Appearance inspection machine

Abstract

The utility model discloses an appearance inspection machine which comprises a main body provided with a working platform, a detection device is arranged on the working platform, a manipulator capable of moving in three dimensions is arranged on the working platform, a positioning device is arranged on the main body, and after the manipulator grabs a product to be detected, the product to be detected is moved to a detection area of a detection camera. And the spatial position of the to-be-detected product relative to the detection camera is converted, so that the detection camera can shoot a product image at a proper angle. According to the utility model, the manipulator capable of moving in three dimensions is adopted to grab the product to be detected, the detection camera is utilized to shoot images reflecting the quality of the product to be detected from multiple angles, whether the product is a qualified product is judged, and the omission ratio is low.

Description

Technical Field

[0001] The utility model belongs to the technical field of circuit board production, and particularly relates to an appearance inspection machine for inspecting and sorting the appearance of products used in the circuit board production process. Background Art

[0002] During the circuit board production process, there are often many small components. The quality of each small component may affect the normal use of the entire circuit board. Therefore, it is necessary to inspect each small component during the production process to ensure that it is a qualified product before proceeding to the next operation. When inspecting the appearance of small components, using the human eye for discrimination has a high error rate and low work efficiency. Generally, an appearance inspection machine with a camera is used for inspection.

[0003] The existing appearance inspection machines generally place the product to be inspected at the inspection position and use multiple cameras to take pictures of multiple sides of the product. After systematic analysis and comparison, it is judged whether the product has defects. When using this method to inspect the product, generally 4 to 6 or more cameras are required to take pictures of the support surface of the product at a fixed angle. However, for products with complex shapes or specific structures, there is still a possibility of misjudgment. For example, when inspecting whether there are defects in the inner hole of a terminal, the existing appearance inspection machines often miss detections. Summary of the Invention

[0004] Aiming at the problems existing in the prior art, the main purpose of the utility model is to provide an appearance inspection machine that can detect products from multiple angles and has a low missed detection rate.

[0005] To achieve the above main purpose, the utility model provides an appearance inspection machine, including a main body. The main body is provided with a working platform. A detection device including a detection camera is installed on the working platform. A manipulator capable of three-dimensional movement is arranged on the working platform. A positioning device is arranged on the main body to determine the position of the product to be inspected and transmit it to the manipulator. After the manipulator grabs the product to be inspected, it moves the product to be inspected to the detection area of the detection camera and converts the spatial position of the product to be inspected relative to the detection camera, so that the detection camera can take product images at appropriate angles.

[0006] As can be seen from the above solution, after the manipulator that can move in three dimensions grabs the product to be detected and transports it to the detection area, the spatial position of the product to be detected relative to the camera can be flexibly adjusted by translating, rotating or flipping the product to be detected according to its shape and structure. The support surface is not fixed, and images reflecting the quality of the product to be detected can be taken at any angle. The angle that can reflect the product quality is the appropriate angle. Judging whether the product is a qualified product is easier to detect the appearance defects of products with irregular shapes and has a lower missed detection rate compared to the method of using multiple cameras to take pictures of each side of the product at fixed angles.

[0007] According to a specific embodiment of the present invention, the detection device includes a light source, and the position of the light source relative to the detection camera can be independently adjusted at multiple angles.

[0008] As can be seen from the above solution, the light source can be independently adjusted at multiple angles, so that the features that may be in the shadow part of the product to be detected under normal circumstances can be captured by the detection camera due to the incident light, and product images are formed, further improving the defect detection rate.

[0009] According to a specific embodiment of the present invention, a tray conveying device is provided on the working platform. The product to be detected is placed in the tray. The tray conveying device is provided with a loading position, a grasping / placement position, and a receiving position; the positioning device includes a positioning camera that takes pictures of the tray at the grasping / placement position and transmits the position information of the product to be detected on the tray to the manipulator; the manipulator grasps the product to be detected according to the position information and moves it to the detection area. After the detection is completed, the qualified products are placed back into the tray. After all the products in the tray are detected, the tray conveying device conveys the tray to the receiving position. Through the tray and the tray conveying device, automatic supply and collection of a large number of products to be detected can be carried out.

