Appearance detection device

Abstract

The utility model provides an appearance detection device, and relates to the technical field of detection devices. The appearance detection device comprises a support, a conveying mechanism, a turnover mechanism, at least two first sliding mechanisms and at least two second sliding mechanisms. The conveying mechanism drives the materials to move in the first direction. The overturning mechanism is used for overturning the materials. Each first sliding mechanism is movably arranged on the support in the first direction. Each second sliding mechanism is movably arranged on the first sliding mechanism in the second direction, and a lifting mechanism is installed on each second sliding mechanism. The lifting mechanism comprises a visual module and a first driving part, and the first driving part is used for driving the visual module to move in the third direction. The visual module is provided with a shooting device, and the shooting device can rotate with the second direction and the third direction as axes. The appearance detection device is used for avoiding shooting dead angles when the camera shoots the materials, and the material appearance detection effect is improved.

Description

Technical Field

[0001] This application relates to the field of inspection device technology, and in particular to an appearance inspection device. Background Technology

[0002] During the production and processing, due to improper processing or inadequate protection, the surface of materials such as power adapters is easily damaged by scratches, bumps, and defects. In such cases, visual inspection of the materials is necessary to determine the pass rate or defect rate.

[0003] Visual inspection is typically performed by using a six-axis robotic arm to move a camera and take pictures of the various surfaces of the material to achieve visual inspection.

[0004] However, when a six-axis robotic arm drives a camera to take pictures, there are blind spots, resulting in poor material appearance inspection. Utility Model Content

[0005] This application provides an appearance inspection device to avoid blind spots when the camera is shooting materials, thereby improving the appearance inspection effect of the materials.

[0006] To achieve the above objectives, the embodiments of this application provide the following technical solutions:

[0007] This application provides an appearance inspection device, which includes a support, a conveying mechanism, a flipping mechanism, at least two first sliding mechanisms, and at least two second sliding mechanisms.

[0008] The conveying mechanism is used to move the material along the first direction;

[0009] The flipping mechanism is mounted on the support and is used to flip the material.

[0010] Each of the first sliding mechanisms is movably mounted on the bracket along the first direction;

[0011] Each of the second sliding mechanisms is movably mounted on the corresponding first sliding mechanism along the second direction, and each of the second sliding mechanisms is equipped with a lifting mechanism;

[0012] The lifting mechanism includes a vision module and a first driving component, the first driving component being used to drive the vision module to move along a third direction;

[0013] The visual module includes a mounting plate, a first rotating component, a second rotating component, and a shooting device;

[0014] The first rotating member is rotatably mounted on the mounting plate about the third direction as an axis;

[0015] The second rotating component is rotatably mounted on the first rotating component about the second direction, and the shooting device is mounted on the second rotating component.

[0016] In one possible implementation, the vision module further includes a second driver and a third driver;

[0017] The second driving member and the third driving member are mounted on the mounting plate. The second driving member is used to drive the first rotating member to rotate, and the third driving member is used to drive the second rotating member to rotate.

[0018] The second driving component and / or the third driving component is a drive motor. The vision module is provided with a through hole that passes through the mounting plate and the first rotating component. The through hole is used to pass through the wires of the drive motor.

[0019] In one possible implementation, the vision module further includes a protective cover mounted on the mounting plate, with the second drive member and the third drive member located inside the protective cover.

[0020] In one possible implementation, the vision module further includes a light source system mounted on the second rotating member to provide an illumination environment.

[0021] In one possible implementation, the light source system includes a mounting bracket and a plurality of lamp tubes. The mounting bracket is connected to the second rotating member, and the mounting bracket is equipped with a plurality of lamp tubes, each of which is arranged around the shooting device as the center.

[0022] In one possible implementation, the flipping mechanism includes a gripper assembly, a mounting assembly, and a base;

[0023] The base is mounted on the bracket, the mounting assembly is connected to the base, the mounting assembly includes a first mounting seat, and the gripper assembly is rotatably mounted on the first mounting seat about the second direction as an axis.

