Hexahedral AVI detection equipment

Abstract

The utility model discloses a six-sided AVI detection equipment, including a machine table, a clamping and holding mechanism and a visual inspection mechanism, the clamping and holding mechanism includes two sets of clamping assemblies oppositely arranged on the machine table along the X direction, each set of clamping assembly includes a clamping base, a rotating roller and a clamping piece, the clamping base can move along the X direction, the rotating roller can rotate around the clamping base, and the clamping piece can rotate around the rotating roller. A rotating roller which is arranged along the Y direction is rotationally arranged on the base; the clamping piece comprises at least one vacuum suction cup rotationally arranged on the rotating roller. The visual detection mechanism comprises visual detection assemblies arranged in one-to-one correspondence with the clamping assemblies, each visual detection assembly comprises a visual detection part capable of moving in the Y direction and the Z direction under the action of the cross-shaped moving mechanism, and each visual detection part comprises visual cameras arranged in one-to-one correspondence with the vacuum suction cups of the corresponding clamping assembly. According to the utility model, the appearance detection effect of irregular products can be effectively improved.

Description

Technical Field

[0001] This utility model relates to the technical field of appearance inspection equipment, and in particular to a six-sided AVI inspection device. Background Technology

[0002] In automated production processes, it is often necessary to inspect the appearance of multiple surfaces of a product to ensure that the surface is free of defects. Existing technologies have introduced appearance inspection equipment to improve inspection efficiency, utilizing displacement and flipping mechanisms in conjunction with a vision camera to inspect the appearance of each surface of the product. However, for some irregular products, existing appearance inspection equipment struggles to ensure complete coverage of the product surface by the vision camera when moving and flipping the product, resulting in poor appearance inspection results. Utility Model Content

[0003] To overcome the above-mentioned shortcomings, the purpose of this utility model is to provide a six-sided AVI inspection device, which can effectively improve the appearance inspection effect of irregular products.

[0004] To achieve the above objectives, the technical solution adopted by this utility model is: a six-sided AVI inspection device, comprising...

[0005] Machine tool;

[0006] A clamping and gripping mechanism includes two sets of clamping assemblies arranged opposite each other on the machine base along the X direction. Each set of clamping assemblies includes a clamping base, a rotating roller, and a clamping member. The clamping base is movable along the X direction, and the rotating roller arranged along the Y direction is rotatably mounted on it. The clamping member includes at least one vacuum suction cup rotatably mounted on the rotating roller.

[0007] A visual inspection mechanism, comprising visual inspection components corresponding to the clamping components, each group of visual inspection components including a visual inspection unit that can move along the Y and Z directions under the action of a cross moving mechanism, the visual inspection unit including a visual camera corresponding to the vacuum suction cup of the corresponding clamping component.

[0008] The beneficial effects of this six-sided AVI inspection device are as follows:

[0009] In the clamping assembly, the movement of the clamping base along the X-axis drives the rotating roller and the vacuum suction cup to move along the X-axis, thereby allowing the product adsorbed on the vacuum suction cup to move along the X-axis into the corresponding vision inspection assembly. The rotation of the rotating roller and the vacuum suction cup allows different parts of the product to enter the inspection range of the vision inspection assembly, improving the inspection effect. In the vision inspection assembly, the cross-shaped movement of the vision inspection unit facilitates the alignment of the vision camera and the vacuum suction cup, ensuring that the vision camera can accurately capture the product on the corresponding vacuum suction cup.

[0010] Since the clamping assembly holds the product by vacuum suction cups, the side of the product held by the vacuum suction cups cannot be captured by the vision camera. Therefore, this application uses two sets of clamping assemblies. By rotating the rollers of the two sets of clamping assemblies, the vacuum suction cups of the two sets of clamping assemblies can be rotated to a relative position. Then, by moving the clamping bases of the two sets of clamping assemblies towards each other in the X direction (moving towards each other), the vacuum suction cups of the two sets of clamping assemblies are brought closer together. The product directly attached to one set of vacuum suction cups comes into contact with the other set of vacuum suction cups. At this time, by breaking the vacuum of one set of vacuum suction cups, the vacuum suction of the other set of vacuum suction cups completes the transfer of the product between the different clamping assemblies, and the side of the product that has not been inspected can be exposed. Then, another set of vision inspection components can be used to inspect the side of the product that has not been inspected, so as to ensure comprehensive inspection of the product surface.

