Automatic appearance detection machine with internal and external detection

Abstract

The utility model discloses an automatic appearance detection machine of inside and outside double detection, including the feeding mechanism of sequential setting, first detection mechanism, turn over manipulator, second detection mechanism and sorting mechanism, and first detection mechanism includes vertical detection subassembly and first rotation slip subassembly, and vertical detection subassembly is provided with the first detection camera of lens downward setting, and first rotation slip subassembly is provided with the first bearing clamp of rotation along X -axis and Z -axis, second detection mechanism includes oblique detection subassembly and second rotation subassembly, and second rotation subassembly is provided with the second bearing clamp of rotation along X -axis and Z -axis, and oblique detection subassembly is provided with the second detection camera of lens towards second bearing clamp. First rotation slip subassembly drives workpiece to turn over and detects front and outside, and second rotation subassembly drives workpiece to turn over and cooperates oblique and detects back and inside with second detection camera, expands detection range, improves detection efficiency, and sorting mechanism automatically sorts, and manual operation is not needed.

Description

Technical Field

[0001] This utility model relates to the technical field of automatic appearance inspection equipment, and in particular to an automatic appearance inspection machine that performs both internal and external inspections. Background Technology

[0002] Automated appearance inspection machines are visual inspection devices that automatically check for appearance defects by taking pictures of various sides of a product with a camera and performing visual analysis. Existing automated appearance inspection machines generally use a fixed camera and a robotic arm to hold the workpiece, using the robotic arm to flip and rotate the workpiece to take pictures of each side for inspection. Another method involves fixing the workpiece and using a robotic arm to hold the camera, taking pictures of each side of the workpiece by changing the camera's shooting angle. Both of these methods can only inspect one workpiece at a time, resulting in low inspection efficiency. For box-type or cover-type products, especially radomes, it is necessary to inspect not only the outer surface but also the inner surface. However, existing automated appearance inspection machines can only inspect the front, back, and four outer sides of the workpiece, making it difficult to inspect the inner surfaces. This results in a small inspection range, and increasing the inspection area further reduces inspection efficiency. Therefore, improvements are necessary. Utility Model Content

[0003] In view of the shortcomings of the existing technology, the purpose of this utility model is to provide an automatic appearance inspection machine with internal and external dual inspection, which improves inspection efficiency, expands the inspection range, and can automatically inspect the front, back, outer and inner sides of the workpiece.

[0004] To achieve the above objectives, the technical solution adopted by this utility model is: an automatic appearance inspection machine with internal and external double inspection, comprising an inspection device and a feeding device disposed beside the inspection device. The inspection device is equipped with an inspection platform, and includes a feeding mechanism, a first inspection mechanism for inspecting the front and outer sides of the workpiece, a flipping robot, a second inspection mechanism for inspecting the back and inner sides of the workpiece, and a sorting mechanism, which are sequentially arranged on the inspection platform. The feeding device is disposed in front of the feeding mechanism.

[0005] The first detection mechanism includes a vertical detection component and a first rotary sliding component. The vertical detection component is fixedly installed on the detection machine and located between the feeding mechanism and the flipping robot. The vertical detection component is provided with at least one first detection camera with its lens facing downward. The first rotary sliding component is provided with at least one first support clamp that rotates along the X-axis and Z-axis. The first support clamp is located below the first detection camera.

[0006] The second detection mechanism includes a tilt detection component and at least one second rotating component. The tilt detection component is fixedly installed on the detection machine and located between the flipping robot and the sorting mechanism. The second rotating component is disposed between the flipping robot and the tilt detection component. The second rotating component is provided with a second support fixture that rotates along the X-axis and Z-axis. The tilt detection component is provided with at least one second detection camera with its lens facing the second support fixture.

[0007] In a further technical solution, the first rotary sliding assembly includes two first mounting brackets, a first sliding linear module, a first sliding rail, a first rotating frame, a first rotary motor, at least one first supporting fixture, and a first self-rotating motor. The first sliding linear module and the first sliding rail are respectively spaced apart on the testing machine. The two first mounting brackets are respectively slidably mounted on the first sliding linear module and the first sliding rail and move between the feeding mechanism and the flipping robot. The first rotating frame is rotatably mounted on the first mounting bracket along the X-axis. The first rotary motor is drivenly connected to the first rotating frame. The first supporting fixture is rotatably mounted on the first rotating frame along the Z-axis. The first self-rotating motor is fixedly mounted on any one of the first rotating frames and is drivenly connected to the first supporting fixture.

[0008] In a further technical solution, the second rotating assembly includes a second mounting frame, a second rotating frame, a second rotating motor, a second supporting clamp, and a second self-rotating motor. The second mounting frame is fixedly installed on the inspection machine and located between the flipping robot and the tilting inspection assembly. The second rotating frame is rotatably mounted on the second mounting frame along the X-axis. The second rotating motor is drivenly connected to the second rotating frame. The second supporting clamp is rotatably mounted on the second rotating frame along the Z-axis. The second self-rotating motor is fixedly mounted on the second rotating frame and drivenly connected to the second supporting clamp. When inspecting the inner side of the workpiece, the second supporting clamp is horizontally positioned and the angle between the upper surface of the workpiece and the second inspection camera is less than 90°. When inspecting the back side of the workpiece, the second supporting clamp is tilted towards the second inspection camera.

