranged so that the position and / or posture of at least one of the first limiting plate 531 and the second limiting plate 532 can be changed, and the limiting structure 53 also has at least one of a second limiting state and a third limiting state.

[0115] like Fig.17As shown, in the second limiting state, the first limiting plate 531 is vertically arranged on the loading platform 52, so that the limiting structure 53 is used to limit the movement of the items on the loading platform 52 in the first horizontal direction, and the first limiting plate 531 is used to limit the movement of the items on the loading platform 52 in the first horizontal direction. At this time, the second limiting plate 532 is located outside the loading platform 52. In this state, the loading platform 52 is effectively divided into two limiting areas by the first limiting plate 531, and the two limiting areas can accommodate up to two groups of items; for example, double-piece loading of plates can be realized. Due to the removal of the second limiting plate 532, the limitation of the loading platform 52 in the second horizontal direction is released, so that wider or longer items can also be placed on the loading platform 52 without being hindered.

[0116] It can be seen that in the second limiting state, the second limiting plate 532 is not disposed on the loading platform 52, so that the second limiting plate 532 does not play a limiting role, and the second limiting plate 532 is in a position or posture that does not affect the lifting and lowering of the loading platform 52; moreover, in the second limiting state, the limiting structure 53 can form two limiting areas on the loading platform 52, which are respectively located on both sides of the first limiting plate 531 in the first horizontal direction, and at this time, objects can be stacked on both sides of the first horizontal direction of the first limiting plate 531. Obviously, the limiting effect of the limiting structure 53 in the second limiting state is different from that of the limiting structure 53 in the first limiting state, so that the way of placing objects on the loading platform 52 in the second limiting state is different from that of the first limiting state.

[0117] like Fig.16 As shown, in the third limiting state, the second limiting plate 532 is vertically arranged on the loading platform 52, so that the limiting structure 53 is used to limit the movement of the items on the loading platform 52 in the second horizontal direction, and the second limiting plate 532 is used to limit the movement of the items on the loading platform 52 in the second horizontal direction. At this time, the first limiting plate 531 is located outside the loading platform 52. In this state, the loading platform 52 is effectively divided into two limiting areas by the second limiting plate 532, and the two limiting areas can accommodate up to two groups of items; for example, double-piece loading of plates can be realized. Due to the removal of the first limiting plate 531, the limitation of the loading platform 52 in the first horizontal direction is released, so that wider or longer items can also be placed on the loading platform 52 without being hindered.

[0118] It can be seen that in the third limiting state, the first limiting plate 531 is not disposed on the loading platform 52, so that the first limiting plate 531 does not play a limiting role, and the first limiting plate 531 is in a position or posture that does not affect the lifting of the loading platform 52; moreover, in the third limiting state, the limiting structure 53 can form two limiting areas on the loading platform 52, which are respectively located on both sides of the second limiting plate 532 in the second horizontal direction, and at this time, objects can be stacked on both sides of the second horizontal direction of the second limiting plate 532. Obviously, the limiting effect of the limiting structure 53 in the third limiting state is different from that of the limiting structure 53 in the first limiting state, so that the way of placing objects on the loading platform 52 in the second limiting state is different from that of the loading platform 52 in the first limiting state; similarly, the limiting effect of the limiting structure 53 in the third limiting state is different from that of the limiting structure 53 in the second limiting state, so that the way of placing objects on the loading platform 52 in the third limiting state is also different from that of the loading platform 52 in the second limiting state.

[0119] Obviously, when the limiting structure 53 has a first limiting state and a second limiting state, the limiting structure 53 can switch between the first limiting state and the second limiting state; when the limiting structure 53 has a first limiting state and a third limiting state, the limiting structure 53 can switch between the first limiting state and the third limiting state; when the limiting structure 53 has a first limiting state, a second limiting state and a third limiting state, the limiting structure 53 can switch between the first limiting state, the second limiting state and the third limiting state. Thus, under the above-mentioned different limiting states, the limiting structure 53 can separate the loading platform 52 into a plurality of limiting areas of different sizes, so that the loading assembly 5 can load the corresponding article according to the shape and size of the article itself, so that the loading method is better matched with the article specifications such as the shape and size of the article itself, which is conducive to improving the loading efficiency.

[0120] In the description of the present application, a horizontal direction (eg, a first horizontal direction, a second horizontal direction, a third horizontal direction, a fourth horizontal direction, and a fifth horizontal direction) is perpendicular to a vertical direction.