[0011] Furthermore, the rotation axis of the rotating roller is perpendicular to the rotation axis of the vacuum suction cup, and the rotation angle range of the rotating roller is 0~180°, while the rotation angle range of the vacuum suction cup is 0~360°. Setting the rotation axis of the rotating roller to be perpendicular to the rotation axis of the vacuum suction cup ensures that the rotation directions of the rotating roller and the vacuum suction cup are perpendicular to each other. This allows the rotation trajectory on the product surface to form a three-dimensional shape similar to a sphere, facilitating comprehensive coverage of the product surface (excluding the surface adsorbed by the vacuum suction cup) by the vision inspection component.

[0012] Furthermore, the clamping assembly also includes a traverse drive, a guide rail, and a cable chain arranged on the machine base. The clamping base is slidably disposed on the guide rail and connected to the traverse drive and the cable chain, respectively. The guide rail and cable chain guide the movement direction of the clamping base.

[0013] Furthermore, when one of the rotating rollers rotates clockwise and the other rotates counterclockwise, the vacuum suction cups on one of the rotating rollers can be aligned one-to-one with the vacuum suction cups on the other rotating roller, facilitating the transfer of products between the two rotating rollers.

[0014] Furthermore, the cross-shaped moving mechanism is located on the detection frame and includes a transverse plate that can move along the Y direction. A mounting plate that can move along the Z direction is slidably disposed on the transverse plate, and the visual detection unit is provided on the mounting plate.

[0015] Furthermore, the cross-shaped moving mechanism also includes a spring arranged vertically, with its two ends connected to the horizontal moving plate and the mounting plate, respectively. The spring helps to buffer vibrations during the lifting and lowering of the mounting plate, thereby reducing the impact of equipment vibrations on the visual camera's detection.

[0016] Furthermore, the transverse plate is provided with a lifting guide rail arranged along the Z direction, and the mounting plate can slide along the lifting guide rail under the action of the lifting drive component.

[0017] Furthermore, the visual inspection mechanism also includes an inspection frame mounted on the machine base, on which an inspection substrate that can move along the Z direction is slidably disposed, and two sets of the visual inspection components are respectively disposed on both sides of the inspection substrate along the X direction.

[0018] Furthermore, the detection substrate is provided with limiting rods corresponding to the visual inspection components. These limiting rods are positioned along the X-axis, with one end fixed to the inspection frame and the other end passing through the corresponding mounting plate. The mounting plate has openings for the limiting rods to pass through, the dimensions of which along the Y and Z axes are larger than the dimensions of the limiting rods along the Y and Z axes, respectively. Since the Y-axis movement of the visual inspection unit is to adjust the positional deviation between the visual camera and the vacuum suction cup, and the adjustment amount is relatively small, while the Z-axis movement of the visual inspection unit is to allow the visual camera to enter or leave the inspection position, the movement amount is also relatively small. Therefore, the movement range of the visual inspection unit can be limited by the cooperation of the openings and the limiting rods.

[0019] Furthermore, along the Y direction, at least one set of auxiliary detection mechanisms is also provided on one side of the visual detection mechanism, and each set of auxiliary detection mechanisms includes a third clamping component and a third visual detection component used in conjunction. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the structure of the six-sided AVI detection device according to an embodiment of the present invention;

[0021] Figure 2 This is a structural schematic diagram of the six-sided AVI detection device according to another embodiment of the present invention;

[0022] Figure 3 for Figure 2 A magnified view of part A in the middle;

[0023] Figure 4This is a schematic diagram of the clamping and gripping mechanism according to an embodiment of the present invention;

[0024] Figure 5 This is a schematic diagram of the structure of the visual inspection unit in an embodiment of the present invention;

[0025] Figure 6 This is a schematic diagram of the structure of the visual inspection mechanism and auxiliary inspection mechanism according to an embodiment of the present utility model;

[0026] Figure 7 for Figure 6 A magnified view of part B in the middle;

[0027] Figure 8 for Figure 6 A magnified view of part C in the middle.

