Vision-based appearance detection equipment
By designing a vision-based appearance inspection device, which utilizes flexible fixtures and robotic arms to achieve automatic material positioning, inspection, and unloading, the problem of low efficiency and insufficient accuracy of traditional inspection methods is solved, and efficient and accurate multi-angle inspection is achieved.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- SUZHOU SAMSON PHOTOELECTRIC TECH CO LTD
- Filing Date
- 2025-05-20
- Publication Date
- 2026-05-05
AI Technical Summary
Traditional manual visual inspection methods are inefficient and have a high rate of missed detections. Existing automated inspection equipment is difficult to meet the flexibility requirements of small-batch, multi-batch, and high-precision production of 3C products, especially in the identification of defects in micro-components, where the collaborative accuracy is insufficient.
Design a vision-based appearance inspection device, including a chassis worktable, a top fixture module, an inspection module, a bottom fixture module, and a bottom unloading module. Combined with flexible fixtures, a robotic arm, and a servo motor, it realizes automatic positioning, inspection, and unloading of materials. By adjusting the material angle through multi-axis movement and rotation, it achieves 360° all-round inspection.
It improves detection efficiency and accuracy, reduces missed detections, adapts to various production environments, meets the needs of small-batch, high-precision detection, and reduces manual intervention.
Smart Images
Figure CN224203060U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of inspection equipment technology, and specifically to a vision-based appearance inspection device. Background Technology
[0002] With the rapid development of the global 3C (computer, communication, and consumer electronics) industry, product iteration speed has accelerated significantly, leading to increasingly stringent requirements for the precision, functional stability, and appearance quality of electronic components. Traditional manual visual inspection methods suffer from low efficiency, high false negative rates, and rising labor costs. Existing automated inspection equipment is often limited by redundant mechanical structures, insufficient adaptability of vision systems, or low flexibility, making it difficult to meet the production demands of 3C products, which involve small batches, multiple production runs, high precision, and rapid line changeovers. Especially in defect identification scenarios for micro-components (such as chip solder joints, screen scratches, and precision connectors), the collaborative precision of conventional robotic arms and vision systems is insufficient, easily leading to misjudgments or blind spots in detection.
[0003] In the current production process, the inspection of some small parts mainly relies on manual operation by quality inspectors, which is inefficient and has poor quality inspection results. Because inspection is required on both sides, it is easy to miss some parts, and the operation is cumbersome, inefficient, and labor-intensive. Utility Model Content
[0004] To address the technical problems in existing technologies, this utility model provides a vision-based appearance inspection device, including a chassis workbench. The chassis workbench integrates a top fixture module, an inspection module, a bottom fixture module, and a bottom unloading module. The top fixture module and the inspection module are fixedly connected to the chassis workbench and spaced apart along the X-axis. The bottom fixture module and the bottom unloading module are slidably connected to the chassis workbench along the X-axis. Each of the top fixture module, bottom fixture module, and bottom unloading module includes a connecting seat and a rotatable flexible fixture. The flexible fixture is rotatably mounted on the connecting seat. The connecting seat of the top fixture module slides along the Z-axis under the drive of a servo motor. The connecting seats of the bottom fixture module and the bottom unloading module also slide along the X-axis under the drive of a servo motor. The inspection module includes a robotic arm fixedly mounted on the chassis workbench, positioned opposite the top fixture module. A camera is mounted on the robotic arm, and the camera moves along the X-axis and Z-axis under the action of the robotic arm.
[0005] Furthermore, the robotic arm is also equipped with a camera light source bracket, which contains a light source. The light source is arranged around the camera and is located on the side of the camera away from the robotic arm. The camera is equipped with a lens, and the camera, lens, and light source are arranged coaxially.
[0006] Furthermore, the flexible fixtures of the top fixture module, the bottom fixture module, and the bottom unloading module each include multiple flexible fixtures, and the cameras include multiple cameras. The flexible fixtures of the top fixture module, the bottom fixture module, and the bottom unloading module and the cameras correspond one-to-one.
[0007] Furthermore, the flexible fixture includes a rotating shaft and a vacuum generator for adsorbing materials, the vacuum generator being rotatably connected to a connecting seat via the rotating shaft.
[0008] Furthermore, the top fixture module also includes an integrated gantry frame and a guide rail. The integrated gantry frame is fixedly installed on the machine's workbench, and the guide rail is fixedly installed on the integrated gantry frame and located on the side close to the robot arm. The connecting seat is slidably installed on the guide rail via a servo motor, and the sliding direction is along the Z-axis.
[0009] Furthermore, the bottom fixture module also includes three slide rails spaced apart from each other. The three slide rails are fixedly installed on the chassis workbench, and the connecting seat is slidably installed on the three slide rails via a servo motor.