[0121] In some optional embodiments, the widths of the first limiting plate 531 and the second limiting plate 532 are the same or different. Whether narrow or wide, an object can find a suitable position on the loading platform 52 and be effectively limited and supported. This not only improves the versatility of the loading assembly 5, but also reduces production costs, because there is no need to purchase or customize different loading assemblies 5 for objects of different specifications.

[0122] Optionally, when the first limiting plate 531 or the second limiting plate 532 is not needed, it can be removed, moved, rotated, etc. to avoid the loading platform 52, which will not affect the lifting and lowering of the loading platform 52 and cannot play a limiting role.

[0123] In some embodiments, the second limiting plate 532 is detachably connected to the first frame 311 ; and / or the first limiting plate 531 is detachably connected to the first frame 311 .

[0124] When the second limiting plate 532 is detachable, the second limiting plate 532 is removed from the loading platform 52. Figure 15-17 As shown, the loading assembly 5 can be switched from the first limiting state to the third limiting state. When the first limiting plate 531 is detachable, the first limiting plate 531 is removed from the loading platform 52, and does not affect the lifting of the loading platform 52 in the vertical direction. Figure 15-17 As shown, the loading assembly 5 can be switched from the first limiting state to the second limiting state. When both the first limiting plate 531 and the second limiting plate 532 are detachable, as shown in FIG. Figure 15-17 As shown, the feeding assembly 5 can switch between the first limiting state, the second limiting state and the third limiting state. Therefore, by adjusting the first limiting plate 531 and the second limiting plate 532, flexible adaptation and placement of articles of various specifications are achieved, and the utilization rate of the feeding assembly 5 is improved. Moreover, the adjustment process of the limiting structure 53 is simple and intuitive, without complicated operation and measurement, and the feeding efficiency of the feeding assembly 5 is improved.

[0125] In some embodiments, a first limiting groove and / or a second limiting groove are formed on the third frame 51, and the first limiting plate 531 is suitable for being vertically plugged into the first limiting groove, and the second limiting plate 532 is suitable for being vertically plugged into the second limiting groove. It can be seen that the first limiting groove and the second limiting groove respectively provide precise positioning and guidance for the first limiting plate 531 and the second limiting plate 532 to a certain extent, which facilitates the rapid disassembly and assembly of the first limiting plate 531 and the second limiting plate 532. At the same time, the disassembly and assembly direction of the first limiting plate 531 and the second limiting plate 532 is the vertical direction, so the first limiting plate 53141 and the second limiting plate 532 are not easy to interfere with the loading platform 52 during the disassembly and assembly process, thereby improving the convenience of disassembly and assembly; and / or, Fig.14 , Fig.15 and Fig.18 As shown, one of the first limiting plate 531 and the second limiting plate 532 is formed with a first mating groove 531a opening downward, and the other is formed with a second mating groove 532a opening upward. In the first limiting state, the other of the first limiting plate 531 and the second limiting plate 532 is mated in the first mating groove 531a, and the one of the first limiting plate 531 and the second limiting plate 532 is mated in the second mating groove 532a. The mutual mating not only strengthens the matching strength between the first limiting plate 531 and the second limiting plate 532, but also forms a stable supporting structure in the vertical direction.

[0126] Of course, the detachable connection method between the first limiting plate 531, the second limiting plate 532 and the third frame 51 is not limited thereto. For example, at least one of the first limiting plate 531 and the second limiting plate 532 can also be snap-connected to the third frame 51 or connected via threaded fasteners.

[0127] In some embodiments, Fig.15 As shown, the feeding assembly 5 also includes a third driving mechanism 56, which is connected to the edge of the feeding platform 52 to drive the feeding platform 52 to rise and fall. On the horizontal plane, the orthographic projection of the third driving mechanism 56 is located outside the outer contour of the orthographic projection of the feeding platform 52. This arrangement can effectively prevent the third driving mechanism 56 from occupying the space required by the feeding platform 52 during the rising and falling process, so that the third driving mechanism 56 will not affect the lifting and lowering stroke of the feeding platform 52, thereby ensuring that the feeding platform 52 can smoothly perform the lifting and lowering movement; secondly, this arrangement prevents any interference between the third driving mechanism 56 and the items on the feeding platform 52, ensuring the stability and safety of the items during the feeding process. In addition, since the third driving mechanism 56 is located at the edge of the feeding platform 52, the layout of the feeding assembly 5 is more compact, the space occupation is reduced, and more operation and maintenance space is provided for operators.