[0028] In the picture:

[0029] 1-Machine;

[0030] 2-Clamping and gripping mechanism; 21-Clamping base; 22-Rotating roller; 23-Clamping component; 231-Vacuum suction cup; 232-Fixed seat; 24-Transverse drive component; 25-Guide rail; 26-Drag chain;

[0031] 3-Visual inspection mechanism; 31-Visual inspection component; 3111-Transverse plate; 3112-Mounting plate; 3113-Lifting drive component; 3114-Spring; 3115-Opening; 312-Visual inspection section; 32-Inspection frame; 33-Inspection base plate; 331-Limiting rod;

[0032] 4-Auxiliary inspection mechanism; 41-Third vision inspection component. Detailed Implementation

[0033] The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby making a clearer and more definite definition of the scope of protection of the present invention.

[0034] Example

[0035] See appendix Figure 1-3As shown, this utility model discloses a six-sided AVI inspection device, including a machine base 1, a clamping and gripping mechanism 2, and a vision inspection mechanism 3. The clamping and gripping mechanism 2 includes two sets of clamping components arranged opposite each other on the machine base 1 along the X-direction. Each set of clamping components includes a clamping base 21, a rotating roller 22, and a clamping element 23. The clamping base 21 is movable along the X-direction, and a rotating roller 22 arranged along the Y-direction is rotatably mounted on it. The clamping element 23 includes at least one vacuum suction cup 231 rotatably mounted on the rotating roller 22. The vision inspection mechanism 3 includes vision inspection components 31 corresponding to the clamping components. Each set of vision inspection components 31 includes a vision inspection section 312 that can move along the Y and Z directions under the action of a cross-moving mechanism. The vision inspection section 312 includes a vision camera corresponding to the vacuum suction cup 231 of the corresponding clamping component.

[0036] To facilitate the description of the detection process, one set of clamping components is designated as the first clamping component, and another set of clamping components is designated as the second clamping component. The visual detection component 31 corresponding to the first clamping component is designated as the first visual detection component, and the visual detection component 31 corresponding to the second clamping component is designated as the second visual detection component.

[0037] In the initial state, the clamping base 21 of the first clamping assembly moves away from the visual inspection mechanism 3; the rotating roller 22 rotates to move the vacuum suction cup 231 to the picking position; the products to be inspected (not shown in the figure) are adsorbed one by one onto the vacuum suction cup 231, and then the clamping base 21 moves along the X direction towards the visual inspection mechanism 3, and the rotating roller 22 rotates synchronously to bring the products on the vacuum suction cup 231 into the detection range of the first visual inspection assembly; the visual inspection unit 312 of the first visual inspection assembly then moves to the designated detection position under the action of the cross moving mechanism. At this time, the visual camera on the visual inspection unit 312 can be aligned with the corresponding vacuum suction cup 231; the visual camera enters the visual inspection state, and at the same time, the rotating roller 22 and the vacuum suction cup 231 begin to rotate so that multiple surfaces of the product are exposed within the detection range of the visual camera; when the first visual inspection assembly finishes inspection... After completion, the visual inspection unit 312 of the first visual inspection component is reset under the action of the cross-moving mechanism. The rotating roller 22 of the first clamping component rotates clockwise, and the rotating roller 22 of the second clamping component rotates counterclockwise, so that the vacuum suction cups 231 of the first clamping component can be aligned with the vacuum suction cups 231 of the second clamping component. The clamping base 21 of the first clamping component moves towards the second clamping component, and at the same time, the clamping base 21 of the second clamping component also moves towards the first clamping component, until the product adsorbed on the vacuum suction cups 231 of the first clamping component comes into contact with the vacuum suction cups 231 of the second clamping component. The vacuum suction cups 231 of the second clamping component adsorb the product, and the vacuum suction cups 231 of the first clamping component release the product. The second clamping component then brings the product into the detection range of the second visual inspection component, and the second visual inspection component then inspects the product.