[0010] Furthermore, the connecting seat of the bottom unloading module is divided into two connecting blocks, and the bottom unloading module also includes two slides. The two slides are fixedly installed on both sides of the integrated gantry frame and are respectively located between two adjacent slide rails. The two connecting blocks are slidably connected to the two slides respectively through servo motors.
[0011] Beneficial effects:
[0012] 1. In this utility model, the setting of a top fixture module, a detection module, a bottom fixture module, and a bottom unloading module enables automatic positioning, detection, and unloading of materials, reducing manual intervention. At the same time, each module is independent of the others, facilitating maintenance and upgrades. Combined with the setting of multiple connecting seats and rotatable flexible fixtures, the angle of the material can be adjusted to achieve 360° all-round detection, avoiding missed detections and improving detection efficiency and accuracy. Meanwhile, the flexibility of the robotic arm can be used to detect the reverse side of the material.
[0013] The specific process is as follows: First, the material is placed on the bottom fixture module via the loading mechanism. The camera of the detection module is moved to the top imaging point by a robotic arm. Images of the top and top side of the material are captured using methods such as fixed-position shooting and flying shooting. Combined with the rotation setting of the flexible fixture, the full surface features of the top are ensured to be covered. Then, the material on the bottom fixture module is moved to the bottom of the top fixture module by a servo motor. The material is transferred by sliding the flexible fixture of the top fixture module. The height position of the material is adjusted by the servo motor. In this process, the material is transferred by a vertical docking method, which is different from the horizontal docking method used by the existing five-axis Aoi. The vertical docking is more stable because the docking direction is consistent with the direction of gravity. Next, the robotic arm moves the camera to the bottom imaging point to capture images of the bottom and bottom side of the material. Similarly, it is ensured that the full surface features of the bottom are covered. Finally, the captured photos are processed by the software AI to determine whether the material is NG or OK. The material is then transferred to the bottom unloading module to complete the inspection.
[0014] 2. In this utility model, the coaxial arrangement of the camera light source bracket, camera, lens, and light source can improve the clarity of the image, thereby further improving the detection accuracy; the flexible fixture and the camera, including multiple and corresponding ones, can simultaneously meet the synchronous detection of multiple materials, further improving the detection efficiency; the rotating shaft and vacuum generator can facilitate the fixing and disassembly of materials, while also allowing for 360° free adjustment, making it easy to cover all surface features.
[0015] 3. The integrated gantry frame and guide rail in this utility model can save space, make the overall structure compact, and be suitable for various production environments.
[0016] 4. In this utility model, the setting of three slide rails can ensure the linear sliding of the connecting seat on the bottom fixture module; combined with the setting of two connecting blocks and two slides, it can effectively avoid the integrated gantry frame and avoid its interference, thereby facilitating and quickly realizing the material transfer between the top fixture module and the bottom unloading module, and also ensuring the linear sliding of the two connecting blocks. Attached Figure Description
[0017] 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 only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0018] Figure 1 This is a schematic diagram of the overall structure of this utility model;
[0019] Figure 2This is a schematic diagram of the camera, light source, and lens mounting structure of this utility model;
[0020] Figure 3 This is a schematic diagram of the installation structure of the slide rail, slide table, and integrated gantry frame of this utility model;
[0021] Figure 4 This is a schematic diagram of the structure of the present invention when materials are joined from top to bottom;
[0022] Figure 5 This is a schematic diagram of the structure of the camera of this utility model when detecting the reverse side of a material.
[0023] Explanation of reference numerals in the attached figures:
[0024] 1. Chassis workbench; 2. Top fixture module; 21. Integrated gantry frame; 22. Guide rail; 3. Detection module; 31. Robot arm; 4. Bottom fixture module; 41. Slide rail; 5. Bottom unloading module; 6. Connecting seat; 7. Camera; 8. Light source; 9. Lens; 10. Connecting block; 11. Slide table. Detailed Implementation
[0025] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.
[0026] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.
[0027] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.
[0028] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.
[0029] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.
[0030] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.