[0128] In some embodiments, Fig.14 and Fig.15 As shown, the loading assembly 5 also includes a fourth frame 54, which defines an installation cavity 540. The installation cavity 540 is open on one side and the top side in the fourth horizontal direction, and the third frame 51, the loading platform 52 and the limiting structure 53 are all arranged in the installation cavity 540. Among them, the fourth horizontal direction is parallel to the first horizontal direction, or the fourth horizontal direction is parallel to the second horizontal direction. Through this arrangement, the operator or other structures that can load materials onto the loading assembly 5 can be located on one side in the fourth horizontal direction, and perform loading operations toward the open position of the installation cavity 540. The positions of the loading platform 52 and the limiting structure 53 can also be clearly seen, so as to accurately place the items or adjust the limiting structure 53; and the top side of the installation cavity 540 is open, which can provide sufficient operating space for the loading and handling assembly 6, so that it can enter the installation cavity 540 without obstacles, avoiding interference from the fourth frame 54.

[0129] For example, Fig.14 As shown, the fourth horizontal direction is parallel to the first horizontal direction; in other examples, the fourth horizontal direction may also intersect with the first horizontal direction, for example, the two are perpendicular. It is understandable that the fourth horizontal direction is parallel or non-parallel to the third horizontal direction.

[0130] In some embodiments, Fig.14 and Fig.15As shown, the loading assembly 5 also includes a centering structure 55, which is arranged on the third frame 51 and includes a third limit group 551 and a fourth limit group 552, the third limit group 551 and the fourth limit group 552 are both vertically penetrated through the loading platform 52, and the third limit group 551 and the fourth limit group 552 can move relative to the loading platform 52 and move back to back along the fifth horizontal direction, the moving directions of the third limit group 551 and the fourth limit group 552 are opposite, the limit structure 53 is located between the third limit group 551 and the fourth limit group 552, and the fifth horizontal direction is perpendicular to the fourth horizontal direction.

[0131] Thus, through the relative movement of the third limiting group 551 and the fourth limiting group 552, the articles are gradually pushed toward the middle limiting structure 53. This pushing action enables the articles to approach the limiting structure 53 and be stably clamped between the limiting structure 53 and the centering structure 55. In this way, the articles can maintain a stable position during the loading process, avoiding incorrect loading caused by movement or tilting. The centering structure 55 can help the loading component 5 to accurately position and clamp. The centering structure 55 can neatly arrange the articles at the loading platform 52 to facilitate the subsequent transfer of the articles, for example, to help the grasping component to grasp accurately. Of course, when loading the upper loading platform 52, the third limiting group 551 and the fourth limiting group 552 can move in opposite directions to facilitate loading.

[0132] Optionally, the centering structure 55 is configured so that the third limit group 551 and the fourth limit group 552 move synchronously. Of course, in other examples, the third limit group 551 and the fourth limit group 552 can also move asynchronously.

[0133] For example, Fig.14 and Fig.15 As shown, the fourth horizontal direction is parallel to the first horizontal direction, and the fifth horizontal direction is perpendicular to the first horizontal direction. The centering structure 55 clamps the items on both sides of the first limiting plate 531 to limit the items in the first horizontal direction and center the items in the fifth horizontal direction.

[0134] Alternatively, if Fig.14 and Fig.15 As shown, the third limit group 551 includes a plurality of first limit members 5511 spaced apart along a fourth horizontal direction, the fourth limit group 552 includes a plurality of second limit members 5521 spaced apart along a fourth horizontal direction, and a first avoidance hole for avoiding the movement of the first limit member 5511 and a second avoidance hole for avoiding the movement of the second limit member 5521 are formed on the loading platform 52.

