Sheet edge detection equipment

Abstract

The utility model relates to the field of sheet detection, and discloses sheet edge detection equipment. The sheet edge detection equipment comprises a carrier module and a detection module, the carrier module is used for bearing a sheet and driving the sheet to move, the detection module comprises a detection driving mechanism and a detection assembly, the detection assembly is arranged on the detection driving mechanism and used for detecting the target edge of the sheet, and the detection driving mechanism is used for driving the detection assembly to move. Therefore, the detection assembly can detect the target edge of the sheet on the carrier module. According to the scheme, all the edges of the sheet can be detected on one station, the sheet detection device can adapt to the sheets of different sizes and the detection positions of the different sheets, the sheet detection completeness is guaranteed, meanwhile, the number of detection assemblies is reduced, the equipment size is reduced, and the detection equipment manufacturing cost is saved.

Description

Technical Field

[0001] This application relates to the technical field of sheet detection equipment, and in particular to a sheet edge detection equipment. Background Art

[0002] In recent years, with the development of technology, various sheets have been widely used in various industries. In particular, sheets such as glass are widely used in industries such as 3C electronics and automobiles. And the existing sheet edge defect detection is an important process in the sheet production process, and is a key step for controlling sheet edge defects.

[0003] In the related art, when detecting the edge defects of a sheet by a sheet edge detection device, taking a rectangular sheet as an example, usually two sets of detection components are set up to detect the edges of the sheet. One set is specifically used to detect the long edges of the sheet, and the other set is specifically used to detect the short edges of the sheet. However, the overall volume of the detection components of such a device is relatively large, which in turn leads to a relatively large structure of the entire device. Summary of the Utility Model

[0004] The embodiments of this application disclose a sheet edge detection device, which can reduce the number of detection components in the device while comprehensively detecting the sheet, reduce the floor area of the device, and save the cost of device manufacturing.

[0005] To achieve the above object, the embodiments of this application disclose a sheet edge detection device, including:

[0006] A carrier module for carrying the sheet; and,

[0007] A detection module, the detection module includes a detection driving mechanism and a detection component, the detection component is arranged on the detection driving mechanism, the carrier module is used to drive the sheet to move, so that the detection component detects the target edge of the sheet on the carrier module, wherein the target edge is any edge of the sheet edge.

[0008] As an optional implementation manner, in the embodiments of the present utility model, the detection driving mechanism is used to drive the detection component to move, so that the detection component detects the target edge of the sheet on the carrier module.

[0009] As an optional implementation manner, in the embodiments of the present utility model, the carrier module is used to drive the sheet to move, and the detection driving mechanism is used to drive the detection component to move, so that the detection component detects the target edge of the sheet on the carrier module.

[0010] As an optional implementation manner, in the embodiments of the present utility model, the carrier module includes:

[0011] The first vehicle movement component;

[0012] The second vehicle movement component, the second vehicle movement component is arranged on the first vehicle movement component, and,

[0013] The carrier table, the carrier table is arranged on the second vehicle movement component, the carrier table is used for carrying the sheet material, the first vehicle movement component is used for driving the second vehicle movement component to move along a first direction, and the second vehicle movement component is used for driving the carrier table to move along a second direction.

[0014] As an alternative embodiment, in the embodiment of the present utility model, the vehicle module further includes:

[0015] The carrier table rotation drive component, the carrier table is connected to the second vehicle movement component through the carrier table rotation drive component, and the carrier table rotation drive component is used for driving the carrier table to rotate.

[0016] As an alternative embodiment, in the embodiment of the present utility model, the carrier table is provided with a plurality of suction attachments, and the plurality of suction attachments are used for adsorbing the sheet material on the carrier table.

[0017] As an alternative embodiment, in the embodiment of the present utility model, the detection component includes:

[0018] The first detection device, the second detection device and the third detection device, the first detection device, the second detection device and the third detection device are all arranged on the detection drive mechanism;

[0019] The vehicle module is used for driving the sheet material to move, so that the edge of the sheet material moves along a preset path, and the detection drive mechanism is used for driving the first detection device, the second detection device and the third detection device to move respectively, so as to adjust the detection fields of view of the first detection device, the second detection device and the third detection device to the preset path;

[0020] The first detection device is used for detecting the side surface and the top angle of the sheet material, the second detection device is used for detecting the front and back sides at the edge of the sheet material, and the third detection device is used for detecting the front and back sides and the top angle at the edge of the sheet material.

[0021] As an alternative embodiment, in the embodiment of the present utility model, the first detection device includes a first detection CCD. The optical axis of the first detection CCD is located in the plane where the sheet is located. The first detection CCD is used to photograph the side surface of the sheet when the sheet moves along the preset path to detect the roughness of the side surface. The first detection CCD is also used to photograph the apex angle of the sheet when the sheet is stationary to detect the roughness of the apex angle.

[0022] As an alternative embodiment, in the embodiment of the present utility model, the second detection device includes:

[0023] A second detection CCD, the optical axis of the second detection CCD is perpendicular to the plane where the sheet is located. The second detection CCD is used to photograph the front surface at the edge of the sheet when the edge of the sheet moves along the preset path to detect the chipping and roughness of the front surface;

[0024] A third detection CCD, the optical axis of the third detection CCD is parallel to the plane where the sheet is located; and,

[0025] A prism, the prism is used to reflect the light from the back surface at the edge of the sheet to the third detection CCD, so that the third detection CCD can photograph the back surface at the edge of the sheet when the edge of the sheet moves along the preset path to detect the chipping and roughness of the back surface.

[0026] As an alternative embodiment, in the embodiment of the present utility model, the third detection device includes a fourth detection CCD and a fifth detection CCD. The optical axes of the fourth detection CCD and the fifth detection CCD are respectively arranged at an angle with the plane where the sheet is located. The fourth detection CCD and the fifth detection CCD are used to respectively photograph the front and back surfaces at the edge of the sheet when the edge of the sheet moves along the preset path to detect the roughness and chipping of the front and back surfaces. The fourth detection CCD and the fifth detection CCD are also used to respectively photograph the apex angle of the sheet when the sheet is stationary to detect the roughness and chipping of the apex angle.

[0027] As an alternative embodiment, in the embodiment of the present utility model, the angles between the optical axes of the fourth detection CCD and the fifth detection CCD and the plane where the sheet is located can be adjusted.

[0028] As an alternative embodiment, in the embodiment of the present utility model, the third detection device further includes a mounting plate. The mounting plate is arranged on the detection driving mechanism. The mounting plate is provided with an adjustment slot. The fourth detection CCD is adjustably mounted on the mounting plate through the adjustment slot to adjust the angle between the optical axis of the fourth detection CCD and the optical axis of the fifth detection CCD.