[0024] The gripper assembly includes a side plate and a first gripper and a second gripper disposed opposite to each other along the first direction. Both the first gripper and the second gripper are movably disposed on the side plate along the first direction.

[0025] In one possible implementation, the mounting assembly further includes a second mounting base and a third mounting base;

[0026] The second mounting base is movably disposed on the base along the second direction, and the third mounting base is movably disposed on the second mounting base along the third direction. The first mounting base is connected to the third mounting base.

[0027] In one possible implementation, the conveying mechanism includes a base, a slide, a cam plate, and a top plate;

[0028] The base has a rolling part at its bottom that can move along the first direction;

[0029] The top of the base has a slide rail extending along the first direction, and the slide table is slidably disposed on the slide rail;

[0030] The cam plate has a groove extending in a fourth direction, the top of the slide table has a sliding part, the sliding part is slidably disposed in the groove, the top plate is connected to the top of the cam plate, and the top plate has a platform for supporting the material.

[0031] The cam plate is configured such that when the slide table slides on the slide rail, the sliding part slides in the slide groove, so that the cam plate lifts or lowers the top plate.

[0032] In one possible implementation, there are multiple platforms, which are spaced apart along the first direction on the top plate.

[0033] In one possible implementation, the appearance inspection device further includes a sorting mechanism disposed at the end of the conveying mechanism. The sorting mechanism includes a first carrier platform and a second carrier platform, one of which is used to hold qualified products in the material, and the other is used to hold unqualified products in the material.

[0034] In one possible implementation, the material is a cuboid structure, and the vision module is used to capture the six faces and twelve edges of the material.

[0035] In one possible implementation, the vision module of one of the at least two second sliding mechanisms is used to photograph five faces and eight edges of the material, and the vision module of the other of the at least two second sliding mechanisms is used to photograph the remaining one face and four remaining edges of the material.

[0036] The appearance inspection device provided in this application has the following beneficial effects:

[0037] The appearance inspection device provided in this application includes a bracket, a conveying mechanism, a tilting mechanism, a first sliding mechanism, and at least two second sliding mechanisms. The conveying mechanism drives the material to move along a first direction, thereby conveying the material. The first sliding mechanism is movably mounted on the bracket along the first direction, and the first sliding mechanism has at least two second sliding mechanisms movably mounted along a second direction, allowing each second sliding mechanism to move along both the first and second directions. Each second sliding mechanism is equipped with a lifting mechanism, which includes a vision module and a first driving component. The lifting mechanism allows the vision module to move along a third direction under the drive of the first driving component, enabling the vision module to move along the third direction and also move with the second sliding mechanisms along both the first and second directions, thereby moving the vision module to a position convenient for photographing the material.

[0038] One of the second sliding mechanisms includes a vision module comprising a mounting plate, a first rotating component, a second rotating component, and a camera. The first rotating component is rotatably mounted on the mounting plate about a third direction, and the second rotating component is rotatably mounted on the first rotating component about a second direction. The camera is mounted on the second rotating component, enabling the camera to rotate along the second direction and the third direction, so that the camera can capture images of the material except for the bottom.

[0039] The material is moved along the first direction by the conveying mechanism and transported to the first detection position. Another of the at least two second sliding mechanisms is moved to the vicinity of the second detection position. The material is flipped by the flipping mechanism installed on the bracket, so that the bottom of the material is exposed on the second sliding mechanism and the imaging device can capture the bottom of the material, thereby avoiding blind spots.

[0040] Compared to related technologies, the appearance inspection device provided in this application has at least two second sliding mechanisms that can move along a first direction and a second direction, and each of the second sliding mechanisms has a vision module that can move along a third direction. The vision module on one of the second sliding mechanisms can capture the rest of the material except for the bottom, and the material is driven to move along the first direction by the conveying mechanism. The material is flipped by the flipping mechanism, so that the vision module on the other second sliding mechanism can capture the top of the material after it has been flipped, that is, the bottom of the material before it was flipped, thereby avoiding blind spots and improving the appearance inspection effect of the material.