[0010] According to a specific embodiment of the present invention, at the grasping / placement position, the tray conveying device is provided with a tray fixing mechanism. The tray is fixed by the tray fixing mechanism so that the tray does not move when the manipulator grasps the product to be detected on the tray and places the detected product.

[0011] According to a specific embodiment of the present invention, an unqualified product placement position is also provided on the working platform, and the manipulator places the products judged to be unqualified after detection into the tray located at the unqualified product placement position. By setting the unqualified product placement position, the collection of unqualified products is completed by the manipulator.

[0012] According to a specific embodiment of the present utility model, a displacement device is provided on the working platform. After the tray at the non-conforming product placement position is filled with non-conforming products, the displacement device is activated to move the filled tray out of the non-conforming product placement position and place an empty tray at the non-conforming product placement position. The collection of non-conforming products can be made continuous by means of the displacement device.

[0013] According to a specific embodiment of the present utility model, the detection device includes a first detection device and a second detection device. The first detection device includes a first detection camera that shoots upward, and the second detection device includes a second detection camera that shoots horizontally. The detection areas of the first detection camera and the second detection camera partially overlap. The manipulator places the product to be detected in the overlapping area, and the product is detected simultaneously by two cameras arranged horizontally and vertically. The detections of the two cameras do not interfere with each other, and the detection efficiency is high.

[0014] According to a specific embodiment of the present utility model, the first detection camera is provided with a vertical adjustment mechanism, and the second detection camera is provided with a vertical adjustment mechanism and a horizontal adjustment mechanism. By adjusting the position of the detection camera through the adjustment mechanism, the inspection machine can be made applicable to the detection of more products.

[0015] According to a specific embodiment of the present utility model, the manipulator is a six-axis manipulator. The six-axis manipulator has a high degree of freedom and high versatility.

[0016] According to a specific embodiment of the present utility model, the manipulator is provided with a suction cup, and the suction cup can be adsorbed on the surface of the product to be detected that does not need to be detected to grab the product to be detected. The suction cup is used to grab the product to be detected, and the structure is simple and the operation is convenient.

[0017] In order to more clearly illustrate the above objects, technical solutions and advantages of the present utility model, the present utility model will be further described in detail below with reference to the drawings and specific embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 is a schematic structural diagram of an embodiment of the present utility model;

[0019] Figure 2 is a top view structural diagram of the embodiment of the present utility model after removing the top shell;

[0020] Figure 3 is a schematic structural diagram of the camera assembly in the embodiment of the present utility model. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0021] In the following description, many specific details are set forth to facilitate a full understanding of the present utility model. However, it will be readily understood by those skilled in the art that the present utility model may also be implemented in other ways different from those described herein. Therefore, other implementable ways that can be known to those skilled in the art based on the embodiments described in this application all fall within the protection scope of this application.

[0022] As Figure 1 shown, the appearance inspection machine 100 includes a main body 10. The main body 10 may be provided with a housing, and part of the housing may be transparently provided to observe the operation of each device inside the main body 10. A machine door that can be opened or closed may also be provided on the housing. At approximately the middle position of the height of the main body, a working platform is provided.

[0023] As Figure 2 shown, a tray conveying device 110, a manipulator 20, and an inspection device 30 are installed on the working platform 11. The tray conveying device 110 has a loading position 111, a grasping / placement position 112, and a receiving position 113. At the loading position 111, trays for placing products to be detected inside can be stacked. The tray conveying device conveys one tray to the grasping / placement position 112 each time. When the positioning camera serving as a positioning device detects that the tray is at the grasping / placement position 112, the tray fixing mechanism 1121 is activated to fix the tray. The positioning camera photographs the positions of each product to be detected in the tray and transmits them to the manipulator 20. The manipulator sequentially grasps the products to be detected in the tray according to the information transmitted by the positioning camera. The products determined to be qualified after inspection are placed back into the original positions in the tray. When all the products to be detected in the tray have been inspected, the tray fixing mechanism releases the fixation of the tray, and the tray conveying device 110 transports the tray to the receiving position 113. The receiving position 113 may be located outside the housing of the main body, so that the stacking and collection of trays can be carried out without opening the housing. The track of the tray conveying device 110 may be set to be adjustable to accommodate trays of different sizes.