[0029] As an alternative implementation manner, in the embodiment of the present utility model, the fifth detection CCD is adjustably mounted on the mounting plate through the adjustment slot to adjust the included angle between the optical axis of the fourth detection CCD and the optical axis of the fifth detection CCD.

[0030] As an alternative implementation manner, in the embodiment of the present utility model, both the fourth detection CCD and the fifth detection CCD are adjustably mounted on the mounting plate through the adjustment slot to adjust the included angle between the optical axis of the fourth detection CCD and the optical axis of the fifth detection CCD.

[0031] As an alternative implementation manner, in the embodiment of the present utility model, the included angles between the optical axes of the fourth detection CCD and the fifth detection CCD and the plane where the sheet material is located are 45 degrees, and the adjustment range of the included angle is 30 degrees - 60 degrees.

[0032] As an alternative implementation manner, in the embodiment of the present utility model, the first detection device and the second detection device are located on one side of the carrier module, and the third detection device is located on the other side of the carrier module, so that when the edge of the sheet material moves along the preset path, while the first detection device and the second detection device complete the first edge detection of the sheet material, the third detection device can complete the detection of the second edge of the sheet material, and the first edge and the second edge are opposite to each other.

[0033] As an alternative implementation manner, in the embodiment of the present utility model, the detection driving mechanism includes:

[0034] A first detection motion module, both the first detection device and the second detection device are arranged on the first detection motion module, and the first detection motion module is used to drive the first detection device and the second detection device to move respectively to adjust the detection fields of view of the first detection device and the second detection device to the preset path; and,

[0035] A second detection motion module, the third detection device is arranged on the second detection motion module, and the second detection motion module is used to drive the third detection device to move to adjust the detection field of view of the third detection device to the preset path.

[0036] As an alternative implementation manner, in the embodiment of the present utility model, the sheet material edge detection device further includes:

[0037] A positioning device, and the positioning device is used to position the sheet material on the carrier module.

[0038] As an alternative implementation manner, in the embodiment of the present utility model, the sheet edge detection device further includes:

[0039] An identification device, which is arranged on the positioning device to identify the sheet on the carrier module.

[0040] Compared with the prior art, the beneficial effects of the present application are:

[0041] In the sheet edge detection device of the present application, the carrier module carries the sheet, and the carrier module moves with the sheet, so that the target edge of the sheet is adjusted into the detection field of view of the detection component, and the detection component detects the edge of the sheet within its detection field of view. At the same time, the carrier module moves with the sheet, so that any edge of the sheet can enter the detection field of view of the detection component and is detected by the detection component. In this way, relying on the carrier module to move with the sheet, all edges of the sheet can be detected by the detection component at one station, reducing the number of detection components in the device, thereby reducing the structural size and floor space of the device, and at the same time reducing the manufacturing cost of the device. Description of the Drawings

[0042] In order to more clearly illustrate the technical solutions in the embodiments of the present utility model, the drawings required to be used in the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present utility model, and for those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0043] Figure 1 It is a schematic structural diagram of the sheet edge detection device disclosed in the embodiment of the present application;

[0044] Figure 2 It is a front view of the sheet edge detection device disclosed in the embodiment of the present application;

[0045] Figure 3 It is a top view of the sheet edge detection device disclosed in the embodiment of the present application;

[0046] Figure 4 It is a schematic structural diagram of the carrier module disclosed in the embodiment of the present application;

[0047] Figure 5 It is a side view of the carrier module disclosed in the embodiment of the present application;

[0048] Figure 6 It is a partial structural schematic diagram of the first detection device and the second detection device from the first perspective disclosed in the embodiment of the present application;

[0049] Figure 7 It is a front view of the first detection device and the second detection device disclosed in the embodiment of the present application;

[0050] Figure 8 Side view of the first detection device and the second detection device disclosed in the embodiments of the present application;

[0051] Figure 9 Partial structural schematic diagram of the first detection device and the second detection device disclosed in the embodiments of the present application from a second perspective;

[0052] Figure 10 Partial structural schematic diagram of the third detection device disclosed in the embodiments of the present application;

[0053] Figure 11 Front view of the third detection device disclosed in the embodiments of the present application;

[0054] Figure 12 Top view of the third detection device disclosed in the embodiments of the present application.

[0055] Explanation of reference numerals:

[0056] 100 - Sheet edge detection device;

[0057] 2 - Carrier module; 21 - First carrier movement component; 22 - Second carrier movement component; 23 - Carrier table; 231 - Adsorption member; 24 - Carrier table rotation drive component;

[0058] 3 - Detection module; 31 - Detection drive mechanism; 311 - First detection movement module; 312 - Second detection movement module; 32 - Detection component; 321 First detection device; 3211 - First detection CCD; 322 - Second detection device; 3221 - Second detection CCD; 3222 - Third detection CCD; 3223 - Prism; 323 - Third detection device; 3231 - Fourth detection CCD; 3232 - Fifth detection CCD; 3233 - Mounting plate; 3233a - Adjustment groove;

[0059] 4 - Positioning device;

[0060] 5 - Identification device;

[0061] X - First direction; Y - Second direction. Detailed implementation manners

[0062] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without making creative efforts shall fall within the protection scope of the present utility model.

[0063] In the present utility model, the orientation or positional relationship indicated by terms such as "upper", "lower", "inner", "outer", "vertical", "horizontal", etc. is based on the orientation or positional relationship shown in the drawings. These terms are mainly used to better describe the present utility model and its embodiments, and are not used to limit that the indicated device, element or component must have a specific orientation, or be constructed and operated in a specific orientation.

[0064] Moreover, in addition to being able to represent the orientation or positional relationship, some of the above terms may also be used to represent other meanings. For example, the term "upper" may also be used to represent a certain attachment relationship or connection relationship in some cases. For those of ordinary skill in the art, the specific meanings of these terms in the present utility model can be understood according to specific circumstances.

[0065] In addition, the terms "installed", "set", "provided with", "connected", "connected to" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, or there can be internal communication between two devices, elements or components. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.

[0066] In addition, the terms "first", "second", "third", "fourth", "fifth", etc. are mainly used to distinguish different devices, elements or components (the specific types and structures may be the same or different), and are not used to indicate or imply the relative importance and quantity of the indicated devices, elements or components.

[0067] Detecting the edge of a sheet is a relatively important step in the sheet production process. In the related art, when using a sheet edge detection device to detect the edge defects of a sheet, taking a rectangular sheet as an example, this sheet edge detection device usually sets two sets of detection modules to achieve the detection of the sheet edge. These two sets of detection modules are respectively set on two workstations. Among these two workstations, one workstation is used to detect the long edge of the sheet, and the other workstation is used to detect the short edge of the sheet. Therefore, one of the two sets of detection modules is located on the workstation for detecting the long edge of the sheet, and the other set is located on the workstation for detecting the short edge of the sheet. When detecting, first use the first set of detection modules to detect the long edge of the sheet on the first workstation. After the detection is completed, move the sheet to the second workstation and use the second set of detection modules to detect the short edge of the sheet. Such a sheet edge detection device has many detection modules and a relatively large overall volume, which in turn leads to a relatively large structure of the entire device and a large floor space.