[0041] In addition to the technical problems solved by this application, the technical features constituting the technical solutions, and the beneficial effects brought about by the technical features of these technical solutions as described above, other technical problems that can be solved by the semiconductor epitaxial substrate and semiconductor epitaxial equipment provided by this application, other technical features contained in the technical solutions, and the beneficial effects brought about by these technical features will be further explained in detail in the specific embodiments. Attached Figure Description

[0042] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0043] Figure 1 This is a schematic diagram of the appearance inspection device provided in the embodiments of this application;

[0044] Figure 2 This is a schematic diagram of the lifting mechanism provided in the embodiments of this application;

[0045] Figure 3 This is a schematic diagram of the structure of the flipping mechanism provided in the embodiments of this application;

[0046] Figure 4 This is a schematic diagram of the conveying mechanism provided in an embodiment of this application.

[0047] Explanation of reference numerals in the attached figures:

[0048] X - First direction; Y - Second direction; Z - Third direction; R - Fourth direction;

[0049] 10-Staff;

[0050] 11-Support frame;

[0051] 20 - Conveying mechanism;

[0052] 21-Base; 211-Slide rail; 22-Slide table; 221-Sliding part; 23-Cam plate;

[0053] 231-Slide groove; 24-Top plate; 241-Platform;

[0054] 30 - Tilting mechanism;

[0055] 31-Gripper assembly; 311-Side plate; 312-First gripper; 313-Second gripper;

[0056] 32-Mounting component; 321-First mounting bracket; 322-Second mounting bracket;

[0057] 323 - Third mounting bracket; 33 - Base;

[0058] 40 - First sliding mechanism;

[0059] 50 - Second sliding mechanism;

[0060] 60 - Lifting mechanism;

[0061] 61-Vision module; 611-Mounting plate; 612-First rotating component; 613-Second rotating component;

[0062] 614 - Filming equipment; 615 - Second drive component; 616 - Third drive component; 617 - Protective cover;

[0063] 62-First driving component; 63-Light source system; 631-Mounting bracket; 632-Lamp tube;

[0064] 70 - Sorting mechanism;

[0065] 71-First support platform; 72-Second support platform.

[0066] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0067] In related technologies, when a six-axis robotic arm drives a camera to take pictures, there are blind spots, resulting in poor material appearance inspection. This problem arises because the bottom of the material is usually in contact with the ground or a table surface, making it difficult to expose to the camera's field of view. This creates blind spots, making it difficult to inspect the appearance of the un-photographed parts of the material, thus leading to poor material appearance inspection results.

[0068] To address the aforementioned issues, this application provides an appearance inspection device. A vision module on one of the second sliding mechanisms captures images of the material except for the bottom. The material is then moved along a first direction by a conveying mechanism and flipped by a flipping mechanism. This allows the vision module on the other second sliding mechanism to capture images of the top of the material after flipping, i.e., the bottom of the material before flipping, thereby avoiding blind spots and improving the appearance inspection effect.

[0069] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0070] The following will combine Figures 1-4 The appearance inspection device provided in the embodiments of this application will be described.

[0071] The appearance inspection device is used to detect whether the surface of a material is qualified. For example, if the surface of the material has defects such as stains, dents, scratches, or rust, the material is considered unqualified. The shape of the material can be cuboid, cube, columnar, spherical, etc., and this application does not limit this. Taking the field of electronic equipment as an example, the material can be a power supply unit, hard disk, etc.

[0072] refer to Figure 1 The appearance inspection device provided in this application includes a bracket 10, a conveying mechanism 20, a tilting mechanism 30, at least two first sliding mechanisms 40, and at least two second sliding mechanisms 50. The bracket 10 serves as the base of the appearance inspection device, and the tilting mechanism 30 and the first sliding mechanisms 40 are all mounted on the bracket 10. (Reference) Figure 1 The bracket 10 may include two opposing support frames 11, and the two support frames 11 may have a first magnetic seat.