[0024] The stacking of the trays after inspection at the receiving position 113 may be as follows: After the tray reaches the receiving position, the pushing mechanism pushes the tray upward and fixes it. A space for accommodating the tray is formed at the bottom of the receiving position. When the next inspected tray reaches the receiving position, the pushing mechanism pushes the tray upward and drives the original tray to move upward together, and a space for accommodating the tray is formed again at the bottom, so as to stack the trays after inspection. After stacking to a certain height or quantity, they are collected.

[0025] The appearance inspection machine 100 uses the inspection device 30 to perform product inspection. The inspection device 30 includes a first inspection device 32 and a second inspection device 31. As Figure 3As shown in the figure. The second detection device 31 includes a second detection camera 311 arranged horizontally and is disposed on a horizontal adjustment mechanism 312. The horizontal adjustment mechanism 312 can adjust the horizontal position of the second detection camera 311 left and right. The horizontal adjustment mechanism 312 is arranged on a vertical adjustment mechanism 313, and the vertical adjustment mechanism can adjust the vertical positions of the horizontal adjustment mechanism 312 and the second detection camera 311. In front of the second detection camera 311, there is a light source 314, and the light source 314 can be independently adjusted at multiple angles to better read the product. The first detection device 32 includes a first detection camera 321, and the first detection camera 321 is arranged on a vertical adjustment mechanism 322 to adjust the vertical position of the first detection camera 321. Above the first detection camera 321, there is a light source 323, and the light source 323 can be independently adjusted at multiple angles to better read the product. Among them, the first detection camera 321 and the second detection camera 311 can adopt high-definition color cameras with high-resolution lenses, and the light sources 323 and 314 can adopt combined light sources. The second detection camera 321 is installed above the working platform 11, while the first detection camera 321 can be partially installed below the working platform 11 and extend above the working platform 11 through the holes provided on the working platform 11.

[0026] The manipulator 20 can be a six-axis manipulator, and the end of the manipulator can have multiple suction cups for grasping products, where the suction cups can be anti-static suction cups. The displacement device 40 can be a rotary cylinder with two placement positions. On the tray placed at the unqualified product placement position 41, the products detected as unqualified are sequentially placed by the manipulator 20. The empty tray placement position 42 can be located outside the main body housing and can place empty trays. When the tray at the unqualified product placement position 41 is filled with unqualified products, the rotary cylinder can rotate to move the filled tray from the unqualified product placement position to the outside of the main body housing, and the empty tray is moved to the unqualified product placement position for placing unqualified products. The filled tray of unqualified products can be taken away and replaced with the next empty tray.

[0027] When working with the embodiments of the present utility model, a tray stacked with products to be detected can be placed at the loading position 111 of the tray conveying device 110 first. The tray conveying device 110 is activated to convey the lowermost tray to the grasping / placement position 112. The tray fixing mechanism 1121 is activated to fix the tray. The positioning camera captures the positions of the products in the tray and transmits the information to the manipulator 20. The manipulator 20 grasps the products to be detected according to the information, moves to the overlapping area of the detection areas of the first detection camera 321 and the second detection camera 311, and converts the spatial position of the products to be detected relative to the first detection camera 321 and the second detection camera 311, so that the first detection camera 321 and the second detection camera 311 can capture product images from multiple angles and determine whether the products are defective. The qualified products are placed at the original position of the tray located at the grasping / placement position 112. Then, the products to be detected at adjacent positions are successively grasped and moved to the detection area of the detection camera for detection and judgment. The unqualified products are placed by the manipulator 20 into the tray for unqualified products. After all the products to be detected in the tray at the grasping / placement position are detected, the tray conveying device 110 conveys the tray to the unloading position 113 and pushes it upward to create a space below that can accommodate the tray. The tray conveying device 110 conveys the lowermost tray at the loading position 111 to the grasping / placement position 112 for detection.