[0068] Based on this, the present application discloses a sheet edge detection device, which can complete the detection of all edges of the sheet with fewer detection components, reducing the structural size of the device, reducing the floor area of the device, and saving the cost of manufacturing the device.

[0069] The technical solution of the present application will be further described below in conjunction with embodiments and drawings.

[0070] Please refer to Figures 1 to 3 , Figure 1 , which is a schematic structural diagram of the sheet edge detection device 100 disclosed in the embodiment of the present application. Figure 2 , which is a front view of the sheet edge detection device 100 disclosed in the embodiment of the present application. Figure 3 , which is a top view of the sheet edge detection device 100 disclosed in the embodiment of the present application. An embodiment of the present application discloses a sheet edge detection device 100, which is used to detect defects on the edges of a sheet, and the sheet can be glass. Specifically, the sheet edge detection device 100 includes a carrier module 2 and a detection module 3. The carrier module 2 is used to carry the sheet, and the detection module 3 includes a detection driving mechanism 31 and a detection component 32. The detection component 32 is arranged on the detection driving mechanism 31, and the detection component 32 is used to detect the target edge of the sheet on the carrier module 2. The carrier module 2 is used to drive the sheet to move so that the detection component 32 can detect the target edge of the sheet. Among them, the target edge is any edge in the sheet edge, including the apex angle of the sheet.

[0071] In this embodiment, the detection component 32 has a detection field of view, and the detection field of view is the range that the detection component 32 can detect. When it is necessary to detect defects on the sheet edge, first, the sheet can be placed on the carrier module 2. Then, the carrier module 2 can drive the sheet to move so that the target edge of the sheet is adjusted into the detection field of view of the detection component 32, and the detection component 32 is used to detect the target edge within its detection field of view. Since the target edge is any edge in the sheet edge, when the carrier module 2 drives the sheet to move, any edge of the sheet can enter the detection field of view of the detection component 32, and the detection component 32 is used to detect it. In this way, it can be realized that by relying on the carrier module 2 to drive the sheet to move, all edges of the sheet can be detected by a set of detection components 32 at one station. Compared with the device that can only complete the detection of all edges of the sheet by arranging multiple sets of detection components 32, the number of detection components 32 in the device is reduced, thereby reducing the structural size and floor space of the device, and at the same time reducing the cost of device manufacturing.

[0072] Exemplarily, taking a rectangular sheet as an example, the rectangular sheet has a long side and a short side. The rectangular sheet is placed on the carrier module 2, and the carrier module 2 moves the sheet, adjusts the long side of the sheet into the detection field of view of the detection component 32, and the detection component 32 detects the long side. Then the carrier module 2 moves the sheet again so that the short side of the sheet enters the detection field of view of the detection component 32 to complete the detection of the short side of the sheet. In addition, the carrier module 2 moves the sheet so that the apex angle of the sheet enters the detection field of view of the detection component 32 to complete the detection of the apex angle of the sheet. Thus, the detection component 32 completes the detection of all edges and apex angles of the sheet at one station.

[0073] That is to say, the sheet edge detection device 100 may include a set of carrier module 2 and a set of detection components 32. The carrier module 2 can move, and the detection components 32 are fixed on the detection driving mechanism 31. The carrier module 2 moves the sheet into the detection field of view of the detection components 32, and the detection components 32 detect the defects of the target edge of the sheet.

[0074] At the same time, the sheet edge detection device 100 can complete the detection of all edges of the sheet by using a set of detection components 32, which means that the detection of all edges of the sheet can be completed at one station. Compared with detecting the edges of the sheet at two or even multiple stations respectively, the time for transporting the sheet between different stations is saved, and the idleness of the detection components 32 is prevented, improving their utilization rate.

[0075] Among them, detecting the defects of the target edge of the sheet refers to detecting the roughness of the edge of the sheet and the chipping condition of the sheet edge. Of course, it can also be other defects of the sheet edge, such as the straightness of the sheet edge, the chamfering treatment of the sheet edge, and the notches and damages of the sheet edge. The target edge of the sheet is any edge of the sheet edge, including the apex angle of the sheet.

[0076] Optionally, in addition to the operation mode of the sheet edge detection device 100 described in the above embodiment, where the detection components 32 are fixed on the detection driving mechanism 31 and the carrier module 2 moves the sheet so that the detection components 32 detect the target edge of the sheet on the carrier module 2, it can also be that the carrier module 2 is fixed, the carrier module 2 carries the sheet, and the detection driving mechanism 31 drives the detection components 32 to move so that the detection components 32 detect the target edge of the sheet on the carrier module 2. That is to say, the carrier module 2 is fixed and does not move during detection, while the detection driving mechanism 31 can drive the detection components 32 to move, align the detection field of view of the detection components 32 with the target edge of the sheet to be detected on the carrier module 2, so that the target edge of the sheet is within the detection field of view of the detection components 32, and then the detection components 32 detect the target edge of the sheet on the carrier module 2.

[0077] In this way, when the sheet edge detection device 100 performs detection, the carrier module 2 is fixed, which can ensure that the sheet on the carrier module 2 is relatively fixed, guarantee the stability of the sheet during detection, and ensure the detection accuracy. Secondly, by controlling the movement of the detection component 32, it can ensure that the detection field of view is accurately aligned with the target edge of the sheet, avoiding detection blind spots or errors that may be caused by fixing the detection component 32, thereby improving the accuracy and reliability of detection. Moreover, the mobility of the detection component 32 enables the sheet edge detection device 100 to adapt to the detection requirements of sheets of various specifications and shapes, without the need to replace or adjust the entire detection device, improving the versatility and flexibility of the device. In addition, traditional manual adjustment of the detection position requires cumbersome operations by humans, which not only has a high labor intensity but also is prone to errors. The design of using the detection drive mechanism 31 to drive the movement of the detection component 32 greatly reduces the labor intensity of humans and reduces the detection errors caused by human factors.