[0009] In a further technical solution, a lifting and feeding mechanism is also provided between the flipping robot and the sorting mechanism. The lifting and feeding mechanism includes two lifting slides, a lifting drive assembly, two lifting frames, two lifting assemblies, at least one lifting frame, at least one flipping receiving platform, at least one lifting transition platform, and at least one lifting unloading platform. The two lifting slides are slidably installed on the inspection machine platform along the Y-axis and are located on the front and rear sides of the second inspection mechanism, respectively. The two lifting frames are slidably installed on the two lifting slides along the Z-axis. The two lifting assemblies are drivenly connected to the two lifting frames, respectively. The front and rear ends of the lifting frame are rotatably installed on the two lifting frames through crankshafts, respectively. The lifting drive assembly is drivenly connected to the two crankshafts, respectively. The flipping receiving platform, lifting transition platform, and lifting unloading platform are fixedly installed on the inspection machine platform from front to back along the Y-axis. The second rotating assembly is located between the flipping receiving platform and the lifting transition platform.

[0010] In a further technical solution, the vertical detection component includes a first detection gantry, a first detection linear module, a first detection carriage, and at least one first detection camera. The first detection gantry is fixedly installed on the detection machine base, the first detection linear module is vertically fixedly installed on the first detection gantry, the first detection carriage is fixedly installed on the slider of the first detection linear module, and the first detection camera is fixedly installed on the first detection carriage.

[0011] The tilt detection assembly includes a second detection mounting frame, a second detection linear module, a second detection slide rail, and at least one second detection camera. The second detection linear module and the second detection slide rail are respectively arranged on the detection machine platform along the Y-axis direction. One end of the second detection mounting frame is fixedly mounted on the slider of the second detection linear module, and the other end is slidably mounted on the second detection slide rail. The second detection camera is tilted and fixedly mounted on the second detection mounting frame. Both the first detection camera and the second detection camera are provided with focusing components.

[0012] In a further technical solution, the sorting mechanism includes a feeding assembly, a qualified conveyor belt, and an NG conveyor belt. The qualified conveyor belt and the NG conveyor belt are arranged side by side along the Y-axis on the inspection machine. The feeding assembly includes a feeding gantry and a feeding robot. The feeding gantry is fixedly installed on the inspection machine along the X-axis and passes through the qualified conveyor belt, the NG conveyor belt, and the lifting and feeding mechanism laterally. The feeding robot is slidably installed on the feeding gantry along the X-axis.

[0013] In a further technical solution, the sorting mechanism is also equipped with eight single-item NG sorting components and one multi-item NG sorting component. Each single-item NG sorting component is arranged at intervals along the Y-axis on the side of the NG conveyor belt. The single-item NG sorting component includes a single-item NG sorting box and a single-item NG sorting cylinder respectively arranged on both sides of the NG conveyor belt. The multi-item NG sorting component includes a multi-item NG sorting box, an NG sorting gantry, and an NG sorting robot. The multi-item NG sorting box is arranged on the side of the NG conveyor belt. The NG sorting gantry is fixedly installed on the inspection machine along the X-axis and extends laterally through the multi-item NG sorting box and the NG conveyor belt. The NG sorting robot is slidably installed on the NG sorting gantry along the X-axis.

[0014] In a further technical solution, the feeding mechanism includes two feeding fixed frames, a feeding slide, a feeding linear module, a feeding slide rail, and a feeding robot. The two feeding fixed frames are spaced apart on the inspection machine table along the X-axis direction. The feeding linear module and the feeding slide rail are respectively arranged on the two feeding fixed frames along the Y-axis direction. One end of the feeding robot is slidably mounted on the feeding slide rail, and the other end is fixedly mounted on the slider of the feeding linear module.

[0015] In a further technical solution, the feeding device includes a rotary feeding table, a lifting mechanism, and four feeding racks. The rotary feeding table is rotatably installed on the front side of the feeding mechanism, and the four feeding racks are installed at equal intervals along the circumference of the rotary feeding table. The lifting mechanism is located between the rotary feeding table and the feeding mechanism.

[0016] The lifting mechanism includes a lifting frame, a lifting slide, a lifting screw, and a lifting motor. The lifting frame is fixedly installed on the testing machine base. The lifting slide is slidably installed on the lifting frame along the Z-axis. The lifting screw is rotatably installed on the lifting frame along the Z-axis and threadedly connected to the lifting slide. The lifting motor is driven by the lifting screw. At least one material support plate extends from the side of the lifting slide toward the rotating feeding table, and the material support plate extends to the bottom of the feeding frame.

[0017] In a further technical solution, the flipping robot includes a flipping slide, a flipping lifting frame, and at least one flipping component. The flipping slide is slidably mounted on the inspection machine platform along the Y-axis and is located between the lifting and feeding mechanism and the vertical inspection component. The flipping lifting frame is slidably mounted on the flipping slide along the Z-axis. The flipping component is fixedly mounted on the flipping lifting frame. The flipping component includes a flipping rotary cylinder and a flipping gripper cylinder. The flipping rotary cylinder is fixedly mounted on the flipping lifting frame, and the flipping gripper cylinder is fixedly mounted on the flipping rotary cylinder.

[0018] The advantages of this invention compared to existing technologies are as follows: The feeding mechanism transfers the workpiece from the feeding device to the first rotary sliding assembly. The first rotary sliding assembly moves below the vertical detection assembly and rotates the workpiece along the X and Z axes, allowing the vertical detection assembly to inspect the front and four outer sides of the workpiece. The first rotary sliding assembly then moves below the flipping robot, which grips the workpiece, rotates it 180°, and places it on the second rotary assembly. The second rotary assembly rotates the workpiece along the Z axis, allowing the tilting detection assembly to inspect the four inner sides of the workpiece. The second rotary assembly also rotates the workpiece along the X axis, with the back of the workpiece facing the tilting detection assembly, allowing inspection of the back of the workpiece. This completes the appearance inspection of both the inner and outer surfaces, enabling automatic inspection of the front, back, outer, and inner sides of the workpiece, expanding the inspection range, eliminating the need for manual intervention in flipping and fixing the workpiece, facilitating assembly line inspection, and allowing simultaneous inspection of multiple workpieces, thus improving inspection efficiency.