[0031] This utility model provides a vision-based appearance inspection device, such as... Figures 1 to 5As shown, the system includes a chassis-type workbench 1. One side of the workbench 1 has a loading port, and the other side has a unloading port. The workbench 1 includes a standard equipment chassis and a marble worktable. The equipment chassis houses an industrial computer, a light source controller, cylinders, axis controllers, a robot control cabinet, and a motion control card, all connected via conventional electrical connections. The workbench 1 integrates a top fixture module 2, a detection module 3, a bottom fixture module 4, and a bottom unloading module 5. The top fixture module 2 and the detection module 3 are fixedly connected to the workbench 1 and spaced apart along the X-axis. The bottom fixture module 4 and the bottom unloading module 5 are slidably connected to the workbench 1 along the X-axis. The top fixture module 2 is located on the side near the unloading port. The top fixture module 2, bottom fixture module 4, and bottom unloading module 5 all include a connecting seat 6 and a rotatable flexible fixture. The flexible fixture is rotatably mounted on the connecting seat 6. The connecting seat 6 of the top fixture module 2 slides along the Z-axis under the drive of a servo motor. The connecting seats 6 of the bottom fixture module 4 and bottom unloading module 5 slide along the X-axis under the drive of a servo motor. The detection module 3 includes a robot arm 31 fixedly mounted on the machine worktable 1. The robot arm 31 is arranged opposite to the top fixture module 2. A camera 7 is mounted on the robot arm 31. The camera 7 moves along the X-axis and Z-axis under the action of the robot arm 31.
[0032] In this embodiment, the setup of the top fixture module 2, detection module 3, bottom fixture module 4, and bottom unloading module 5 enables automatic positioning, detection, and unloading of materials, reducing manual intervention. Each module is independent, facilitating maintenance and upgrades. Combined with multiple connecting seats 6 and a rotatable flexible fixture, the angle of the material can be adjusted to achieve 360° all-around detection, preventing missed detections and improving detection efficiency and accuracy. Furthermore, the flexibility of the robotic arm allows for the detection of the reverse side of the material.
[0033] Working principle:
[0034] like Figures 1 to 5As shown, the specific process is as follows: First, the material enters through the loading port and is loaded onto the bottom fixture module 4. The camera 7 of the detection module 3 is moved to the top imaging point by the robot arm 31. By means of fixed shooting and flying shooting, the top and top side images of the material are collected. Combined with the rotation setting of the flexible fixture, it is ensured that the full surface features of the top are covered. Then, the material on the bottom fixture module 4 is moved to the bottom of the top fixture module 2 by the servo motor. The material is transferred by sliding the flexible fixture of the top fixture module 2. The height position of the material is adjusted by the servo motor. In this process, the material is transferred by vertical docking. Compared with the horizontal docking used by the existing five-axis Aoi, vertical docking has better stability because the docking direction is consistent with the direction of gravity. Next, the robot arm 31 is used to move the camera 7 to the bottom imaging point to collect the bottom and bottom side images of the material. Similarly, it is ensured that the full surface features of the bottom are covered. Finally, the collected photos are processed by the software AI to determine the NG and OK materials. The materials are transferred through the bottom unloading module 5 and unloaded from the unloading port to complete the inspection. By repeating the above, batch inspection can be achieved.
[0035] In this utility model, preferably, such as Figure 1 and Figure 2 As shown, a camera light source bracket is also installed on the robotic arm 31. A light source 8 is installed inside the camera light source bracket. The light source 8 is arranged around the camera 7 and is located on the side of the camera 7 away from the robotic arm 31. A lens 9 is installed on the camera 7. The camera 7, lens 9 and light source 8 are arranged coaxially.
[0036] In this embodiment, by setting the light source 8 of the camera light source bracket and the camera 7, lens 9 and light source 8 to be coaxial, the clarity of the photo can be improved, thereby further improving the detection accuracy.
[0037] In this utility model, preferably, such as Figure 1 As shown, the flexible fixtures of the top fixture module 2, the bottom fixture module 4, and the bottom unloading module 5 each include multiple flexible fixtures, and the camera 7 includes multiple cameras. The flexible fixtures of the top fixture module 2, the bottom fixture module 4, and the bottom unloading module 5 correspond one-to-one with the camera 7. The flexible fixture includes a rotating shaft and a vacuum generator for adsorbing materials. The vacuum generator is rotatably connected to the connecting seat 6 through the rotating shaft.
[0038] In this embodiment, the flexible fixture and the camera 7 are arranged in multiple corresponding positions, which can simultaneously meet the synchronous detection of multiple materials and further improve the detection efficiency. The rotating shaft and vacuum generator can conveniently fix and disassemble the materials, while also allowing for 360° free adjustment, which facilitates the coverage of the entire surface features.
[0039] In this utility model, preferably, such as Figure 1As shown, the top fixture module 2 also includes an integrated gantry frame 21 and a guide rail 22. The integrated gantry frame 21 is fixedly installed on the machine workbench 1, and the guide rail 22 is fixedly installed on the integrated gantry frame 21 and located on the side close to the robot arm 31. The connecting seat 6 is slidably installed on the guide rail 22 by a servo motor, and the sliding direction is along the Z-axis.
[0040] In this embodiment, the integrated gantry frame 21 and guide rail 22 save space, making the overall structure compact and suitable for various production environments.