[0078] It can be understood that in addition to the operation mode of the sheet edge detection device 100 described above, it can also be that the carrier module 2 drives the sheet to move, and the detection drive mechanism 31 also drives the detection component 32 to move, so that the detection component 32 detects the target edge of the sheet on the carrier module 2. That is to say, when the sheet edge detection device 100 detects the sheet, the carrier module 2 drives the sheet to move, and at the same time the detection component 32 moves under the drive of the detection drive mechanism 31. The carrier module 2 drives the sheet into the detection field of view of the detection component 32, and the movement of the detection component 32 can adjust its detection field of view, so that the detection field of view of the detection component 32 is aligned with the target edge of the sheet on the carrier module 2. In this way, the carrier module 2 continuously drives the sheet to move, while the detection component 32 quickly and accurately completes the detection task within its detection field of view. This continuous operation mode reduces the waiting time and improves the overall detection efficiency. Moreover, by controlling the movement of the detection component 32 under the detection drive mechanism 31, its detection field of view can be finely adjusted to ensure that the detection field of view is accurately aligned with the target edge of the sheet, improving the accuracy and reliability of the detection of the target edge of the sheet. At the same time, such a sheet edge detection device 100 can be more adaptively adjusted according to the actual size, shape or edge position of the sheet, improving the production efficiency and equipment utilization rate.

[0079] Refer to Figure 4 , Figure 4Schematic diagram of the structure of the vehicle module 2 disclosed in the embodiments of the present application. In some embodiments, the vehicle module 2 includes a first vehicle movement component 21, a second vehicle movement component 22, and a carrier 23. The second vehicle movement component 22 is disposed on the first vehicle movement component 21, and the carrier 23 is disposed on the second vehicle movement component 22. The carrier 23 is used to carry a sheet, and the first vehicle movement component 21 is used to drive the second vehicle movement component 22 to move along a first direction X, and the second vehicle movement component 22 is used to drive the carrier 23 to move along a second direction Y. In other words, the first vehicle movement component 21 of the vehicle module 2 drives the second vehicle movement component 22 to move along Figure 1 the first direction X in Figure 1 therein, and the second vehicle movement component 22 drives the carrier 23 to move along

[0080] the second direction Y in Figure 1 therein, so that the carrier 23 can drive the sheet to move along the first direction X and at the same time can move along the second direction Y.

[0081] Among them, as

[0082] shown, the first direction X is the direction from the vehicle module 2 to the detection module 3, and the second direction Y is the direction perpendicular to the first direction X in the horizontal plane. Figure 4 and Figure 5As shown, the vehicle module 2 further includes a stage rotation drive assembly 24. The stage 23 is connected to the second vehicle movement assembly 22 through the stage rotation drive assembly 24, and the stage rotation drive assembly 24 is used to drive the stage 23 to rotate. In other words, taking a rectangular sheet as an example, the rectangular sheet has a pair of long sides and a pair of short sides. By rotating the stage rotation drive assembly 24, the long side and the short side of the sheet can be switched at the detection assembly 32, and different apex angles of the sheet can also be switched at the detection assembly 32. For example, after the long side of the sheet has been detected within the detection field of view of the detection assembly 32, the stage rotation drive assembly 24 rotates to move the detected long side out of the detection field of view of the detection assembly 32 and move the undetected short side into the detection field of view of the detection assembly 32. After both the long side and the short side of the sheet have been detected, the stage rotation drive assembly 24 drives the stage 23 to rotate by a certain angle to make the apex angle of the sheet enter the detection field of view of the detection assembly 32, and then drives the stage 23 to rotate by a certain angle to make different apex angles of the sheet all enter the detection field of view of the detection assembly 32 for detection.

[0083] Thus, the stage rotation drive assembly 24 enables all edges of the sheet to be detected at one station, can automatically adjust different edges of the sheet (such as the long side and the short side) to enter the detection field of view of the detection assembly 32, without manual intervention or changing the position of the sheet, thereby greatly shortening the detection cycle and improving the overall detection efficiency. And it makes the detection process more flexible, can be adaptively adjusted according to sheets of different shapes and sizes. Whether it is a rectangular, square or other polygonal sheet, the stage 23 can be rotated by the stage rotation drive assembly 24 to ensure that all edges to be detected can be accurately detected. At the same time, the stage rotation drive assembly 24 can control the rotation angle and position of the stage 23, so it can ensure the stability and accuracy of the sheet during the detection process, thereby improving the detection accuracy and reliability.

[0084] Optionally, as Figure 4 and Figure 5 shown, a plurality of adsorbing members 231 are provided on the stage 23, and the plurality of adsorbing members 231 are used to adsorb the sheet on the stage 23. It should be noted that the adsorbing member 231 can be an adsorption disc, an adsorption hole or other shapes, and the present embodiment does not make specific limitations in this regard. Exemplarily, the adsorbing member 231 is an adsorption hole, that is, a plurality of adsorption holes are formed on the stage 23, and these adsorption holes are evenly distributed on the surface of the stage 23 in contact with the sheet, and the adsorption holes adsorb the sheet on the stage 23 to prevent the sheet from falling off the stage.

[0085] Through the uniform distribution and strong adsorption of multiple adsorbing members 231, the position of the sheet on the stage 23 is fixed, reducing displacement caused by vibration or external forces during the detection process. At the same time, stable adsorption helps maintain the flatness of the sheet surface, avoiding unevenness during the detection process, thereby improving the detection accuracy. Moreover, stable adsorption enables the stage 23 to support continuous operation without frequent interruption to re-fix the sheet, further enhancing the detection efficiency. In addition, the fixing method of using the adsorbing member 231 to adsorb the sheet reduces the risk of scratches or damage that may be caused by traditional physical contact methods such as clamps, and this fixing method is applicable to various types of sheets, including ultra-thin, ultra-thick, and irregular sheets that are difficult to fix by traditional methods.

[0086] In some embodiments, as Figures 1 to 3 shown, the detection assembly 32 includes a first detection device 321, a second detection device 322, and a third detection device 323. The first detection device 321, the second detection device 322, and the third detection device 323 are all disposed on the detection driving mechanism 31. The carrier module 2 drives the sheet to move, causing the edge of the sheet to move along a preset path. The detection driving mechanism 31 is used to drive the first detection device 321, the second detection device 322, and the third detection device 323 respectively to adjust the detection fields of view of the first detection device 321, the second detection device 322, and the third detection device 323 to the preset path of the sheet edge. The first detection device 321 is used to detect the side and top corners of the sheet, the second detection device 322 is used to detect the front and back sides at the edge of the sheet, and the third detection device 323 is used to detect the front and back sides and the top corners at the edge of the sheet.

[0087] In this way, three groups of detection devices, namely the first detection device 321, the second detection device 322, and the third detection device 323, are adopted. These three groups of detection devices are respectively responsible for different detection tasks, ensuring that the side, the front and back sides of the edge, and the top corners of the sheet can be comprehensively detected. This clearly defined division of labor covers all key parts of the sheet detection, ensuring the comprehensiveness and accuracy of the detection. Moreover, in this way, each detection device is reasonably utilized, improving the utilization rate of each detection device, avoiding setting too many detection devices, reducing unnecessary resource waste, and lowering the production cost of the sheet edge detection device 100.