[0038] It should be noted that the process of the second clamping component bringing the product into the detection range of the second vision detection component and the second vision detection component detecting the product can be referred to the cooperation between the first clamping component and the first vision detection component, and will not be repeated in this embodiment. Furthermore, when the vacuum suction cup 231 of the second clamping component adsorbs the product, it should be ensured that the vacuum suction cup 231 of the second clamping component and the product are in surface contact to ensure the adsorption stability of the product by the second clamping component.

[0039] In the clamping assembly, the movement of the clamping base 21 along the X-direction drives the rotating roller 22 and the vacuum suction cup 231 to move along the X-direction, thereby allowing the product adsorbed on the vacuum suction cup 231 to move along the X-direction to the corresponding vision inspection assembly 31. The rotation of the rotating roller 22 and the vacuum suction cup 231 allows different parts of the product to enter the inspection range of the vision inspection assembly 31, improving the inspection effect. In the vision inspection assembly 31, the cross movement of the vision inspection unit 312 facilitates the alignment of the vision camera and the vacuum suction cup 231, ensuring that the vision camera can accurately capture the product on the corresponding vacuum suction cup 231.

[0040] Furthermore, the rotation axis of the rotating roller 22 is perpendicular to the rotation axis of the vacuum suction cup 231, and the rotation angle range of the rotating roller 22 is 0~180°, while the rotation angle range of the vacuum suction cup 231 is 0~360°.

[0041] The rotation axis of the rotating roller 22 is set to be perpendicular to the rotation axis of the vacuum suction cup 231, so that the rotation directions of the rotating roller 22 and the vacuum suction cup 231 are perpendicular to each other. This allows the rotation trajectory of the product surface to form a three-dimensional shape similar to a sphere, which facilitates the full coverage of the product surface (excluding the surface adsorbed by the vacuum suction cup) by the vision inspection component. However, the rotation angle of the rotating roller 22 is limited by the stop of the machine base 1, so it can only rotate within 180°.

[0042] Since the clamping assembly holds the product by vacuum suction cup 231, the side of the product held by the vacuum suction cup 231 cannot be captured by the vision camera. Therefore, this application uses two sets of clamping assemblies. By rotating the rotating rollers 22 of the two sets of clamping assemblies, the vacuum suction cups 231 of the two sets of clamping assemblies can rotate to a relative position. Then, by moving the clamping bases 21 of the two sets of clamping assemblies towards each other in the X direction (moving towards each other), the vacuum suction cups 231 of the two sets of clamping assemblies are brought closer to each other until the product held by one set of vacuum suction cups 231 comes into contact with the other set of vacuum suction cups 231. At this time, by breaking the vacuum of one set of vacuum suction cups 231, the vacuum suction of the other set of vacuum suction cups 231 can complete the transfer of the product on different clamping assemblies, and the side of the product that has not been inspected can be exposed. Then, the other set of vision inspection components 31 can inspect the side of the product that has not been inspected to ensure comprehensive inspection of the product surface.

[0043] In some embodiments, see Appendix Figure 3-4As shown, the clamping component includes a fixed base 232 fixed to the rotating roller 22 along the Y direction. Multiple vacuum suction cups 231 arranged along the Y direction are evenly distributed on the fixed base 232, and the vacuum suction cups 231 are rotatably mounted on the fixed base 232 via a rotating platform. Correspondingly, the vision inspection unit 312 includes multiple vision cameras arranged along the Y direction, and the distance between two adjacent vision cameras is adapted to the distance between two adjacent vacuum suction cups 231. This allows the vision cameras and their corresponding vacuum suction cups 231 to align their axes with the axes of the vacuum suction cups 231 by moving the entire vision inspection unit 312 when there is a positional deviation in the Y direction.

[0044] In some embodiments, see Appendix Figure 4 As shown, the clamping assembly also includes a transverse drive 24, a guide rail 25, and a cable chain 26 arranged on the machine base 1. The clamping base 21 is slidably disposed on the guide rail 25 and is connected to the transverse drive 24 and the cable chain 26 respectively. The transverse drive 24 provides power for the movement of the clamping base 21, while the guide rail 25 and the cable chain 26 guide the movement direction of the clamping base 21.