[0073] The conveying mechanism 20 is used to move the material along the first direction X, so that the material moves to the first detection position. The conveying mechanism 20 can be a belt or a [other material]. Figure 4 The institution shown.

[0074] The number of the first sliding mechanism 40 is at least two, for example, two, three, four, or more. (Reference) Figure 1 The first sliding mechanism 40 is movably mounted on the bracket 10 along the first direction X. The first direction X can be the length direction of the bracket 10. For example, the bottom of each first sliding mechanism 40 can have a first moving slider, which can be driven by a motor to slide along the first direction X on the first magnetic base, so as to realize the movement of the first sliding mechanism 40 along the first direction X on the bracket 10.

[0075] The number of the second sliding mechanism 50 is at least two, as shown in the reference. Figure 1 Each second sliding mechanism 50 is movably mounted on a different first sliding mechanism 40 along the second direction Y. Taking an example where there are two first sliding mechanisms 40 and two second sliding mechanisms 50, the two second sliding mechanisms 50 are movably mounted on the two first sliding mechanisms 40 respectively. The second direction Y can be the width direction of the bracket 10.

[0076] Each first sliding mechanism 40 may have a second magnetic base, and each second sliding mechanism 50 may have a second moving slider at its bottom. The second moving slider can be driven by a motor to slide along the second direction Y on the second magnetic base, so as to realize the movement of the second sliding mechanism 50 on the first sliding mechanism 40 along the second direction Y.

[0077] refer to Figure 1 and Figure 2Each second sliding mechanism 50 is equipped with a lifting mechanism 60, which includes a vision module 61 and a first driving member 62. The vision module 61 is used to capture materials, and the first driving member 62 is used to drive the vision module 61 to move along a third direction Z, which can be the height direction of the bracket 10.

[0078] One of the vision modules 61 can be moved along the first direction X, the second direction Y, and the third direction Z by means of the first sliding structure 40, one of the second sliding mechanisms 50, and the lifting mechanism 60. This moves the vision module 61 closer to the first detection position, for example, above the first detection position, thereby facilitating the capture of materials.

[0079] refer to Figure 2 The vision module 61 includes a mounting plate 611, a first rotating member 612, a second rotating member 613, and a camera 614. The mounting plate 611 serves as the mounting carrier for the vision module 61. The first rotating member 612 is rotatably mounted on the mounting plate 611 about a third direction Z; for example, the first rotating member 612 is hinged to the mounting plate 611. The second rotating member 613 is rotatably mounted on the first rotating member 612 about a second direction Y; for example, the second rotating member 613 is hinged to the mounting plate 611. The camera 614 is mounted on the second rotating member 613, allowing the camera 614 to rotate along the second direction Y and the third direction Z. Through the vision module 61, the first sliding structure 40, the second sliding mechanism 50, and the lifting mechanism 60 on one of the second sliding mechanisms 50, the camera 614 can capture images of the material except for the bottom.

[0080] Subsequently, the material is moved along the first direction X to the second detection position by the conveying mechanism 20. At the second detection position, refer to... Figure 1 The material is flipped by the flipping mechanism 30 mounted on the bracket 10, so that the bottom and top of the material are interchanged. The imaging device 614 on another vision module 61 captures images of each part of the material after flipping. Since the top of the material after flipping is the same as the bottom before flipping, a bottom photo of the material before flipping is captured, thus avoiding blind spots. All parts of the material are captured, and there are no parts of the material that have not been inspected, thereby improving the appearance inspection effect of the material.

[0081] The appearance inspection device provided in this application uses a vision module 61 on one of the second sliding mechanisms 50 to photograph the rest of the material except for the bottom, and a conveying mechanism 20 to drive the material to move along the first direction X. The material is flipped by a flipping mechanism 30, so that the vision module 61 on the other second sliding mechanism 50 can photograph the top of the material after it has been flipped, that is, the bottom of the material before it was flipped, thereby avoiding blind spots and improving the appearance inspection effect of the material.