[0088] Further, referring to Figures 6 to 9 , Figure 6 is a partial structural schematic diagram of the first detection device 321 and the second detection device 322 from the first perspective disclosed in the embodiment of the present application, Figure 7 is a front view of the first detection device and the second detection device disclosed in the embodiment of the present application, Figure 8Side view of the first detection device and the second detection device disclosed in the embodiments of the present application Figure 9 It is a schematic diagram of a partial structure of the first detection device and the second detection device disclosed in the embodiments of the present application from a second perspective. The first detection device 321 includes a first detection CCD (Charge Coupled Device), and the optical axis of the first detection CCD 3211 is located in the plane where the sheet is located. The first detection CCD 3211 is used to photograph the side of the sheet when the sheet moves along a preset path to detect the roughness of the side of the sheet. The first detection CCD 3211 is also used to photograph the four top corners of the sheet when the sheet is stationary to detect the roughness of the four top corners of the sheet.

[0089] When the detection CCD photographs the side, it is the sensor inside the detection CCD that receives the light reflected by the sheet and then takes the photo. The optical axis is the straight line of light propagation, and it passes through the center of the lens and the CCD sensor. Therefore, the fact that the optical axis of the first detection CCD 3211 is located in the plane where the sheet is located means that the imaging path of the first detection CCD 3211 is horizontally set, and the optical axis of the first detection CCD 3211 is on the sheet and perpendicular to the side of the sheet to photograph the side of the sheet.

[0090] In this way, the optical axis of the first detection CCD 3211 being located in the plane where the sheet is located can ensure that the images of the side and the top corners of the sheet taken are highly clear and accurate, which helps to more precisely measure and evaluate the roughness of the sheet, thereby improving the reliability of the detection results. Moreover, the first detection CCD 3211 can quickly and continuously photograph and process image data, and provide real-time feedback on the detection results, which helps to promptly discover and handle problems in the sheet, thereby improving the overall efficiency.

[0091] Optionally, as Figure 6 shown, the second detection device 322 includes a second detection CCD 3221, a third detection CCD 3222, and a prism 3223. The optical axis of the second detection CCD 3221 is perpendicular to the plane where the sheet is located. The second detection CCD 3221 is used to photograph the front at the edge of the sheet when the edge of the sheet moves along a preset path to detect the chipping and roughness of the front. The optical axis of the third detection CCD 3222 is parallel to the plane where the sheet is located. The prism 3223 is used to reflect the light from the back at the edge of the sheet to the third detection CCD 3222, so that the third detection CCD 3222 can photograph the back at the edge of the sheet when the edge of the sheet moves along a preset path to detect the chipping and roughness of the back.

[0092] Similarly, the optical axes of the second and third detection CCDs 3222 refer to the straight lines along which light propagates through the center of the lens and CCD sensor. The fact that the optical axis of the third detection CCD 3222 is parallel to the plane of the sheet material means that the imaging path of the third detection CCD 3222 is horizontal. However, the optical axis of the third detection CCD 3222 is not directly projected onto the surface of the sheet material. Instead, it is refracted onto the surface of the sheet material by the prism 3223.

[0093] By directly photographing the front of the sheet edge through the second detection CCD 3221 and reflecting the light from the back to the third detection CCD 3222 through the prism 3223, it is ensured that the chipping and roughness of both the front and back sides of the sheet edge can be accurately detected, thereby improving the comprehensiveness and accuracy of the test results. The use of prism 3223 solves the problem of directly detecting the back of the sheet, avoids the need for additional physical movement or flipping of the sheet to detect the back, reduces the detection blind spot, and eliminates the need to set the third detection CCD 3222 vertically. The combination of vertical and horizontal optical axis arrangement makes the second detection device 322 more efficient in space utilization. It allows the two CCDs to work independently in a limited space without interfering with each other, reducing the size of the second detection device 322.

[0094] In some embodiments, see Figures 10 to 12 , Figure 10 This is a partial structural diagram of the third detection device disclosed in the embodiment of this application. Figure 11 This is a front view of the third detection device disclosed in the embodiment of this application. Figure 12 This is a top view of the third detection device disclosed in the embodiment of the present application. The third detection device 323 includes a fourth detection CCD 3231 and a fifth detection CCD 3232. The optical axis of the fourth detection CCD 3231 and the optical axis of the fifth detection CCD 3232 are respectively set at a certain angle to the plane where the sheet is located. The fourth detection CCD 3231 and the fifth detection CCD 3232 are used to respectively photograph the front and back sides of the sheet edge when the sheet edge moves along a preset path to detect the roughness and chipping of the front and back sides of the sheet edge. The fourth detection CCD 3231 and the fifth detection CCD 3232 are also used to respectively photograph the top corners of the sheet when the sheet is stationary to detect the roughness and chipping of the top corners. Among them, the optical axis of the fourth detection CCD 3231 and the optical axis of the fifth detection CCD 3232 are similar to the optical axis of the aforementioned detection CCD, and this embodiment will not be repeated here.

[0095] In this way, the optical axes of the fourth detection CCD 3231 and the fifth detection CCD 3232 are set at a certain angle, providing multi-angle detection perspectives, which can capture the details of the front and back sides of the sheet edge more comprehensively, ensuring the comprehensiveness and accuracy of the edge breakage and roughness detection. And being set at an angle enables them to capture light from different directions, which helps to improve the detection accuracy. Especially when detecting tiny defects, it can distinguish and identify them more accurately.

[0096] It can be understood that in the above embodiments, not only the detection CCD can be used to photograph the target edge of the sheet to detect the defects of the target edge of the sheet, but also a machine vision digital camera or a laser scanner can be used to detect the defects of the edge of the sheet. Exemplarily, when using a laser scanner to detect the defects of the edge of the sheet, the edge of the sheet is scanned by using a laser beam, and the defects of the edge of the sheet are judged by measuring the reflection or scattering of the laser beam. Using a laser scanner to detect the defects of the edge of the sheet, because the accuracy of the laser beam is very high, very tiny defects can be detected, and at the same time, the three-dimensional contour information of the sheet edge can be obtained, which helps to more accurately judge the type and position of the defects of the sheet edge.

[0097] Furthermore, the angles between the optical axes of the fourth detection CCD 3231 and the fifth detection CCD 3232 and the plane where the sheet is located can be adjusted. That is to say, the angles between the optical paths of the fourth detection CCD 3231 and the fifth detection CCD 3232 for photographing and the plane where the sheet is located can be adjusted. In this way, by adjusting the angles, on the one hand, the field of view coverage of the two CCDs can be optimized, the detection blind area can be reduced, and the detection of the front and back sides and the four top corners of the sheet edge can be ensured to be more comprehensive; on the other hand, adjusting the angle of the optical axes can reduce the image geometric distortion caused by improper angles between the CCDs, so as to obtain more accurate detection results. In addition, by adjusting the angles, the detection angles can also be adjusted according to sheets of different sizes and shapes, improving the adaptability and flexibility of the detection system.