[0135] In some embodiments, Fig.14 and Fig.15As shown, the third limit group 551 includes a plurality of first limit members 5511 spaced apart along the fourth horizontal direction, the fourth limit group 552 includes a plurality of second limit members 5521 spaced apart along the fourth horizontal direction, the width d1 of the first limit plate 531 is smaller than the width d2 of the second limit plate 532, the fifth horizontal direction and the second horizontal direction are respectively perpendicular to the first horizontal direction, and the fourth horizontal direction is parallel to the first horizontal direction, and at least one first limit member 5511 and at least one second limit member 5521 are correspondingly provided on both sides of the first limit plate 531 in the first horizontal direction. Since the fifth horizontal direction is parallel to the second horizontal direction, the third limiting group 551 and the fourth limiting group 552 are respectively located on both sides of the second limiting plate 532 in the second horizontal direction, and the first limiting plate 531 is correspondingly provided with at least one first limiting member 5511 and at least one second limiting member 5521 on both sides in the first horizontal direction. Then, in the first limiting state, each of the four limiting areas formed by the limiting structure 53 corresponds to a first limiting member 5511 or a second limiting member 5521, so as to realize simultaneous limiting and centering of the objects in the four limiting areas.

[0136] For example, when the PCB board to be inspected is shorter, the limiting structure 53 is adjusted to the third limiting state, the operator places the PCB board on both sides of the second limiting plate 532, uses the wider second limiting plate 532 to pre-limit the PCB board group, and then clamps the PCB board group on both sides of the second limiting plate 532 through the centering structure 55. For another example, when the PCB board to be inspected is longer, the limiting structure 53 is adjusted to the second limiting state, at this time, the operator places the PCB board on both sides of the first limiting plate 531, uses the narrower first limiting plate 531 to pre-limit the PCB board group, and then clamps the PCB board group on both sides of the first limiting plate 531 through the centering structure 55.

[0137] Optionally, the fourth horizontal direction is parallel to the first horizontal direction, and a plurality of first limit members 5511 are arranged at intervals along the first horizontal direction, and a plurality of first limit members 5511 avoid the first limit plate 531 in the first horizontal direction, so that the first limit plate 531 has at least one first limit member 5511 on both sides in the first horizontal direction; a plurality of second limit members 5521 are arranged at intervals along the first horizontal direction, and a plurality of second limit members 5521 avoid the first limit plate 531 in the first horizontal direction, so that the first limit plate 531 has at least one second limit member 5521 on both sides in the first horizontal direction.

[0138] In some embodiments, Fig.14 and Fig.15As shown, the loading assembly 5 also includes a third limiting plate 57, which is spaced apart on one side of the second limiting plate 532 in the first horizontal direction and is arranged parallel to the first limiting plate 531 to limit the movement of items on the loading platform 52 in the first horizontal direction when the limiting structure 53 is in the third limiting state.

[0139] When the operator pushes the object toward the third limit plate 57, the third limit plate 57 will prevent the object from going deeper, ensuring that the object is always kept in a safe and stable clamping space, thereby effectively preventing the operator from placing the object too deep when placing it, thereby avoiding the risk of the object falling from the loading platform 52. Fig.14 As shown, the third limiting plate 57 may be disposed on the outer peripheral side of the loading platform 52. Exemplarily, the third driving mechanism 56 is located on a side of the third limiting plate 57 that is away from the loading platform 52.

[0140] In some embodiments, Fig.14 and Fig.15 As shown, the centering structure 55 also includes a fourth driving mechanism 554, a second mounting seat 555 and a third mounting seat 556. The fourth driving mechanism 554 is used to drive the third limit group 551 and the fourth limit group 552 to move. The third limit group 551 includes a plurality of first limit members 5511 spaced apart along the fourth horizontal direction. The fourth limit group 552 includes a plurality of second limit members 5521 spaced apart along the fourth horizontal direction. The plurality of first limit members 5511 are plugged into the second mounting seat 555, and the plurality of second limit members 5521 are plugged into the third mounting seat 556. The fourth horizontal direction is parallel to the first horizontal direction. One end of the second mounting seat 555 and the third mounting seat 556 in the fourth horizontal direction is connected to the fourth driving mechanism 554, and the other end of the second mounting seat 555 and the third mounting seat 556 in the fourth horizontal direction is slidably matched with the third frame 51. Therefore, the second mounting seat 555 and the third mounting seat 556 are driven to move relative to each other and move back to back through the fourth driving mechanism 554, and the second mounting seat 555 and the third mounting seat 556 move relatively smoothly.