[0045] In practical applications, if there are many defects to be detected on a certain side of a product, a single visual inspection of that side may not be able to detect all the defects. Therefore, in some embodiments, multiple visual inspections of a specific side of the product can be performed by adding clamping components and visual inspection components. Specifically, along the Y direction, at least one set of auxiliary inspection mechanisms 4 is also arranged on one side of the visual inspection mechanism 3. Each set of auxiliary inspection mechanisms 4 includes a third clamping component and a third visual inspection component 41 used in conjunction. The third clamping component is arranged on the machine base 1, and its structure is the same as that of the second clamping component. It can cooperate with the second clamping component to realize the transfer of the product between the second clamping component and the third clamping component. The structure of the third visual inspection component 41 is the same as that of the second visual inspection component, and the third visual inspection component is used to perform visual inspection on the product on the third clamping component. During inspection, the product is transferred from the first clamping component to the second clamping component, and then from the second clamping component to the third clamping component. Therefore, the surface of the product to be inspected on the third clamping component is consistent with the surface to be inspected when the product was clamped by the first clamping component. Then, the third vision inspection component 41 can perform a secondary inspection on these surfaces to detect all defects on the product surface. It should be noted that the number of auxiliary inspection mechanisms 4 can be set according to the requirements of the product inspection items.

[0046] In some embodiments, see Appendix Figure 5-7As shown, the visual inspection mechanism 3 also includes an inspection frame 32 mounted on the machine base 1. An inspection base plate 33, movable along the Z-direction, is slidably mounted on the inspection frame 32. Two sets of visual inspection components 31 are respectively arranged on both sides of the inspection base plate 33 along the X-direction. A cross-moving mechanism is located on the inspection base plate and includes a transverse plate 3111 movable along the Y-direction. A mounting plate 3112, movable along the Z-direction, is slidably mounted on the transverse plate 3111. A visual inspection unit 312 is mounted on the mounting plate 3112. The lifting and lowering movement of the inspection base plate 33 drives the cross-moving mechanism and the visual inspection unit 312 to move synchronously, allowing the visual inspection unit 312 to quickly move to a position close to the inspection location. Then, the cross-moving mechanism drives the cross-moving movement of the visual inspection unit 312, causing it to move slightly along the Y and Z directions, allowing the visual inspection unit 312 to move precisely to the inspection location.

[0047] Since the Y-axis movement of the vision inspection unit 312 is for adjusting the positional deviation between the vision camera and the vacuum suction cup 231, the adjustment amount is relatively small. Similarly, the Z-axis movement of the vision inspection unit 312 is for moving the vision camera into or out of the detection position, and the movement amount is also relatively small. Therefore, the cross-shaped movement mechanism only needs to move the vision inspection unit 312 by a small amount. For details, please refer to the appendix. Figure 7-8 As shown, a lifting guide rail arranged along the Z-axis is provided on the transverse plate 3111, and the mounting plate 3112 can slide along the lifting guide rail under the action of the lifting drive component 3113. Furthermore, the cross-moving mechanism also includes a spring 3114 arranged vertically, with both ends of the spring 3114 connected to the transverse plate 3111 and the mounting plate 3112 respectively. The spring 3114 can buffer the vibration of the mounting plate 3112 during the lifting process, thereby reducing the impact of equipment vibration on the visual camera detection.

[0048] It should be noted that the lifting drive component 3113 and the lateral drive component 24 can adopt the linear module in the prior art.

[0049] In some embodiments, see Appendix Figure 5 , 7 As shown, in order to ensure the synchronous lifting and lowering movement of the mounting plate 3112 and the detection base plate 33, the detection base plate 33 is provided with a limiting rod 331 corresponding to the visual inspection component 31. The limiting rod 331 is arranged along the X direction, with one end fixed to the inspection frame 32 and the other end passing through the corresponding mounting plate 3112.