[0082] In some embodiments, reference Figure 2 The vision module 61 also includes a second driving component 615 and a third driving component 616. Both the second driving component 615 and the third driving component 616 are mounted on the mounting plate 611. The specific mounting methods can be threaded connection, snap-fit, welding, etc.

[0083] The second driving member 615 is used to drive the first rotating member 612 to rotate about the third direction Z as an axis. The third driving member 616 is used to drive the second rotating member 613 to rotate about the second direction Y as an axis. The second driving member 615 and / or the third driving member 616 are drive motors, which are electrically connected to the corresponding first or second rotating member, and drive the first rotating member 612 and / or the second rotating member 613 to rotate.

[0084] The vision module 61 has a through hole that passes through the mounting plate 611 and the first rotating member 612, so that the wires between the drive motor and the first rotating member 612 and / or the second rotating member 613 are passed through the through hole, thereby preventing the wires from interfering with the rotation of the first rotating member 612 and / or the second rotating member 613, and thus ensuring that the imaging device 614 can acquire image information of each part of the material.

[0085] In some embodiments, reference Figure 2 The vision module 61 also includes a protective cover 617, which can be a metal component and is mounted on the mounting plate 611. The protective cover 617 encloses the second drive component 615 and the third drive component 616 within itself to ensure their safety. The protective cover 617 may have openings, which can serve as heat dissipation or ventilation holes.

[0086] In some embodiments, reference Figure 2 The vision module 61 also includes a light source system 63, which is mounted on the second rotating member 613 to enable the light source system 63 to move synchronously with the imaging device 614. The light source system 63 provides a lighting environment for the imaging device 614, thereby avoiding overly dark photos, improving imaging quality, and further enhancing the appearance inspection effect.

[0087] Based on the above embodiments, refer to Figure 2 The light source system 63 may include a mounting bracket 631 and multiple lamp tubes 632. The mounting bracket 631 serves as the mounting structure for each lamp tube 632. The mounting bracket 631 is connected to a second rotating component 613, for example, the top of the mounting bracket 631 is threaded, snap-fitted, or welded to the second rotating component 613. Multiple lamp tubes 632 are mounted at the bottom of the mounting bracket 631, arranged around the imaging device 614 as the center, thereby providing uniform illumination to the imaging device 614, improving the imaging effect of the captured image, and further enhancing the appearance inspection effect.

[0088] In some embodiments, reference Figure 3 The flipping mechanism 30 includes a gripper assembly 31, a mounting assembly 32, and a base 33. The base 33 is the part of the flipping mechanism 30 that connects to the bracket 10; the base 33 can be connected to the bracket 10 by threaded connection, snap-fit, or welding. The mounting assembly 32 includes a first mounting seat 321, which is connected to the base 33. The gripper assembly 31 is rotatably mounted on the first mounting seat 321 about a second direction Y, allowing the gripper assembly 31 to rotate about the second direction Y.

[0089] refer to Figure 2 The gripper assembly 31 includes a side plate 311 and a first gripper 312 and a second gripper 313 disposed opposite to each other. Both the first gripper 312 and the second gripper 313 are movably disposed on the side plate 311 along a first direction X. When the first gripper 312 and the second gripper 313 move relative to each other along the first direction X, the gripper assembly 31 clamps; when the first gripper 312 and the second gripper 313 move away from each other along the first direction X, the gripper assembly 31 opens, thus facilitating the gripper assembly 31 in holding the material. Rotation of the gripper assembly 31 about a second direction Y can cause the material to flip.

[0090] Based on the above embodiments, refer to Figure 3 The mounting assembly 32 also includes a second mounting base 322 and a third mounting base 323. The second mounting base 322 is movably mounted on the base 33 along a second direction Y, for example, by means of a slide rail. The third mounting base 323 is movably mounted on the second mounting base 322 along a third direction Z, for example, by means of a slide rail. The first mounting base 321 is connected to the third mounting base 323, and is indirectly connected to the base 33 through the third mounting base 323 and the second mounting base 322.