[0098] In some embodiments, such as Figure 10 and Figure 11As shown, the third detection device 323 further includes a mounting plate 3233. The mounting plate 3233 is disposed on the detection driving mechanism 31. An adjustment slot 3233a is provided on the mounting plate 3233. The fourth detection CCD 3231 is adjustably mounted on the mounting plate 3233 through the adjustment slot 3233a to adjust the included angle between the optical axis of the fourth detection CCD 3231 and the optical axis of the fifth detection CCD 3232. That is to say, the fourth detection CCD 3231 is adjustably mounted on the mounting plate 3233, and the fifth detection CCD 3233 is fixedly mounted on the mounting plate 3233. By adjusting the fourth detection CCD 3231, the adjustment of the included angle between the optical axis of the fourth detection CCD 3231 and the optical axis of the fifth detection CCD 3232 is achieved.

[0099] It should be noted that in addition to the above-mentioned fourth detection CCD 3231 being adjustably mounted on the mounting plate 3233 and the fifth detection CCD 3232 being fixedly mounted on the mounting plate 3233, it can also be that the fifth detection CCD 3232 is adjustably mounted on the mounting plate 3233 and the fourth detection CCD 3231 is fixedly mounted on the mounting plate 3233, or both the fourth detection CCD 3231 and the fifth detection CCD 3232 are adjustably mounted on the mounting plate 3233.

[0100] In this way, when one of the fourth detection CCD 3231 and the fifth detection CCD 3232 is fixedly mounted on the mounting plate 3233 and the other is adjustably mounted on the mounting plate 3233, through the design of the adjustment slot 3233a, the position of one detection CCD can be conveniently adjusted, thereby changing the included angle between the optical axes of the two detection CCDs. Moreover, the design of the adjustment slot 3233a makes the installation and debugging process of the detection CCD more simple and fast, reducing the operation difficulty and time cost.

[0101] When both the fourth detection CCD 3231 and the fifth detection CCD 3232 are adjustably mounted on the mounting plate 3233 through the adjustment slot 3233a, both CCDs can be adjusted through the adjustment slot 3233a, enabling two-way adjustment of the optical axis included angle. This allows the third detection device 323 to more flexibly handle more complex detection scenarios. Moreover, by finely adjusting the positions of the two CCDs in the adjustment slot, fine adjustment of the optical axis included angle can be achieved, ensuring the best shooting angle and detection effect, ensuring that both CCDs can capture the edges and vertices of the sheet material at the best angle, capturing more details, and improving the detection accuracy and reliability.

[0102] It can be understood that the fourth detection CCD 3231 and the fifth detection CCD 3232 are installed on the mounting plate 3233 through the adjustment groove 3233a in a way of screw-nut cooperation. Specifically, threaded holes are provided on the fourth detection CCD 3231 and the fifth detection CCD 3232 that are in contact with the mounting plate 3233. The screw is installed on the two detection CCDs through the threaded holes, and then the screw passes through the adjustment groove. After adjusting the angle between the two detection CCDs, the nut is sleeved on the screw and tightened, so that the nut tightly presses the mounting plate 3233, thus installing the detection CCD on the mounting plate 3233. This installation method is adopted because when the nut is loosened, the angle of the detection CCD can be adjusted. After adjusting the angle of the detection CCD to the required angle, the nut can be tightened to fix it, which is also convenient for disassembling and replacing the detection CCD.

[0103] It is worth noting that the adjustment range of the angle between the optical axis of the fourth detection CCD 3231, the optical axis of the fifth detection CCD 3232 and the plane where the sheet material is located is 45 degrees, and the adjustment range of this angle is 30 degrees - 60 degrees. Exemplarily, the angle between the optical axis of the fourth detection CCD 3231 and the fifth detection CCD 3232 is 45 degrees or 60 degrees or 90 degrees. When the angle between the optical axis of the fourth detection CCD 3231 and the optical axis of the fifth detection CCD 3232 is 45 degrees, the third detection device 323 can detect the edge of a small-sized sheet material; when the angle between the fourth detection CCD 3231 and the fifth detection CCD 3232 is 60 degrees, the third detection device 323 can detect the edge of a medium-sized sheet material; when the angle between the fourth detection CCD 3231 and the fifth detection CCD 3232 is 90 degrees, the third detection device 323 can detect the edge of a large-sized sheet material. Therefore, adjusting the angle between the optical axis of the fourth detection CCD 3231 and the optical axis of the fifth detection CCD 3232 within this range can accommodate the detection requirements of most sheet material products with different shapes, sizes or edge shapes, enabling the third detection device 323 to handle more different detection scenarios.

[0104] Therefore, for the sheet edge detection device 100 in the present application, only 5 detection CCDs (the first detection CCD 3211, the second detection CCD 3221, the third detection CCD 3222, the fourth detection CCD 3231, and the fifth detection CCD 3232) are adopted. With the carrier stage 23 driven by the first carrier movement component 21, the second carrier movement component 22, and the carrier stage rotation drive component 24, the sheet can be moved into the detection field of view of the detection CCD, and all edges of the sheet can be detected. In the related art, the sheet edge detection device adopts 14 detection CCDs, which are divided into two groups, with each group including 7 detection CCDs. Taking a rectangular sheet as an example, the 7 detection CCDs in the first group are used to detect the long side of the sheet, and the 7 detection CCDs in the second group are used to detect the short side of the sheet. After the long side of the sheet is detected by the 7 detection CCDs in the first group, the sheet is then placed into the 7 detection CCDs in the second group to complete the detection of the short side. The sheet edge detection device 100 of the present application only adopts 5 detection CCDs, reducing the number of detection CCDs, optimizing the layout of the detection CCDs in the device space, reducing the structural size of the device, reducing the floor space occupied by the device, and saving the manufacturing cost of the device to a certain extent.

[0105] In some embodiments, as Figure 1 shown, the first detection device 321 and the second detection device 322 are located on one side of the carrier module 2, and the third detection device 323 is located on the other side of the carrier module 2. When the edge of the sheet moves along a preset path, the first detection device 321 and the second detection device 322 can complete the first edge detection of the sheet, while the third detection device 323 can complete the detection of the second edge of the sheet, where the first edge and the second edge are opposite to each other. That is to say, the first detection device 321 and the second detection device 322 are arranged on the same side, and the third detection device 323 is arranged opposite to the first detection device 321. When one side of the sheet passes through the first detection device 321 and the second detection device 322, the opposite side passes through the third detection device 323, realizing the simultaneous detection of a pair of opposite edges of the sheet.