[0141] In some embodiments, Fig.19 As shown, the appearance inspection device 100 also includes a first paper spacer assembly 71 and a first paper spacer conveying assembly 72, and the first paper spacer conveying assembly 72 is used to transfer the paper spacer on the loading assembly 5 to the first paper spacer assembly 71; and / or, the appearance inspection device 100 also includes a second paper spacer assembly 73 and a second paper spacer conveying assembly 74, and the second paper spacer conveying assembly 74 is used to transfer the paper spacer on the second paper spacer assembly 73 to the unloading assembly 3.

[0142] For a stack of items to be inspected (such as flexible circuit boards), a paper separator is provided between two adjacent items to separate the two, which plays a certain protective role. At this time, the inspection of the stack of items can be carried out by transferring the paper separator to the first paper separator assembly 71 through the first paper separator conveying assembly 72, so as to separate the paper separator from the items to be inspected, so that the appearance inspection device 100 only performs appearance inspection on the items to be inspected, and at the same time, the paper separator is stored for subsequent reuse. Of course, after the inspection of some items is completed, if they are stacked, it is necessary to place a paper separator between two adjacent items. At this time, the paper separator on the second paper separator assembly 73 can be transmitted to the unloading assembly 3 through the second paper separator conveying assembly 74, so that the paper separator and the inspected items are stacked alternately one by one.

[0143] Optionally, the first paper separation transport assembly 72 and the second paper separation transport assembly 74 both include a driving structure and a suction cup structure, and the driving structure drives the suction cup structure to move; the structure of the first paper separation assembly 71 and the second paper separation assembly 73 can be the same as the structure of the second unloading structure 32.

[0144] The present application does not make any specific restrictions on the location of the first paper spacer assembly 71 relative to the loading assembly 5, and the present application does not make any specific restrictions on the location of the second paper spacer assembly 72 relative to the unloading assembly 3. For example, Fig.19 As shown, the first paper spacer assembly 71 is arranged on at least one side of the upper material assembly 5 on the second horizontal direction; the second paper spacer assembly 73 is arranged on at least one side of the lower material assembly 3 on the second horizontal direction.

[0145] In some embodiments, Figure 1 As shown, the appearance inspection device 100 is a straight-line structure, and includes a loading component 5, a loading and handling component 6, a conveying component 1, an image acquisition component 2, a unloading component 3 and a unloading and handling component 4. The image acquisition component 2 includes a first image acquisition unit 21 and a second image acquisition unit 22. The unloading component 3 includes a first unloading structure 31. The loading component 5 and the first unloading structure 31 are respectively located on opposite sides of the conveying component 1 in a first horizontal direction. The conveying component 1 has a conveying surface 10 and is used to convey objects along a first horizontal direction.

[0146] For example, the loading and transporting component 6 transfers the articles on the loading and transporting component 5 to the conveying surface 10 of the conveying component 1, and then the conveying component 1 drives the articles to be transported along the first horizontal direction. During the transport process, the upper surface of the articles passes through the acquisition range of the first image acquisition unit 21 to realize image acquisition of the upper surface of the articles; then, the unloading and transporting component 4 picks up the articles on the conveying component 1 and drives the articles to move along the first horizontal direction. During the movement, the lower surface of the articles passes through the acquisition range of the second image acquisition unit 22 to realize image acquisition of the lower surface of the articles, and then the unloading and transporting component 4 transfers the articles to the first unloading structure 31; this cycle is repeated to realize stacking and placing of the inspected articles on the first unloading structure 31. Exemplarily, the first image acquisition unit 21 may include one or more cameras, and the second image acquisition unit 222 may include one or more cameras.

[0147] Other structures and operations of the appearance inspection device 100 according to the embodiment of the present invention are known to those skilled in the art and will not be described in detail here.

[0148] In addition, it should be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, the present application will not further explain various possible combinations. In addition, the various different embodiments of the present application can also be combined arbitrarily, as long as they do not violate the idea of ​​the present application, they should also be regarded as the contents disclosed in the present application.

[0149] In the description of the present utility model, it is necessary to understand that the terms "center", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present utility model. In addition, features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present utility model, unless otherwise specified, "multiple" means two or more.

[0150] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0151] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the utility model. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0152] Although the embodiments of the present invention have been shown and described, those skilled in the art will appreciate that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. An appearance inspection device, characterized in that: include: a conveying assembly having a conveying surface and configured to convey articles along a first horizontal direction; An image acquisition component, the image acquisition component comprising a first image acquisition unit and a second image acquisition unit, the first image acquisition unit being disposed above the conveying surface and used to acquire an image of an upper surface of an article on the conveying surface, and the second image acquisition unit being disposed below the conveying surface and used to acquire an image of a lower surface of an article; A material unloading component, which is spaced apart from and independently arranged on the conveying component, and is used to stack and hold the objects acquired by the image acquisition component; The material unloading and handling assembly is used to drive the objects captured by the first image acquisition unit to move through the acquisition range of the second image acquisition unit and be transferred to the material unloading assembly.