[0019] After inspection, the workpieces are sorted and classified as qualified or unqualified by a sorting mechanism. This eliminates the need for manual unloading, reduces the error rate of manual sorting, increases automation, and further improves testing efficiency. The unloading component places qualified workpieces on the qualified conveyor belt and unqualified workpieces on the NG conveyor belt. When a workpiece has only one surface defect, the corresponding NG classification cylinder pushes it off the NG conveyor belt and into the corresponding NG classification box. When a workpiece has multiple surface defects, the NG classification robot picks up the workpiece and sends it into the multi-NG classification box. This process of NG classification refines the types of unqualified items, facilitating subsequent rework operations.

[0020] The entire process is automated, eliminating the need for manual loading and unloading. It boasts a high degree of automation, high detection efficiency, and reduced error rates in detection and NG classification. Attached Figure Description

[0021] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0022] Figure 1 This is a schematic diagram of the structure of this utility model;

[0023] Figure 2 This is a top view of the present invention;

[0024] Figure 3 This is a schematic diagram of the feeding device of this utility model;

[0025] Figure 4 This is a schematic diagram of the feeding mechanism and the first rotary sliding component of this utility model;

[0026] Figure 5 This is a schematic diagram of the structure of the first testing mechanism of this utility model;

[0027] Figure 6 This is a structural schematic diagram of the flipping robot, the second detection mechanism, and the lifting and feeding mechanism of this utility model;

[0028] Figure 7 This is a side view of the flipping robot, the second detection mechanism, and the lifting and feeding mechanism of this utility model;

[0029] Figure 8 This is a schematic diagram of the structure of the second rotating component of this utility model;

[0030] Figure 9 This is a schematic diagram of the sorting mechanism of this utility model;

[0031] Figure 10 This is a schematic diagram of the state when the back of the workpiece is being inspected according to this utility model.

[0032] In the picture:

[0033] 1 testing device, 11 testing machines;

[0034] 2. Feeding device, 21. Rotary feeding table, 22. Feeding rack, 23. Lifting mechanism, 231. Lifting fixing frame, 232. Lifting slide, 233. Lifting screw, 234. Lifting motor, 235. Material support plate;

[0035] 3. Feeding mechanism; 31. Feeding fixing frame; 32. Feeding slide; 33. Feeding linear module; 34. Feeding slide rail; 35. Feeding robot;

[0036] 4 First detection mechanism, 41 Vertical detection component, 411 First detection gantry, 412 First detection linear module, 413 First detection carriage, 414 First detection camera, 42 First rotating sliding component, 421 First mounting bracket, 422 First sliding linear module, 423 First sliding rail, 424 First rotating frame, 425 First rotary motor, 426 First supporting clamp, 427 First self-rotating motor;

[0037] 5. Flipping robot arm, 51. Flipping slide, 52. Flipping lifting frame, 53. Flipping assembly, 531. Flipping rotary cylinder, 532. Flipping gripper cylinder;

[0038] 61 Inclined detection assembly, 611 Second detection mounting bracket, 612 Second detection linear module, 613 Second detection slide rail, 614 Second detection camera, 62 Second rotating assembly, 621 Second mounting bracket, 622 Second rotating frame, 623 Second rotating motor, 624 Second supporting clamp, 625 Second self-rotating motor;

[0039] 7 Lifting and feeding mechanism, 71 Lifting slide, 73 Lifting lifting frame, 74 Lifting lifting assembly, 75 Lifting frame, 76 Turning receiving platform, 77 Lifting transition platform, 78 Lifting unloading platform;

[0040] 8. Sorting mechanism, 81. Unloading assembly, 811. Unloading gantry, 812. Unloading robot, 82. Qualified transmission belt, 83. NG conveyor belt, 84. Single NG sorting assembly, 841. Single NG sorting box, 842. Single NG sorting cylinder, 85. Multiple NG sorting assembly, 851. Multiple NG sorting box, 852. NG sorting gantry, 853. NG sorting robot. Detailed Implementation

[0041] The following are merely preferred embodiments of the present invention and do not limit the scope of protection of the present invention.

[0042] An automated appearance inspection machine that performs both internal and external inspections, such as Figures 1 to 10 As shown, the device includes a detection device 1 and a feeding device 2 located beside the detection device 1. The detection device 1 is equipped with a detection platform 11, which includes a feeding mechanism 3, a first detection mechanism 4 for detecting the front and outer sides of the workpiece, a flipping robot 5, a second detection mechanism for detecting the back and inner sides of the workpiece, and a sorting mechanism 8, all sequentially arranged on the detection platform 11. The feeding device 2 is located in front of the feeding mechanism 3. The first detection mechanism 4 includes a vertical detection component 41 and a first rotary sliding component 42. The vertical detection component 41 is fixedly installed on the detection platform 11 and located between the feeding mechanism 3 and the flipping robot 5. The vertical detection component 41 is equipped with a first detection mechanism with three downward-facing lenses. The first detection camera 414 has a first rotating sliding assembly 42 with three first supporting clamps 426 that rotate along the X-axis and Z-axis, and the first supporting clamps 426 are located below the first detection camera 414. The second detection mechanism includes a tilt detection assembly 61 and three second rotating assemblies 62. The tilt detection assembly 61 is fixedly installed on the detection platform 11 and located between the flipping robot 5 and the sorting mechanism 8. The second rotating assemblies 62 are located between the flipping robot 5 and the tilt detection assembly 61. The second rotating assemblies 62 are equipped with second supporting clamps 624 that rotate along the X-axis and Z-axis. The tilt detection assembly 61 is equipped with three second detection cameras 614 with lenses facing the second supporting clamps 624.