[0106] With such a layout of the detection device, on the one hand, the detection device can be compactly installed on both sides of the vehicle module, reducing the structural volume of the device and the occupied space; on the other hand, since the first detection device 321, the second detection device 322 and the third detection device 323 are respectively located on both sides of the vehicle module 2, they can simultaneously detect different edges of the sheet. This parallel detection method significantly improves the detection efficiency and reduces the residence time of the sheet during the detection process. During the continuous movement of the sheet along the movement trajectory, the detection devices on both sides can continuously detect without waiting for one side to complete the detection before proceeding with the other side, thus achieving continuous operation and improving the overall efficiency.

[0107] In some embodiments, the detection driving mechanism 31 includes a first detection motion module 311 (see Figures 6 to 9 ) and a second detection motion module 312 (see Figures 10 to 12 ). The first detection device 321 and the second detection device 322 are both arranged on the first detection motion module 311. The first detection motion module 311 is used to drive the first detection device 321 and the second detection device 322 to move respectively, so as to adjust the detection fields of view of the first detection device 321 and the second detection device 322 to the preset paths on the edges of the sheet. The third detection device 323 is arranged on the second detection motion module 312. The second detection motion module 312 is used to drive the third detection device 323 to move, so as to adjust the detection field of view of the third detection device 323 to the preset path.

[0108] By using the first detection motion module 311 and the second detection motion module 312, on the one hand, the first detection motion module 311 and the second detection motion module 312 provide multi-degree-of-freedom motion capabilities, enabling the first detection device 321, the second detection device 322 and the third detection device 323 to accurately adjust their positions to adapt to sheets of different sizes, shapes and motion trajectories. If the motion trajectory or size of the sheet changes, the two detection motion modules can quickly adjust to ensure that the detection device can always accurately capture the edges of the sheet. On the other hand, by driving the first detection device 321 and the second detection device 322 to move synchronously by the first detection motion module 311, the sheet can be detected simultaneously, improving the detection efficiency. And by arranging the first detection device 321 and the second detection device 322 on the first detection motion module 311, the structure of the detection module 3 is made more compact, thereby reducing the size of the device.

[0109] In some embodiments, taking a rectangular sheet as an example, the carrier module 2 carries the sheet at the loading and unloading station. The carrier module 2 moves the sheet along the first horizontal direction X. When the carrier module 2 moves the sheet along the first horizontal direction X towards the detection component 32, the detection component 32 completes the detection of the long side of the sheet. Then, the carrier module 2 switches the sheet from the long side to the short side. During the process that the carrier module 2 moves the sheet along the first horizontal direction X from the position where the detection component 32 is located towards the loading and unloading station, the detection component 32 completes the detection of the short side. The above process is repeated to complete the detection of all long sides and short sides of the sheet. Then, the carrier module 2 moves to the detection component 32. The carrier module 2 rotates the sheet. Driven by the first detection motion module 311 and the second detection motion module 312, the first detection device 321 and the third detection device 323 can move along the first horizontal direction X and the second horizontal direction Y, so that the detection fields of view of the first detection device 321 and the third detection device 323 can correspond to the corner positions of the sheet on the carrier module 2, to detect the corners of the sheet located on one diagonal. The above process is repeated to complete the detection of all corners of the sheet.

[0110] In some embodiments, such as Figures 1 to 3 shown, the sheet edge detection device 100 further includes a positioning device 4. The positioning device 4 is used to position the sheet on the carrier module 2. Through the positioning of the positioning device 4, it can be ensured that the edges of the sheet completely enter the detection field of view, reducing missed detections or false detections caused by position deviations. Moreover, accurate initial positioning helps to reduce the errors caused by the movement of the sheet during the detection process and improve the reliability of the detection results.

[0111] Optionally, as Figures 1 to 3 shown, the sheet edge detection device 100 further includes an identification device 5. The identification device 5 is arranged on the positioning device 4 to identify the sheet on the carrier module 2. Exemplarily, the identification device 5 can be a barcode reader. The barcode reader is arranged on the positioning device 4 to read the sheet that has been positioned below. In this way, the combination of the identification device 5 and the positioning device 4 realizes a seamless connection from sheet positioning to identification. The positioning device 4 first ensures that the sheet is in the correct position, and then the identification device 5 immediately conducts identification, reducing manual intervention and improving the automation degree of the detection process. Moreover, the identification device 5 can accurately identify the sheet on the carrier module 2, including key information such as its size, shape, and position. This precise identification provides a reliable data basis for subsequent edge detection and helps to improve the detection accuracy. Using the identification device 5 to identify the sheet reduces the need for manual operation and judgment, lowers the labor cost, and at the same time, also avoids the risk of safety accidents caused by improper manual operation.

[0112] Taking a rectangular sheet as an example below, the rectangular sheet has a pair of long sides and a pair of short sides, and the complete detection process of the sheet edge detection device 100 will be briefly described as follows:

[0113] First, place the sheet on the stage 23. The adsorbent 231 on the stage 23 adsorbs the sheet, and the carrier module 2 moves to the position where the positioning device 4 is located to position the sheet on the stage 23;

[0114] Secondly, after positioning is completed, the carrier module 2 moves the sheet to the station where the detection module 3 is located. During the movement, the recognition device 5 on the positioning device 4 recognizes the sheet;

[0115] Furthermore, detect a pair of long sides of the sheet. The detection assembly 32 drives the detection field of view to move along the preset path at the edge of the long side of the sheet under the drive of the detection drive mechanism 31. The carrier module 2 moves the sheet so that the long side edge passes through the detection field of view of the detection assembly 32. While the first detection device 321 and the second detection device 322 detect one side of the pair of long sides, the third detection device 323 detects the other side of this pair of long sides. After the detection is completed, the stage rotation drive assembly 24 rotates the stage 23, and the detection drive mechanism 31 drives the detection field of view of the detection assembly 32 to move along the preset movement path at the edge of the short side of the sheet, and repeats the actions when detecting the long side for the short side detection. The above actions are repeated twice until all the long sides and short sides of the sheet are detected;

[0116] Finally, the stage rotation drive assembly 24 drives the stage 23 to rotate about 45 degrees clockwise, and the detection drive mechanism 31 drives the first detection device 321 and the third detection device 323 to move to move the detection field of view to the preset path of the movement of the apex angles of the sheet. The first detection device 321 and the third detection device 323 detect the two apex angles of the sheet located on one diagonal;

[0117] After the detection is completed, the stage 23 rotates 90 degrees clockwise again. The first detection device 321 and the third detection device 323 move again to adjust the detection field of view to the preset path of the movement of the apex angles of the sheet to detect the two apex angles of the other diagonal of the sheet, and then repeat the above 90-degree rotation twice to achieve the complete detection of the four apex angles of the sheet. After the detection is completed, the sheet is removed from the stage 23.