[0041] In this utility model, preferably, such as Figure 1 and Figure 3 As shown, the bottom fixture module 4 also includes three slide rails 41 spaced apart from each other. The three slide rails 41 are fixedly installed on the machine workbench 1. The connecting seat 6 is slidably installed on the three slide rails 41 via a servo motor. The connecting seat 6 of the bottom unloading module 5 is divided into two connecting blocks 10 on the left and right. The bottom unloading module 5 also includes two slide tables 11. The two slide tables 11 are fixedly installed on both sides of the integrated gantry frame 21 and are respectively located between two adjacent slide rails 41. The two connecting blocks 10 are slidably connected to the two slide tables 11 via servo motors. To prevent the connecting seat 6 and the two connecting blocks 10 from detaching from the slide rails 41 and slide tables 11 respectively, stop blocks can be set at both ends of the slide rails 41 and slide tables 11.
[0042] In this embodiment, the arrangement of three slide rails 41 ensures the linear sliding of the connecting seat 6 on the bottom fixture module 4; combined with the arrangement of two connecting blocks 10 and two slide tables 11, the integrated gantry frame 21 can be effectively avoided to prevent interference, thereby facilitating and quickly realizing the material transfer between the top fixture module 2 and the bottom unloading module 5, and also ensuring the linear sliding of the two connecting blocks 10.
[0043] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.
[0044] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.
Claims
1. A vision-based appearance inspection device, comprising a chassis workbench (1), wherein the chassis workbench (1) integrates a top fixture module (2), an inspection module (3), a bottom fixture module (4), and a bottom unloading module (5), the top fixture module (2) and the inspection module (3) are fixedly connected to the chassis workbench (1) and are spaced apart along the X-axis direction, and the bottom fixture module (4) and the bottom unloading module (5) are slidably connected to the chassis workbench (1) in the X-axis direction, characterized in that, The top fixture module (2), bottom fixture module (4) and bottom unloading module (5) each include a connecting seat (6) and a rotatable flexible fixture. The flexible fixture is rotatably mounted on the connecting seat (6). The connecting seat (6) of the top fixture module (2) slides along the Z-axis under the drive of the servo motor. The connecting seats (6) of the bottom fixture module (4) and bottom unloading module (5) slide along the X-axis under the drive of the servo motor. The detection module (3) includes a robot arm (31) fixedly mounted on the machine workbench (1). The robot arm (31) is arranged opposite to the top fixture module (2). A camera (7) is mounted on the robot arm (31). The camera (7) moves along the X-axis and Z-axis under the action of the robot arm (31).
2. The vision-based appearance inspection device according to claim 1, characterized in that, The robotic arm (31) is also equipped with a camera light source bracket, and a light source (8) is installed inside the camera light source bracket. The light source (8) is arranged around the camera (7) and is located on the side of the camera (7) away from the robotic arm (31). A lens (9) is installed on the camera (7). The camera (7), lens (9) and light source (8) are arranged coaxially.
3. The vision-based appearance inspection device according to claim 2, characterized in that, The top fixture module (2), bottom fixture module (4) and bottom unloading module (5) each have multiple flexible fixtures, and the camera (7) has multiple cameras. The flexible fixtures of the top fixture module (2), bottom fixture module (4) and bottom unloading module (5) and the camera (7) are all in one-to-one correspondence.
4. The vision-based appearance inspection device according to claim 3, characterized in that, The flexible fixture includes a rotating shaft and a vacuum generator for adsorbing materials, the vacuum generator being rotatably connected to the connecting seat (6) via the rotating shaft.
5. A vision-based appearance inspection device according to any one of claims 1 to 4, characterized in that, The top fixture module (2) also includes an integrated gantry frame (21) and a guide rail (22). The integrated gantry frame (21) is fixedly installed on the machine workbench (1). The guide rail (22) is fixedly installed on the integrated gantry frame (21) and located on the side close to the robot arm (31). The connecting seat (6) is slidably installed on the guide rail (22) by a servo motor, and the sliding direction is along the Z-axis.
6. The vision-based appearance inspection device according to claim 5, characterized in that, The bottom fixture module (4) also includes three slide rails (41) spaced apart from each other. The three slide rails (41) are fixedly installed on the chassis workbench (1), and the connecting seat (6) is slidably installed on the three slide rails (41) by a servo motor.
7. The vision-based appearance inspection device according to claim 6, characterized in that, The connecting seat (6) of the bottom unloading module (5) is divided into two connecting blocks (10). The bottom unloading module (5) also includes two slides (11). The two slides (11) are fixedly installed on both sides of the integrated gantry frame (21) and are located between two adjacent slide rails (41). The two connecting blocks (10) are slidably connected to the two slides (11) by servo motors respectively.