[0043] Traditional automatic appearance inspection machines can only inspect the six outer surfaces, and cannot inspect the inner surfaces of box-shaped or cover-shaped workpieces. Their inspection range is small, and they can only inspect one workpiece at a time, resulting in low inspection efficiency. This invention, however, uses a feeding mechanism 3 to transfer the workpiece from the feeding device 2 to the first rotary sliding assembly 42. The first rotary sliding assembly 42 moves below the vertical inspection assembly 41, causing the workpiece to rotate along the X and Z axes. This allows the vertical inspection assembly 41 to inspect the front and four outer surfaces of the workpiece. The first rotary sliding assembly 42 then moves below the flipping robot 5, and the flipping robot... The robotic arm 5 grips the workpiece and rotates it 180° before placing it on the second rotating assembly 62. The second rotating assembly 62 rotates the workpiece along the Z-axis, allowing the tilt detection assembly 61 to inspect the four inner surfaces of the workpiece. The second rotating assembly 62 also rotates the workpiece along the X-axis, positioning its back side towards the tilt detection assembly 61 for inspection of the back surface. This completes the appearance inspection of both inner and outer surfaces. The system can automatically inspect the front, back, outer, and inner surfaces of the workpiece, expanding the inspection range. It eliminates the need for manual intervention in flipping and fixing the workpiece, enabling streamlined inspection and simultaneous inspection of multiple workpieces, thus improving efficiency. After inspection, the workpieces are sorted and categorized by the sorting mechanism 8, eliminating the need for manual unloading, reducing errors in manual sorting, increasing automation, and further improving testing efficiency.

[0044] Specifically, such as Figure 4 and Figure 5As shown, the first rotary sliding assembly 42 includes two first mounting brackets 421, a first sliding linear module 422, a first sliding slide rail 423, a first rotating frame 424, a first rotary motor 425, three first supporting clamps 426, and a first self-rotating motor 427. The first sliding linear module 422 and the first sliding slide rail 423 are respectively spaced apart on the inspection machine base 11 along the Y-axis. The two first mounting brackets 421 are respectively slidably mounted on the first sliding linear module 422 and the first sliding slide rail 423 and move between the feeding mechanism 3 and the flipping robot 5. The first rotating frame 424 is rotatably mounted on the first mounting bracket 421 along the X-axis. The first rotary motor 425 is drivenly connected to the first rotating frame 424. The first supporting clamp 426 is rotatably mounted on the first rotating frame 424 along the Z-axis. The first self-rotating motor 427 is fixedly mounted on any one of the first rotating frames 424 and is drivenly connected to the first supporting clamp 426. The first sliding linear module 422 drives the first rotating sliding component 42 to move forward and approach the feeding mechanism 3. After the feeding mechanism 3 places the workpiece on each of the first supporting fixtures 426, the first sliding linear module 422 drives the first rotating sliding component 42 to move backward to below the vertical detection component 41. At this time, each workpiece is located below each of the first detection cameras 414, and the first detection camera 414 takes pictures of the front of the workpiece. Then, the first rotary motor 425 drives the first rotating frame 424 to rotate 90° along the X-axis, so that the side of the workpiece faces the first detection camera 414. At the same time, it works with the first sliding linear module 422 to adjust the position of the workpiece so that the side of the workpiece is below the first detection camera 414. After taking pictures of the side, the first rotating motor 427 drives each of the first supporting fixtures 426 to rotate 90° in sequence. After the first rotating frame 424 rotates 90° along the X-axis, the first supporting fixtures 426 rotate along the Y-axis, thereby completing the taking pictures of each of the outer sides of the workpiece. With a simple structure and low cost, it eliminates the need for multi-axis robotic arms to plan complex paths, and the flipping action is simple and rapid, improving inspection efficiency. The first support fixture 426 fixes the workpiece by vacuum adsorption, the first rotary motor 425 is connected to the first rotating frame 424 through a pulley transmission structure, and the first self-rotating motor 427 is also connected to each of the first support fixtures 426 through a pulley transmission structure.

[0045] Specifically, such as Figures 6 to 8As shown, the second rotating assembly 62 includes a second mounting frame 621, a second rotating frame 622, a second rotating motor 623, a second supporting clamp 624, and a second self-rotating motor 625. The second mounting frame 621 is fixedly mounted on the inspection machine base 11 and located between the flipping robot 5 and the tilting inspection assembly 61. The second rotating frame 622 is rotatably mounted on the second mounting frame 621 along the X-axis. The second rotating motor 623 is drivenly connected to the second rotating frame 622. The second supporting clamp 624 is rotatably mounted on the second rotating frame 622 along the Z-axis. The second self-rotating motor 625 is fixedly mounted on the second rotating frame 622 and is drivenly connected to the second supporting clamp 624. When inspecting the inner side of the workpiece, the second supporting clamp 624 is horizontally positioned and the angle between the upper surface of the workpiece and the second inspection camera 614 is less than 90°. When inspecting the back side of the workpiece, the second supporting clamp 624 is tilted towards the second inspection camera 614. After the front and four outer sides of the workpiece are inspected, the flipping robot 5 flips the workpiece and places it on each of the second support fixtures 624. The second support fixtures 624 vacuum-adhere to the workpiece. At this time, the second support fixtures 624 are horizontally positioned, so that there are clamps between the workpiece and the second inspection camera 614. The tilt angle of the second inspection camera 614 is used to take pictures and inspect the inner side of the workpiece. Then, the second self-rotating motor 625 drives the second support fixtures 624 to rotate 90° sequentially along the Z-axis to take pictures and inspect the four inner sides of the workpiece. After the inner side is photographed and inspected, as shown in the image... Figure 10 As shown, the second rotary motor 623 drives the second rotary frame 622 to rotate toward the second detection camera 614, as... Figure 10 As shown, the back of the workpiece is positioned so that it faces the second inspection camera 614, allowing for image inspection of the back of the workpiece. This completes the inspection of all surfaces of the workpiece, including the front, back, four inner sides, and four outer sides. This method eliminates the need for a multi-axis robotic arm to hold the workpiece and perform complex path planning, resulting in a simple structure, low cost, short flipping path, and high inspection efficiency.