[0118] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A sheet edge detection device (100), characterized in that Comprising: A vehicle module (2) for carrying a sheet; And, A detection module (3) including a detection driving mechanism (31) and a detection component (32), wherein the vehicle module (2) is configured to drive the sheet to move, and / or the detection driving mechanism (31) is configured to drive the detection component (32) to move, so that the detection component (32) detects a target edge of the sheet on the vehicle module (2), where the target edge is any edge of the sheet edge.

2. The sheet edge detection device (100) according to claim 1, characterized in that, The vehicle module (2) includes: A first vehicle movement component (21); A second vehicle movement component (22) provided on the first vehicle movement component (21); and, A stage (23) provided on the second vehicle movement component (22) for carrying the sheet, the first vehicle movement component (21) being configured to drive the second vehicle movement component (22) to move in a first direction (X), and the second vehicle movement component (22) being configured to drive the stage (23) to move in a second direction (Y).

3. The sheet edge detection device (100) according to claim 2, characterized in that, The vehicle module (2) further includes: A stage rotation driving component (24), the stage (23) being connected to the second vehicle movement component (22) through the stage rotation driving component (24), and the stage rotation driving component (24) being configured to drive the stage (23) to rotate.

4. The sheet edge detection device (100) according to claim 2, characterized in that, The stage (23) is provided with a plurality of suction members (231) for sucking the sheet onto the stage (23).

5. The sheet edge detection device (100) according to any one of claims 1-4, characterized in that, The detection component (32) includes: A first detection device (321), a second detection device (322) and a third detection device (323), the first detection device (321), the second detection device (322) and the third detection device (323) are all provided on the detection driving mechanism (31); The vehicle module (2) is configured to drive the sheet to move so that the edge of the sheet moves along a preset path, and the detection driving mechanism (31) is configured to drive the first detection device (321), the second detection device (322) and the third detection device (323) respectively to adjust the detection fields of view of the first detection device (321), the second detection device (322) and the third detection device (323) to the preset path; The first detection device (321) is configured to detect the side surface and the top angle of the sheet, the second detection device (322) is configured to detect the front and back sides at the edge of the sheet, and the third detection device (323) is configured to detect the front and back sides and the top angle at the edge of the sheet.

6. The sheet edge detection device (100) according to claim 5, characterized in that, The first detection device (321) includes a first detection CCD (3211). The optical axis of the first detection CCD (3211) lies in the plane where the sheet is located. The first detection CCD (3211) is configured to capture the side surface of the sheet when the sheet moves along the preset path, so as to detect the roughness of the side surface. The first detection CCD (3211) is further configured to capture the top angle of the sheet when the sheet is stationary, so as to detect the roughness of the top angle.

7. The sheet edge detection device (100) according to claim 5, characterized in that, The second detection device (322) includes: A second detection CCD (3221). The optical axis of the second detection CCD (3221) is perpendicular to the plane where the sheet is located. The second detection CCD (3221) is configured to capture the front surface at the edge of the sheet when the edge of the sheet moves along the preset path, so as to detect the chipping and roughness of the front surface; A third detection CCD (3222). The optical axis of the third detection CCD (3222) is parallel to the plane where the sheet is located; and A prism (3223). The prism (3223) is configured to reflect the light from the back surface at the edge of the sheet to the third detection CCD (3222), so that the third detection CCD (3222) can capture the back surface at the edge of the sheet when the edge of the sheet moves along the preset path, so as to detect the chipping and roughness of the back surface.

8. The sheet edge detection device (100) according to claim 5, characterized in that, The third detection device (323) includes a fourth detection CCD (3231) and a fifth detection CCD (3232). The optical axes of the fourth detection CCD (3231) and the fifth detection CCD (3232) are respectively set at an angle with the plane where the sheet is located. The fourth detection CCD (3231) and the fifth detection CCD (3232) are configured to respectively capture the front and back surfaces at the edge of the sheet when the edge of the sheet moves along the preset path, so as to detect the roughness and chipping of the front and back surfaces. The fourth detection CCD (3231) and the fifth detection CCD (3232) are further configured to respectively capture the top angle of the sheet when the sheet is stationary, so as to detect the roughness and chipping of the top angle.

9. The sheet edge detection device (100) according to claim 8, wherein, The angles between the optical axes of the fourth detection CCD (3231) and the fifth detection CCD (3232) and the plane where the sheet is located can be adjusted.

10. The sheet edge detection device (100) according to claim 9, characterized in that, The third detection device (323) further includes a mounting plate (3233). The mounting plate (3233) is arranged on the detection driving mechanism (31). An adjustment groove (3233a) is provided on the mounting plate (3233). The fourth detection CCD (3231), and / or, the fifth detection CCD (3232) is adjustably mounted on the mounting plate (3233) through the adjustment groove (3233a) to adjust the angle between the optical axis of the fourth detection CCD (3231) and the optical axis of the fifth detection CCD (3232).

11. The sheet edge detection device (100) according to claim 10, characterized in that, The included angles between the optical axes of the fourth detection CCD (3231) and the fifth detection CCD (3232) and the plane where the sheet is located are 45 degrees, and the adjustment range of the included angles is 30 degrees - 60 degrees.

12. The sheet edge detection device (100) according to claim 5, characterized in that, The first detection device (321) and the second detection device (322) are located on one side of the carrier module (2), and the third detection device is located on the other side of the carrier module (2). When the edge of the sheet moves along the preset path, while the first detection device (321) and the second detection device (322) complete the first edge detection of the sheet, the third detection device (323) can complete the detection of the second edge of the sheet, and the first edge and the second edge are opposite to each other.

13. The sheet edge detection device (100) according to claim 5, characterized in that, The detection driving mechanism (31) includes: A first detection motion module (311), both the first detection device (321) and the second detection device (322) are arranged on the first detection motion module (311), and the first detection motion module (311) is used to drive the first detection device (321) and the second detection device (322) to move respectively, so as to adjust the detection fields of view of the first detection device (321) and the second detection device (322) to the preset path; and, A second detection motion module (312), the third detection device (323) is arranged on the second detection motion module (312), and the second detection motion module (312) is used to drive the third detection device (323) to move, so as to adjust the detection field of view of the third detection device (323) to the preset path.

14. The sheet edge detection device (100) according to any one of claims 1-4 or 6-13, characterized in that, The sheet edge detection device (100) further includes: A positioning device (4), and the positioning device (4) is used to position the sheet on the carrier module (2).

15. The sheet edge detection device (100) according to claim 14, characterized in that, The sheet edge detection device (100) further includes: An identification device (5), and the identification device (5) is arranged on the positioning device (4) to identify the sheet on the carrier module (2).

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