[0028] After the manipulator that can perform three-dimensional movement of the present utility model grasps the product to be detected and moves it to the detection area, it can flexibly adjust its spatial position relative to the detection camera by translating, rotating, or flipping the product to be detected according to the shape and structure of the product to be detected. Since the support surface is not fixed, images reflecting the quality of the product to be detected can be taken at any angle, and one or two detection cameras can be used to complete the task. Compared with the method of using multiple cameras to take pictures of each side of the product at fixed angles, it is easier to detect the appearance defects of products with irregular shapes, and the missed detection rate is low. For products with regular shapes, the embodiments of the present utility model can also be used for detection, which has the advantage of using fewer detection cameras compared with the prior art.

[0029] In other embodiments, the loading position can also be outside the housing of the main body; the loading device can also be different from the tray conveying device; the device for moving the tray for unqualified products can also adopt other known methods; two manipulators can be provided, and each manipulator can be provided with multiple suction cups.

[0030] Although the present utility model is disclosed above with preferred embodiments, it is not intended to limit the scope of implementation of the present utility model. Any ordinary technician in the art can make some improvements without departing from the inventive scope of the present utility model. That is, any changes or improvements made in accordance with the present utility model should be covered by the protection scope of the present utility model.

Claims

1. A visual inspection machine, comprising a main body, the main body being provided with a working platform, a detection device including a detection camera being installed on the working platform, characterized in that: The working platform is provided with a manipulator capable of three-dimensional movement, and the main body is provided with a positioning device for determining the position of the product to be inspected and transmitting it to the manipulator; After the robot grabs the product to be inspected, it moves the product to be inspected to the inspection area of ​​the inspection camera and transforms the spatial position of the product to be inspected relative to the inspection camera so that the inspection camera can capture an image of the product at a proper angle.

2. The visual inspection machine according to claim 1, characterized in that: The detection device comprises a light source, and the position of the light source relative to the detection camera can be independently adjusted at multiple angles.

3. The visual inspection machine according to claim 2, characterized in that: The work platform is provided with a pallet conveyor, and the products to be inspected are placed in the pallet. The pallet conveyor is provided with a loading position, a grabbing / placing position and a receiving position; The positioning device includes a positioning camera, which photographs the pallet at the grabbing / placing position and transmits the position information of the product to be inspected on the pallet to the manipulator; The robot grabs the product to be inspected according to the position information and moves it to the inspection area. After the inspection is completed, the qualified products are placed back into the pallet. After all the products in the pallet have completed the inspection, the pallet conveyor device conveys the pallet to the material receiving position.

4. The visual inspection machine according to claim 3, characterized in that: In the grabbing / placing position, the pallet conveying device is provided with a pallet fixing mechanism.

5. The visual inspection machine according to claim 3, characterized in that: The work platform is also provided with a position for placing unqualified products, and the robot places the products judged as unqualified after inspection into a tray located at the position for placing unqualified products.

6. The visual inspection machine according to claim 5, characterized in that: The work platform is provided with a shifting device. After the tray located at the defective product placement position is filled with defective products, the shifting device is started to move the full tray out of the defective product placement position and place an empty tray at the defective product placement position.

7. The visual inspection machine according to any one of claims 1 to 6, characterized in that: The detection device includes a first detection device and a second detection device, wherein the first detection device includes a first detection camera that shoots upward, and the second detection device includes a second detection camera that shoots horizontally, and detection areas of the first detection camera and the second detection camera partially overlap.

8. The visual inspection machine according to claim 7, characterized in that: The first detection camera is provided with a vertical adjustment mechanism, and the second detection camera is provided with a vertical adjustment mechanism and a horizontal adjustment mechanism.

9. The visual inspection machine according to any one of claims 1 to 6, characterized in that: The manipulator is a six-axis manipulator.

10. The visual inspection machine according to claim 9, characterized in that: The manipulator is provided with a suction cup, and the suction cup can be adsorbed on the surface of the product to be detected that does not need to be detected, so as to grasp the product to be detected.

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