[0046] Specifically, a lifting and feeding mechanism 7 is also provided between the flipping robot 5 and the sorting mechanism 8, such as... Figure 6 and Figure 7As shown, the lifting and feeding mechanism 7 includes two lifting slides 71, a lifting drive assembly, two lifting frames 72, two lifting components 74, three lifting frames 75, three flipping receiving platforms 76, three lifting transition platforms 77, and three lifting unloading platforms 78. The two lifting slides are slidably installed on the testing machine base 11 along the Y-axis and are located on the front and rear sides of the second testing mechanism. The two lifting frames 72 are slidably installed on the two lifting slides 71 along the Z-axis. The two lifting components 74 are drivenly connected to the two lifting frames 72. The front and rear ends of the lifting frames 75 are rotatably installed on the two lifting frames 72 via crankshafts. The lifting drive assembly is drivenly connected to the two crankshafts. The flipping receiving platforms 76, lifting transition platforms 77, and lifting unloading platforms 78 are fixedly installed on the testing machine base 11 from front to back along the Y-axis. The second rotating component 62 is located between the flipping receiving platforms 76 and the lifting transition platforms 77. After the flipping robot 5 completes the flipping, it first places the workpiece on the flipping receiving table 76. Then, the two material lifting components 74 simultaneously drive the two material lifting frames 72 to rise until the material lifting frame 75 lifts the workpiece and separates it from the flipping receiving table 76. The material lifting drive component, under the action of the crankshaft, drives the material lifting frame 75 to move backward first, so that the workpiece moves above the second supporting fixture 624. The two material lifting components 74 simultaneously drive the two material lifting frames 72 to descend until the workpiece is placed on the second supporting fixture 624. The material lifting drive component continues to drive the material lifting frame 75 to move forward, thus forming a material lifting cycle. The workpieces that have completed inspection are sequentially transferred to the lifting transition table 77 and the lifting unloading table 78. Then, the sorting mechanism 8 transfers and classifies the workpieces on the lifting unloading table 78. The lifting and feeding mechanism 7 continuously rotates the workpiece, using the flipping receiving platform 76 and the lifting transition platform 77 for receiving and transitioning. This eliminates the need for the second inspection mechanism to wait for the flipping robot 5 to load, and the sorting mechanism to wait for the second rotating component 62 to unload, allowing the second inspection and sorting mechanisms to operate continuously and further improving inspection efficiency. Furthermore, the lifting and feeding mechanism 7 does not occupy overhead space, making the overall machine structure more compact and reducing the probability of movement interference. The material-carrying drive component uses a motor and pulley structure for synchronous drive, while the material-carrying lifting component 74 uses a cylinder. Two lifting slides 71 are slidably mounted on the inspection table 11 along the Y-axis via slide rails. When dealing with workpieces of different sizes, the position of the lifting and feeding mechanism 7 in the Y-axis direction is adjusted to ensure accurate placement of the workpiece on each table.

[0047] Specifically, such as Figure 6 and Figure 7As shown, the flipping robot 5 includes a flipping slide 51, a flipping lifting frame 52, and three flipping components 53. The flipping slide 51 is slidably mounted on the inspection platform 11 along the Y-axis and is located between the lifting and feeding mechanism 7 and the vertical inspection component 41. The flipping lifting frame 52 is slidably mounted on the flipping slide 51 along the Z-axis. The flipping components 53 are fixedly mounted on the flipping lifting frame 52. The flipping components 53 include a flipping rotary cylinder 531 and a flipping gripper cylinder 532. The flipping rotary cylinder 531 is fixedly mounted on the flipping lifting frame 52, and the flipping gripper cylinder 532 is fixedly mounted on the flipping rotary cylinder 531. The flipping carriage 51 moves along the Y-axis via a linear module. It first moves forward to above the first support fixture 426, and then the flipping lifting frame 52 moves downward via a cylinder or linear module, causing the flipping gripper cylinder 532 to clamp the workpiece. The flipping carriage 51 then moves backward, while the flipping rotation cylinder 531 drives the workpiece to rotate 180° to complete the flipping. The flipping lifting frame 52 moves upward until the workpiece is above the flipping receiving platform 76. The flipping lifting frame 52 moves downward, and then the flipping gripper cylinder 532 releases the workpiece. The flipping action is simple, eliminating the need for a multi-axis robot to perform complex path planning for flipping, thus improving flipping efficiency, simplifying the structure, and reducing costs.