[0091] Since the first mounting base 321 is connected to the third mounting base 323, the third mounting base 323 is movably mounted on the second mounting base 322 along the third direction Z, and the second mounting base 322 is movably mounted on the base 33 along the second direction Y, the first mounting base 321 on which the gripper assembly 31 is mounted can move along the second direction Y and the third direction Z, thereby enabling the gripper assembly 31 to drive the material to move and flip.

[0092] In some embodiments, reference Figure 4 The conveying mechanism 20 includes a base 21, a slide table 22, a cam plate 23, and a top plate 24. The bottom of the base 21 has a rolling part that can move in a first direction X, so that the conveying mechanism can move in the first direction X, thereby conveying materials.

[0093] The base 21 has a slide rail 211 extending along a first direction X at its top. A slide table 22 is fitted and installed with the slide rail 211, and the slide table 22 can slide on the slide rail 211. The top of the slide table 22 has a sliding part 221, which is slidably disposed in a groove 231 of the cam plate 23. The groove 231 extends along a fourth direction R, and there is an acute angle between the fourth direction R and the third direction Z.

[0094] A top plate 24 is mounted on the cam plate 23, and the top plate 24 has a platform 241 for carrying materials. When the sliding part 221 slides within the slide groove 231 along the fourth direction R, the sliding part 221 slides within the slide groove 231, causing the cam plate 23 to lift or lower the top plate 24, thereby causing the platform 241 to rise or fall. The platform 241 facilitates the gripping of materials by the flipping mechanism 30.

[0095] Based on the above embodiments, refer to Figure 4 The number of platforms 241 is multiple, and each platform 241 is arranged at intervals along the first direction X on the top plate 24, so that the conveying mechanism 20 can load multiple materials to realize continuous detection of multiple materials, thereby improving the efficiency of appearance inspection.

[0096] In some embodiments, reference Figure 1 The appearance inspection device also includes a sorting mechanism 70, which is located at the end of the conveying mechanism 20, enabling the conveying mechanism 20 to unload materials onto the sorting mechanism 70. The sorting mechanism 70 includes a first support platform 71 and a second support platform 72. One of the first support platform 71 and the second support platform 72 is used to hold qualified products from the material, and the other is used to hold unqualified products. It should be noted that the materials can be placed on the first support platform 71 or the second support platform 72 by manual sorting, mechanical sorting, or other sorting methods; this application does not limit this. Through the arrangement of the first support platform 71 and the second support platform 72, the appearance inspection device, in addition to appearance inspection, can also separate unqualified materials from qualified materials to facilitate subsequent production processes.

[0097] In some embodiments, the material is a cuboid structure, and the appearance inspection device detects each surface and each edge of the cuboid structure. Two vision modules 61 capture images of the six surfaces and twelve edges of the cuboid.

[0098] One of the second sliding mechanisms 50 uses a vision module 61 to photograph five faces and eight edges of a cuboid-shaped material. The five faces are the five faces of the cuboid excluding the bottom face, and the eight edges are the eight edges of the cuboid excluding the four edges forming the bottom face. The other second sliding mechanism 50 uses a vision module 61 to photograph the remaining one face and four remaining edges of the material. The remaining face is the bottom face, and the four remaining edges are the four edges forming the bottom face. In this embodiment, the two vision modules 61 photograph six surfaces and twelve edges of the cuboid-shaped material to avoid blind spots and achieve visual inspection of the cuboid-shaped material.