[0050] Furthermore, to ensure the fine-tuning of the movement of the cross-shaped moving mechanism on the mounting plate 3112 and the vision inspection unit 312, in some embodiments, the mounting plate 3112 is provided with an opening 3115 for the limiting rod 331 to pass through. The dimensions of the opening 3115 along the Y and Z directions are larger than the dimensions of the limiting rod 331 along the Y and Z directions, respectively. Furthermore, a second opening is also connected to the opening 3115, and the dimension of the second opening along the Z direction matches the dimension of the limiting rod 331 along the Z direction.

[0051] In some embodiments, the vision camera is detachably mounted on the mounting plate 3112 to facilitate maintenance or replacement of the vision camera.

[0052] The above embodiments are only for illustrating the technical concept and features of this utility model. Their purpose is to enable those skilled in the art to understand the content of this utility model and implement it. They cannot be used to limit the protection scope of this utility model. All equivalent changes or modifications made in accordance with the spirit and essence of this utility model should be covered within the protection scope of this utility model.

Claims

1. A six-sided AVI detection apparatus, characterized by, The machine table is provided with two sets of clamping assemblies arranged oppositely along the X direction, each set of the clamping assemblies comprising a clamping base, a rotating roller and a clamping piece, the clamping base being movable along the X direction and having the rotating roller arranged rotatably thereon along the Y direction, the clamping piece comprising at least one vacuum chuck arranged rotatably on the rotating roller. The visual detection mechanism comprises visual detection assemblies arranged one-to-one with the clamping assemblies, each set of the visual detection assemblies comprising a visual detection part movable along the Y direction and the Z direction under the action of a cross-moving mechanism, the visual detection part comprising a visual camera arranged one-to-one with the vacuum chuck of the corresponding clamping assembly. The rotating axis of the rotating roller is perpendicular to the rotating axis of the vacuum chuck, and the rotating angle range of the rotating roller is 0-180°, and the rotating angle range of the vacuum chuck is 0-360°. The clamping assembly further comprises a horizontal movement driving element arranged on the machine table, a guide straight rail and a drag chain, the clamping base being slidingly arranged on the guide straight rail and connected with the horizontal movement driving element and the drag chain respectively.

2. The six-sided AVI detection apparatus of claim 1, wherein, When one rotating roller rotates clockwise and the other rotating roller rotates counterclockwise, the vacuum chucks on one rotating roller can be aligned one-to-one with the vacuum chucks on the other rotating roller.

3. The six-sided AVI detection apparatus of claim 1, wherein, The cross-moving mechanism comprises a horizontal movement plate movable along the Y direction, the horizontal movement plate having a mounting plate slidingly arranged thereon and movable along the Z direction, the mounting plate being provided with the visual detection part.

4. The six-sided AVI inspection apparatus of claim 1, wherein, The cross-moving mechanism further comprises a spring arranged vertically, the two ends of the spring being connected with the horizontal movement plate and the mounting plate respectively.

5. The six-sided AVI inspection apparatus of claim 1, wherein, The horizontal movement plate is provided with a lifting guide rail arranged along the Z direction, and the mounting plate is slidable along the lifting guide rail under the action of a lifting driving element.

6. The six-sided AVI detection apparatus of claim 5, wherein, The visual detection mechanism further comprises a detection rack arranged on the machine table, the detection rack having a detection base plate slidingly arranged thereon and movable along the Z direction, and two sets of the visual detection assemblies being arranged on the two sides of the detection base plate along the X direction.

7. The six-sided AVI detection apparatus of claim 6, wherein, The detection base plate is provided with a limiting rod arranged one-to-one with the visual detection assemblies, the limiting rod being arranged along the X direction, one end of the limiting rod being fixedly connected with the detection rack, and the other end of the limiting rod being penetratingly arranged in the corresponding mounting plate, the mounting plate being provided with an opening for the limiting rod to penetrate, the opening being larger than the limiting rod along the Y direction and the Z direction.

8. The six-sided AVI detection apparatus of claim 5, wherein, Along the Y direction, one side of the visual detection mechanism is further provided with at least one set of auxiliary detection mechanism, each set of the auxiliary detection mechanism comprising a third clamping assembly and a third visual detection assembly used cooperatively.

9. The six-sided AVI detection apparatus of claim 8, wherein, ​ 10. The six-sided AVI inspection apparatus of claim 1, wherein, ​

Images