[0048] Specifically, such as Figure 5 As shown, the vertical detection assembly 41 includes a first detection gantry 411, a first detection linear module 412, a first detection slide 413, and three first detection cameras 414. The first detection gantry 411 is fixedly installed on the detection machine base 11, the first detection linear module 412 is vertically fixedly installed on the first detection gantry 411, the first detection slide 413 is fixedly installed on the slider of the first detection linear module 412, and the first detection cameras 414 are fixedly installed on the first detection slide 413. Figure 6 and Figure 7As shown, the tilt detection assembly 61 includes a second detection mounting bracket 611, a second detection linear module 612, a second detection slide rail 613, and three second detection cameras 614. The second detection linear module 612 and the second detection slide rail 613 are respectively arranged on the detection machine base 11 along the Y-axis direction. One end of the second detection mounting bracket 611 is fixedly mounted on the slider of the second detection linear module 612, and the other end is slidably mounted on the second detection slide rail 613. The second detection cameras 614 are tilted and fixedly mounted on the second detection mounting bracket 611. Both the first detection camera 414 and the second detection camera 614 are provided with focusing components. Since the first rotary sliding assembly 42 needs to move along the Y-axis to avoid the vertical detection assembly 41 for loading and unloading, the alignment of the workpiece and the first detection camera 414 can be completed simply by moving the first rotary sliding assembly 42 during the outer side inspection. However, for workpieces of different sizes, the first detection linear module 412 drives each first detection camera 414 to move along the Z-axis to adjust the distance between the workpiece and the first detection camera 414, thereby adapting to workpieces of different sizes. Since the second rotary assembly 62 is relatively fixed and cooperates with the lifting and feeding mechanism 7 for loading and unloading, the second rotary assembly 62 drives each second detection camera 614 to move along the Y-axis through the second detection slide rail 613 to adapt to workpieces of different sizes. At the same time, the tilt angle of the second detection camera 614 can be adjusted manually or automatically by a motor.

[0049] Specifically, such as Figure 1 , Figure 2 and Figure 9 As shown, the sorting mechanism 8 includes a feeding assembly 81, a qualified conveyor belt 82, and an unqualified conveyor belt 83. The qualified conveyor belt 82 and the unqualified conveyor belt 83 are arranged side by side along the Y-axis on the inspection platform 11. The feeding assembly 81 includes a feeding gantry 811 and a feeding robot 812. The feeding gantry 811 is fixedly installed on the inspection platform 11 along the X-axis and extends laterally through the qualified conveyor belt, the unqualified conveyor belt, and the lifting and feeding mechanism 7. The feeding robot 812 is slidably installed on the feeding gantry 811 along the X-axis. After the workpiece is inspected, the feeding robot 812 moves along the X-axis via a linear module to the top of the lifting and feeding platform 78, and picks up the workpiece. Qualified workpieces are transferred to the qualified conveyor belt 82, and unqualified workpieces are transferred to the unqualified conveyor belt 83. The feeding assembly 81 transfers the workpieces and distinguishes between qualified and unqualified workpieces, eliminating the need for manual sorting and improving sorting accuracy.

[0050] Specifically, such as Figure 1 , Figure 2 and Figure 9As shown, the sorting mechanism 8 is also provided with eight single-item NG sorting components 84 and one multi-item NG sorting component 85. Each single-item NG sorting component 84 is arranged at intervals along the Y-axis on the side of the NG conveyor belt 83. Each single-item NG sorting component 84 includes a single-item NG sorting box 841 and a single-item NG sorting cylinder 842 respectively arranged on both sides of the NG conveyor belt 83. The multi-item NG sorting component 85 includes a multi-item NG sorting box 851, an NG sorting gantry 852 and an NG sorting robot 853. The multi-item NG sorting box 851 is arranged on the side of the NG conveyor belt 83. The NG sorting gantry 852 is fixedly installed on the inspection machine 11 along the X-axis and extends laterally through the multi-item NG sorting box 851 and the NG conveyor belt 83. The NG sorting robot 853 is slidably installed on the NG sorting gantry 852 along the X-axis. Eight individual NG sorting components 84 correspond to different non-conforming surfaces. When a workpiece has only one non-conforming surface, the workpiece moves to the corresponding individual NG sorting component 84, where the individual NG sorting cylinder 842 pushes it out of the NG conveyor belt 83 and into the corresponding individual NG sorting box 841. When a workpiece has multiple non-conforming surfaces, the NG sorting robot 853 picks up the workpiece and sends it into the multi-item NG sorting box 851 for NG sorting, refining the types of non-conforming items, facilitating subsequent rework operations. The entire process is automated, eliminating the need for manual loading and unloading, resulting in a high degree of automation, high detection efficiency, and reduced detection and NG sorting error rates.

[0051] Specifically, such as Figure 4 As shown, the feeding mechanism 3 includes two feeding fixtures 31, a feeding slide 32, a feeding linear module 33, a feeding slide rail 34, and a feeding robot 35. The two feeding fixtures 31 are spaced apart along the X-axis on the inspection platform 11. The feeding linear module 33 and the feeding slide rail 34 are respectively arranged along the Y-axis on the two feeding fixtures 31. One end of the feeding robot 35 is slidably mounted on the feeding slide rail 34, and the other end is fixedly mounted on the slider of the feeding linear module 33. The feeding linear module 33 drives the feeding robot 35 to move towards the feeding device 2 and pick up the workpiece from the feeding device 2. Then, the feeding linear module 33 drives the feeding robot 35 to move towards the first rotating sliding assembly 42 and place the workpiece on the first supporting fixture 426, thereby realizing automatic feeding without manual feeding. The structure is simple, the cost is low, and the degree of automation is high.