2. The appearance inspection device according to claim 1, characterized in that: The material handling assembly comprises: First Pedestal; A second base, wherein the second base cooperates with the first base to define a plurality of adsorption chambers arranged at intervals, wherein the plurality of adsorption chambers are respectively suitable for being connected to different negative pressure sources, and a plurality of first adsorption holes are formed on a side of the second base away from the first base, and each of the adsorption chambers is respectively connected to a corresponding plurality of the first adsorption holes; A suction unit is provided at each of the first suction holes, and each of the suction units includes a plurality of vacuum suction cups arranged at intervals.

3. The appearance inspection device according to claim 2, characterized in that: The first base is formed as a square plate, the length of the first base is greater than the width of the first base, the multiple adsorption chambers include a first adsorption chamber, a second adsorption chamber and a third adsorption chamber arranged in sequence along the length direction of the first base, and the number of the first adsorption holes corresponding to the second adsorption chamber is greater than the number of the first adsorption holes corresponding to the first adsorption chamber and the number of the first adsorption holes corresponding to the third adsorption chamber.

4. The appearance inspection device according to claim 2, characterized in that: The distance between two adjacent first adsorption holes is greater than the distance between two adjacent vacuum suction cups.

5. The appearance inspection device according to claim 2, characterized in that: The adsorption unit further comprises: A first mounting seat, wherein the first mounting seat has a connecting cavity therein, a second adsorption hole connecting the first adsorption hole and the connecting cavity is formed on one side of the first mounting seat, a plurality of third adsorption holes are formed on the other side of the first mounting seat, each of the third adsorption holes is connected to one of the vacuum suction cups, and on a side surface of the first base corresponding to the adsorption cavity, an orthographic projection of the peripheral wall of the first adsorption hole is located within the orthographic projection range of the wall surface of the connecting cavity.

6. The appearance inspection device according to claim 5, characterized in that: In a single first mounting seat, a plurality of second adsorption holes arranged at intervals along the first horizontal direction constitute a group of adsorption hole groups. The adsorption hole groups are multiple groups and are arranged at intervals along the second horizontal direction. The second adsorption holes of two adjacent groups of the adsorption hole groups are staggered one by one in the first horizontal direction, and the first horizontal direction intersects with the second horizontal direction.

7. The appearance inspection device according to claim 1, characterized in that: The blanking assembly comprises: a first unloading structure, the first unloading structure being used to stack and hold the objects acquired by the second image acquisition unit; a second blanking structure, wherein the second blanking structure is spaced apart from the first blanking structure; A conveying structure, wherein the conveying structure is used to transport qualified articles on the first unloading structure to the second unloading structure, the first unloading structure includes a first frame, a conveying mechanism and a first driving mechanism, the conveying mechanism is arranged on the first frame, and the first driving mechanism is used to drive the conveying mechanism to convey unqualified articles along a third horizontal direction.

8. The appearance inspection device according to claim 7, characterized in that: The third horizontal direction is parallel to the first horizontal direction, the first material unloading structure is provided with the second material unloading structure on at least one side of the second horizontal direction, the second material unloading structure comprises a second frame and a loading platform, the loading platform is liftably provided on the second frame, the second horizontal direction intersects with the third horizontal direction, The conveying structure is arranged on the second frame and includes a linear drive mechanism and an adsorption platform. The linear drive mechanism is used to drive the adsorption platform to move along the second horizontal direction to transport qualified articles on the conveying mechanism to the loading platform.

9. The appearance inspection device according to claim 7, characterized in that: The transmission mechanism comprises: Mounting frame; A driving wheel and a driven wheel, the driving wheel and the driven wheel are arranged at intervals along the third horizontal direction and are rotatably mounted on the mounting frame respectively, and the position of at least one of the driving wheel and the driven wheel in the third horizontal direction is adjustable relative to the mounting frame, so that the spacing between the driving wheel and the driven wheel in the third horizontal direction is adjustable; A first flexible transmission member is wound around the driving wheel and the driven wheel.