[0099] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. An appearance inspection device, characterized in that, It includes a support frame, a conveying mechanism, a tilting mechanism, at least two first sliding mechanisms, and at least two second sliding mechanisms; The conveying mechanism is used to move the material along the first direction; The flipping mechanism is mounted on the support and is used to flip the material. Each of the first sliding mechanisms is movably mounted on the bracket along the first direction; Each of the second sliding mechanisms is movably mounted on the corresponding first sliding mechanism along the second direction, and each of the second sliding mechanisms is equipped with a lifting mechanism; The lifting mechanism includes a vision module and a first driving component, the first driving component being used to drive the vision module to move along a third direction; The visual module includes a mounting plate, a first rotating component, a second rotating component, and a shooting device; The first rotating member is rotatably mounted on the mounting plate about the third direction as an axis; The second rotating component is rotatably mounted on the first rotating component about the second direction, and the shooting device is mounted on the second rotating component.

2. The appearance inspection device according to claim 1, characterized in that, The vision module also includes a second driving element and a third driving element; The second driving member and the third driving member are mounted on the mounting plate. The second driving member is used to drive the first rotating member to rotate, and the third driving member is used to drive the second rotating member to rotate. The second driving component and / or the third driving component is a drive motor. The vision module is provided with a through hole that passes through the mounting plate and the first rotating component. The through hole is used to pass through the wires of the drive motor.

3. The appearance inspection device according to claim 2, characterized in that, The vision module also includes a protective cover, which is mounted on the mounting plate, and the second driving component and the third driving component are located inside the protective cover.

4. The appearance inspection device according to claim 1, characterized in that, The vision module also includes a light source system mounted on the second rotating member to provide a lighting environment.

5. The appearance inspection device according to claim 4, characterized in that, The light source system includes a mounting bracket and multiple lamp tubes. The mounting bracket is connected to the second rotating component, and the mounting bracket is equipped with multiple lamp tubes, each of which is arranged around the shooting device as the center.

6. The appearance inspection device according to any one of claims 1-5, characterized in that, The flipping mechanism includes a gripper assembly, a mounting assembly, and a base; The base is mounted on the bracket, the mounting assembly is connected to the base, the mounting assembly includes a first mounting seat, and the gripper assembly is rotatably mounted on the first mounting seat about the second direction as an axis. The gripper assembly includes a side plate and a first gripper and a second gripper disposed opposite to each other along the first direction. Both the first gripper and the second gripper are movably disposed on the side plate along the first direction.

7. The appearance inspection device according to claim 6, characterized in that, The mounting assembly also includes a second mounting base and a third mounting base; The second mounting base is movably disposed on the base along the second direction, and the third mounting base is movably disposed on the second mounting base along the third direction. The first mounting base is connected to the third mounting base.

8. The appearance inspection device according to any one of claims 1-5, characterized in that, The conveying mechanism includes a base, a slide table, a cam plate, and a top plate; The base has a rolling part at its bottom that can move along the first direction; The top of the base has a slide rail extending along the first direction, and the slide table is slidably disposed on the slide rail; The cam plate has a groove extending in a fourth direction, the top of the slide table has a sliding part, the sliding part is slidably disposed in the groove, the top plate is connected to the top of the cam plate, and the top plate has a platform for supporting the material. The cam plate is configured such that when the slide table slides on the slide rail, the sliding part slides in the slide groove, so that the cam plate lifts or lowers the top plate.

9. The appearance inspection device according to claim 8, characterized in that, The number of the platforms is multiple, and the multiple platforms are spaced apart along the first direction on the top plate.

10. The appearance inspection device according to any one of claims 1-5, characterized in that, It also includes a sorting mechanism, which is located at the end of the conveying mechanism. The sorting mechanism includes a first carrier platform and a second carrier platform, one of which is used to hold qualified products in the material, and the other is used to hold unqualified products in the material.

11. The appearance inspection device according to claim 1, characterized in that, The material is a cuboid structure, and the vision module is used to capture the six faces and twelve edges of the material.

12. The appearance inspection device according to claim 11, characterized in that, The vision module of one of the at least two second sliding mechanisms is used to capture five faces and eight edges of the material, and the vision module of the other of the at least two second sliding mechanisms is used to capture the remaining one face and four remaining edges of the material.

Images