[0052] Specifically, such as Figure 3As shown, the feeding device 2 includes a rotary feeding platform 21, a lifting mechanism 23, and four feeding racks 22. The rotary feeding platform 21 is rotatably mounted on the front side of the feeding mechanism 3. The four feeding racks 22 are installed at equal intervals along the circumferential direction on the rotary feeding platform 21. The lifting mechanism 23 is located between the rotary feeding platform 21 and the feeding mechanism 3. The lifting mechanism 23 includes a lifting fixing frame 231, a lifting slide 232, a lifting screw 233, and a lifting motor 234. The fixed frame 231 is fixedly installed on the testing machine base 11. The lifting slide 232 is slidably installed on the lifting fixed frame 231 along the Z-axis direction. The lifting screw 233 is rotatably installed on the lifting fixed frame 231 along the Z-axis direction and is threadedly connected to the lifting slide 232. The lifting motor 234 is drivenly connected to the lifting screw 233. Three material support plates 235 extend from the side of the lifting slide 232 toward the rotating feeding table 21. The material support plates 235 extend to the bottom of the feeding frame 22. During loading, the lifting motor 234 drives the lifting slide 232 to rise, causing the support plate 235 to lift the stacked workpieces on the feeding rack 22. After the feeding mechanism 3 picks up and loads a workpiece once, the lifting motor 234 drives the lifting slide 232 to rise by the thickness of one workpiece, so that the stacked workpieces can be picked up one by one by the loading robot 35. The loading robot 35 only needs to raise and lower a preset fixed height, without changing the lifting height in real time, thereby shortening the stroke and improving the loading efficiency. After the workpieces of one feeding rack 22 are loaded, the rotating feeding table 21 rotates 90° so that the next feeding rack 22 is aligned with the lifting mechanism 23, thereby increasing the capacity of the feeding device 2 and reducing the number of times manual replenishment is required.

[0053] The above description is only a preferred embodiment of this utility model. For those skilled in the art, there will be changes in the specific implementation method and application scope based on the idea of ​​this utility model. The content of this specification should not be construed as a limitation of this utility model.

Claims

1. An automatic appearance inspection machine with internal and external dual inspection, comprising an inspection device (1) and a feeding device (2) disposed beside the inspection device (1), wherein the inspection device (1) is provided with an inspection machine platform (11), characterized in that: The inspection device (1) includes a feeding mechanism (3) arranged sequentially on the inspection machine (11), a first inspection mechanism (4) for inspecting the front and outer sides of the workpiece, a flipping robot (5), a second inspection mechanism for inspecting the back and inner sides of the workpiece, and a sorting mechanism (8). The feeding device (2) is located in front of the feeding mechanism (3). The first detection mechanism (4) includes a vertical detection component (41) and a first rotary sliding component (42). The vertical detection component (41) is fixedly installed on the detection machine (11) and located between the feeding mechanism (3) and the flipping robot (5). The vertical detection component (41) is provided with at least one first detection camera (414) with its lens facing downward. The first rotary sliding component (42) is provided with at least one first support clamp (426) that rotates along the X-axis and Z-axis. The first support clamp (426) is located below the first detection camera (414). The second detection mechanism includes a tilt detection component (61) and at least one second rotating component (62). The tilt detection component (61) is fixedly installed on the detection machine (11) and located between the flipping robot (5) and the sorting mechanism (8). The second rotating component (62) is located between the flipping robot (5) and the tilt detection component (61). The second rotating component (62) is provided with a second support fixture (624) that rotates along the X-axis and Z-axis. The tilt detection component (61) is provided with at least one second detection camera (614) with its lens facing the second support fixture (624).

2. The automatic appearance inspection machine with internal and external dual inspection according to claim 1, characterized in that: The first rotating sliding assembly (42) includes two first mounting brackets (421), a first sliding linear module (422), a first sliding slide rail (423), a first rotating frame (424), a first rotating motor (425), at least one first supporting clamp (426), and a first rotating motor (427). The first sliding linear module (422) and the first sliding slide rail (423) are respectively spaced apart along the Y-axis on the testing machine (11). The two first mounting brackets (421) are respectively slidably mounted on the first sliding linear module. The line module (422) and the first sliding rail (423) move along the feeding mechanism (3) and the flipping robot (5). The first rotating frame (424) is rotatably mounted on the first mounting frame (421) along the X-axis. The first rotating motor (425) is drivenly connected to the first rotating frame (424). The first supporting clamp (426) is rotatably mounted on the first rotating frame (424) along the Z-axis. The first self-rotating motor (427) is fixedly mounted on any one of the first rotating frames (424) and is drivenly connected to the first supporting clamp (426).

3. The automatic appearance inspection machine with internal and external dual inspection according to claim 1, characterized in that: The second rotating assembly (62) includes a second mounting bracket (621), a second rotating frame (622), a second rotating motor (623), a second supporting clamp (624), and a second self-rotating motor (625). The second mounting bracket (621) is fixedly mounted on the testing machine base (11) and located between the flipping robot (5) and the tilting detection assembly (61). The second rotating frame (622) is rotatably mounted on the second mounting bracket (621) along the X-axis. The second rotating motor (623) and the second rotating frame (622) are connected. The transmission connection is as follows: the second support clamp (624) is rotatably mounted on the second rotating frame (622) along the Z-axis direction; the second self-rotating motor (625) is fixedly mounted on the second rotating frame (622) and is transmissionally connected to the second support clamp (624); when detecting the inner side of the workpiece, the second support clamp (624) is set horizontally and the clamping angle between the upper surface of the workpiece and the second detection camera (614) is less than 90°; when detecting the back side of the workpiece, the second support clamp (624) is tilted toward the second detection camera (614).

4. The automatic appearance inspection machine with internal and external dual inspection according to claim 1, characterized in that: A lifting and feeding mechanism (7) is also provided between the flipping robot (5) and the sorting mechanism (8). The lifting and feeding mechanism (7) includes two material-supporting slides (71), a material-supporting drive assembly, two material-supporting lifting frames (72), two material-supporting lifting assemblies (74), at least one material-supporting frame (75), at least one flipping receiving platform (76), at least one lifting transition platform (77), and at least one lifting unloading platform (78). The two lifting slides are slidably installed on the detection machine (11) along the Y-axis and are located on the front and rear sides of the second detection mechanism, respectively. The two material-supporting lifting frames (72) The two material support slides (71) are slidably installed along the Z-axis direction. The two material support lifting components (74) are connected to the two material support lifting frames (72) respectively. The front and rear ends of the material support frame (75) are rotatably installed on the two material support lifting frames (72) through crankshafts. The material support drive components are connected to the two crankshafts respectively. The flipping receiving platform (76), the lifting transition platform (77) and the lifting unloading platform (78) are fixedly installed on the testing machine platform (11) from front to back along the Y-axis direction. The second rotating component (62) is set between the flipping receiving platform (76) and the lifting transition platform (77).