10. The appearance inspection device according to claim 9, characterized in that: The position of the driving wheel in the third horizontal direction is adjustable relative to the mounting frame, The first driving mechanism includes a first driver and a second flexible transmission member. The first driver is fixed to the mounting frame and drives the driving wheel to rotate through the second flexible transmission member.

11. The appearance inspection device according to any one of claims 1 to 10, characterized in that: The blanking assembly includes a first blanking structure, and the first blanking structure is used to hold the objects captured by the second image acquisition unit. The first blanking structure comprises: First rack; A conveying mechanism, wherein the conveying mechanism is arranged on the first frame; a first driving mechanism, the first driving mechanism being used to drive the conveying mechanism to convey articles along a third horizontal direction; a second driving mechanism, the second driving mechanism being disposed on the first frame and being used for driving the conveying mechanism and the first driving mechanism to rise and fall relative to the first frame; The detection mechanism is used to detect the change in the stacking height of the articles on the conveying mechanism and communicate with the first driving mechanism and the second driving mechanism respectively, so that the first driving mechanism controls whether the conveying mechanism is running according to the detection result of the detection mechanism, and the second driving mechanism controls the height position of the conveying mechanism according to the detection result of the detection mechanism.

12. The appearance inspection device according to any one of claims 1 to 10, characterized in that: It also includes a loading assembly and a loading and conveying assembly, wherein the loading and conveying assembly is used to transfer the items on the loading assembly to the conveying assembly. The feeding assembly comprises: The third rack; A loading platform, which is liftably disposed on the third frame; A limiting structure, the limiting structure is arranged on the third frame and includes a first limiting plate and a second limiting plate, the limiting structure has a first limiting state, and the limiting structure also has at least one of a second limiting state and a third limiting state, at least one of the first limiting plate and the second limiting plate is movably arranged, In the first limiting state, the first limiting plate and the second limiting plate are cross-arranged and vertically penetrate the loading platform, so that the limiting structure is used to limit the movement of the items on the loading platform in the first horizontal direction and the second horizontal direction, and the first horizontal direction intersects with the second horizontal direction. In the second limiting state, the first limiting plate is vertically disposed on the loading platform, so that the limiting structure is used to limit the movement of the items on the loading platform in the first horizontal direction, and the second limiting plate is located outside the loading platform. In the third limiting state, the second limiting plate is vertically penetrated through the loading platform, so that the limiting structure is used to limit the movement of the items on the loading platform in the second horizontal direction, and the first limiting plate is located outside the loading platform.

13. The appearance inspection device according to claim 12, characterized in that: The feeding assembly also includes: The fourth frame defines an installation cavity, and the installation cavity is open on one side and the top side in the fourth horizontal direction. The third frame, the loading platform and the limiting structure are all arranged in the installation cavity, and the fourth horizontal direction is parallel to the first horizontal direction, or the fourth horizontal direction is parallel to the second horizontal direction.

14. The appearance inspection device according to claim 13, characterized in that: The feeding assembly also includes: The centering structure is arranged on the third frame and includes a third limit group and a fourth limit group. The third limit group and the fourth limit group are both vertically penetrated through the loading platform and can move relative to and back to back with respect to the loading platform along the fifth horizontal direction. The limit structure is located between the third limit group and the fourth limit group, and the fifth horizontal direction is perpendicular to the fourth horizontal direction.

15. The appearance inspection device according to claim 14, characterized in that: The third limit group includes a plurality of first limit members spaced apart along a fourth horizontal direction, and the fourth limit group includes a plurality of second limit members spaced apart along the fourth horizontal direction. The width of the first limiting plate is smaller than that of the second limiting plate, the fifth horizontal direction and the second horizontal direction are respectively perpendicular to the first horizontal direction, and at least one first limiting member and at least one second limiting member are correspondingly provided on both sides of the first limiting plate in the first horizontal direction.

16. The appearance inspection device according to claim 12, characterized in that: Also includes: A first paper spacer assembly and a first paper spacer conveying assembly, wherein the first paper spacer conveying assembly is used to transfer the paper spacers on the loading assembly to the first paper spacer assembly; and / or, A second paper spacer assembly and a second paper spacer conveying assembly, wherein the second paper spacer conveying assembly is used to transfer the paper spacers on the second paper spacer assembly to the blanking assembly.

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