5. An automatic appearance inspection machine with internal and external dual inspection as described in claim 1, characterized in that: The vertical detection assembly (41) includes a first detection gantry (411), a first detection linear module (412), a first detection slide (413), and at least one first detection camera (414). The first detection gantry (411) is fixedly installed on the detection machine (11), the first detection linear module (412) is vertically fixedly installed on the first detection gantry (411), the first detection slide (413) is fixedly installed on the slider of the first detection linear module (412), and the first detection camera (414) is fixedly installed on the first detection slide (413). The tilt detection assembly (61) includes a second detection mounting bracket (611), a second detection linear module (612), a second detection slide rail (613), and at least one second detection camera (614). The second detection linear module (612) and the second detection slide rail (613) are respectively arranged on the detection machine (11) along the Y-axis direction. One end of the second detection mounting bracket (611) is fixedly mounted on the slider of the second detection linear module (612), and the other end is slidably mounted on the second detection slide rail (613). The second detection camera (614) is tilted and fixedly mounted on the second detection mounting bracket (611). Both the first detection camera (414) and the second detection camera (614) are provided with focusing components.

6. An automatic appearance inspection machine with internal and external dual inspection as described in claim 4, characterized in that: The sorting mechanism (8) includes a feeding assembly (81), a qualified transmission belt (82), and an NG transmission belt (83). The qualified transmission belt (82) and the NG transmission belt (83) are arranged side by side along the Y-axis on the inspection machine (11). The feeding assembly (81) includes a feeding gantry (811) and a feeding robot (812). The feeding gantry (811) is fixedly installed on the inspection machine (11) along the X-axis and passes through the qualified transmission belt, the NG transmission belt, and the lifting and feeding mechanism (7) laterally. The feeding robot (812) is slidably installed on the feeding gantry (811) along the X-axis.

7. An automatic appearance inspection machine with internal and external dual inspection as described in claim 6, characterized in that: The sorting mechanism (8) is also provided with eight single-item NG sorting components (84) and one multi-item NG sorting component (85). Each single-item NG sorting component (84) is arranged at intervals along the Y-axis on the side of the NG conveyor belt (83). Each single-item NG sorting component (84) includes a single-item NG sorting box (841) and a single-item NG sorting cylinder (842) respectively arranged on both sides of the NG conveyor belt (83). The multi-item NG sorting component (85) includes a multi-item NG sorting box (851), an NG sorting gantry (852) and an NG sorting robot (853). The multi-item NG sorting box (851) is arranged on the side of the NG conveyor belt (83). The NG sorting gantry (852) is fixedly installed on the inspection machine (11) along the X-axis and extends laterally through the multi-item NG sorting box (851) and the NG conveyor belt (83). The NG sorting robot (853) is slidably installed on the NG sorting gantry (852) along the X-axis.

8. An automatic appearance inspection machine with internal and external dual inspection as described in claim 1, characterized in that: The feeding mechanism (3) includes two feeding fixtures (31), a feeding slide (32), a feeding linear module (33), a feeding slide rail (34), and a feeding robot (35). The two feeding fixtures (31) are spaced apart on the testing machine (11) along the X-axis. The feeding linear module (33) and the feeding slide rail (34) are respectively arranged on the two feeding fixtures (31) along the Y-axis. One end of the feeding robot (35) is slidably mounted on the feeding slide rail (34), and the other end is fixedly mounted on the slider of the feeding linear module (33).

9. An automatic appearance inspection machine with internal and external dual inspection as described in claim 1, characterized in that: The feeding device (2) includes a rotary feeding platform (21), a lifting mechanism (23), and four feeding racks (22). The rotary feeding platform (21) is rotatably mounted on the front side of the feeding mechanism (3). The four feeding racks (22) are installed at equal intervals along the circumference of the rotary feeding platform (21). The lifting mechanism (23) is located between the rotary feeding platform (21) and the feeding mechanism (3). The lifting mechanism (23) includes a lifting frame (231), a lifting slide (232), a lifting screw (233), and a lifting motor (234). The lifting frame (231) is fixedly installed on the testing machine (11). The lifting slide (232) is slidably installed on the lifting frame (231) along the Z-axis direction. The lifting screw (233) is rotatably installed on the lifting frame (231) along the Z-axis direction and is threadedly connected to the lifting slide (232). The lifting motor (234) is drivenly connected to the lifting screw (233). At least one material support plate (235) extends from the side of the lifting slide (232) toward the rotating feeding table (21). The material support plate (235) extends to the bottom of the feeding frame (22).

10. An automatic appearance inspection machine with internal and external dual inspection according to claim 4, characterized in that: The flipping robot (5) includes a flipping slide (51), a flipping lifting frame (52), and at least one flipping component (53). The flipping slide (51) is slidably mounted on the inspection platform (11) along the Y-axis and located between the lifting and feeding mechanism (7) and the vertical inspection component (41). The flipping lifting frame (52) is slidably mounted on the flipping slide (51) along the Z-axis. The flipping component (53) is fixedly mounted on the flipping lifting frame (52). The flipping component (53) includes a flipping rotary cylinder (531) and a flipping gripper cylinder (532). The flipping rotary cylinder (531) is fixedly mounted on the flipping lifting frame (52), and the flipping gripper cylinder (532) is fixedly mounted on the flipping rotary cylinder (531).

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