CN219378033U - Appearance 2D and 3D combined detection device - Google Patents

Abstract

The invention relates to the technical field of appearance defect detection of electronic products, in particular to a detection device combining appearance 2D and 3D. The device comprises a multi-head grabbing module for 2D and 3D combined detection feeding and a combined detection feeding conveying shaft for 2D and 3D combined detection feeding, wherein a combined detection conveying passage arranged along the x-axis direction is arranged at the lower side of the multi-head grabbing module; and a 2D detection module and a 3D detection module are sequentially arranged from the multi-head grabbing module to the blanking conveying shaft on the moving route of the combined detection conveying route. Through the structure, 2D and 3D detection can be realized through the single conveying passage 1890, so that the whole structure is more compact, and the gaps among detection areas are smaller, so that higher detection efficiency can be obtained.

Description

Appearance 2D and 3D combined detection device

Technical Field

The invention relates to the technical field of appearance defect detection of electronic products, in particular to a detection device combining appearance 2D and 3D.

Background

With the increasing development of electronic technology, electronic products are becoming an integral part of daily life, especially smart products such as smart phones and tablet computers.

The production and consumption demands of the products such as the smart phones and the tablet personal computers are all on the rise, and the quality of the middle frame of the products directly influences the quality of the products because the products belong to the electronic products assembled and formed based on the middle frame.

The middle frame of the product is divided into a BG surface for installing a screen and a CG surface for installing a battery; in the processing and transportation process of the middle frame, appearance defects which affect the quality of the product, such as stress marks, bruise, crush injury, scratch, edge burrs, edge hemming, overstock, missed milling, and the like, are easy to occur at the BG surface and the CG surface.

In the traditional appearance defect detection modes for the objects, most of the detection modes are manual detection by naked eyes or sequential image acquisition identification detection by detection equipment; on one hand, the detection accuracy of the detection modes is not high enough, and because the coverage area of the appearance detection in the modes is not complete enough and no systematic and targeted camera arrangement is carried out for different detection areas, the traditional detection modes are easy to cause the condition of defective products and missed detection; on the other hand, the detection modes do not form a complete set of automatic detection equipment and method, and from feeding to discharging, the prior art lacks an appearance defect detection device capable of detecting the appearance defects from feeding, dust removal and different areas to discharging; therefore, the existing detection equipment has lower detection efficiency, and is difficult to meet the product appearance detection requirement under large yield.

For 2D and 3D detection, the existing detection device is difficult to be directly suitable for complete detection equipment and adapt to detection devices of other parts, and on the other hand, the existing related arrangement mode and detection method of 2D and 3D detection are difficult to be suitable for objects to be detected in the invention.

Disclosure of Invention

Aiming at the technical problems in the prior art, the invention provides a detection method for combining appearance 2D and 3D, which comprises the following steps:

step one, 2D and 3D combined detection feeding

The multi-head grabbing module is used for grabbing detection objects which are subjected to dust removal and area array visual detection;

step two, 2D and 3D combined detection discharging

The multi-head grabbing module is used for placing the grabbed detection objects at the combined detection initial positions one by one;

step three, 2D and 3D combined detection material taking

The detection objects positioned at the initial position of the combination detection are grabbed and placed at the combined detection conveying passage one by one in turn through the combined detection material taking assembly;

step four, 2D detection

Conveying the single detection object to a 2D line scanning detection position along a combined detection conveying path, and carrying out 2D line scanning detection on defects of collision scratch, medium plate stress marks and medium plate passing/washing omission on the surface of the detection object through a 2D detection module;

Step five, 3D detection

Continuously conveying the detection object to a 3D line laser detection position along a combined detection conveying path, and detecting defects such as middle plate stress marks, middle plate pits, middle plate surface steps, middle plate surface passing , middle plate rebound, middle plate surface deformation, middle plate passing/leaking and middle plate knife lines on the surface of the detection object through a 3D detection module;

step six, 2D and 3D combined detection blanking

And carrying the detection objects after the 2D and 3D detection to the discharging position through combining the detection discharging carrying shaft.

Preferably, the detection system for combining the appearance 2D and the 3D is realized based on a detection device for combining the appearance 2D and the 3D, the detection device for combining the appearance 2D and the 3D comprises a multi-head grabbing module for detecting feeding by combining the appearance 2D and the 3D and a combined detection discharging conveying shaft for detecting discharging by combining the appearance 2D and the 3D, and a combined detection conveying path arranged along the x-axis direction is arranged at the lower side of the multi-head grabbing module; and a 2D detection module and a 3D detection module are sequentially arranged from the multi-head grabbing module to the blanking conveying shaft on the moving route of the combined detection conveying route.

Preferably, the multi-head grabbing module comprises a multi-head grabbing mounting frame which is vertically arranged, and a grabbing x-axis linear module driven by an air source is horizontally arranged on the upper surface of the multi-head grabbing mounting frame along the x-axis direction; the material grabbing device comprises a material grabbing x-axis linear module, a material grabbing mounting plate, a synchronous belt type material grabbing z-axis linear module, a material grabbing z-axis mounting plate and a material grabbing head mounting plate, wherein the material grabbing mounting plate moves along the x-axis along with the material grabbing x-axis rotor, the material grabbing z-axis linear module is arranged along the z-axis at the material grabbing z-axis rotor of the material grabbing x-axis linear module, the material grabbing head mounting plate is arranged at the lower part of the material grabbing z-axis mounting plate along the y-axis direction, and a plurality of material grabbing heads are uniformly arranged at intervals along the y-axis direction on the lower side of the material grabbing head mounting plate.

Preferably, one end of the grabbing x-axis linear module in the x-axis direction is positioned at the upper side of the material outlet position of the previous station, a grabbing rack which corresponds to grabbing heads at the grabbing head mounting plate one by one is arranged at the lower side position of the other end, and the upper part of the grabbing rack is used for being matched with a detection object in a positioning way; the upper side of the grabbing rack is provided with a synchronous belt type combined detection y-axis material taking linear module in the y-axis direction, a combined detection y-axis material taking rotor moving in the y-axis direction at the combined detection y-axis material taking linear module is connected with a combined detection z-axis material taking module in the z-axis direction, the lower part of the combined detection z-axis material taking rotor moving in the z-axis direction at the combined detection z-axis material taking module is connected with a combined detection material taking plate horizontally arranged, the lower surface of the combined detection material taking plate is used for positioning and loosening matching with the CG surface of a detection object, and a combined detection conveying passage is arranged below the combined detection material taking plate and is positioned at the middle position of the plurality of grabbing racks in the y-axis direction; the combined detection material taking plate is used for being matched with a detection object in a positioning way so as to carry the detection object to the combined detection conveying path and loosening the detection object so as to place the detection object in the combined detection conveying path.

Preferably, the combined detection conveying path comprises a combined detection x-axis conveying module which is arranged along the x-axis direction and adopts a double-rotor linear motor module, a separation sensor is arranged at the middle position of the combined detection x-axis conveying module along the x-axis direction, a first rotor moving part and a second rotor moving part are respectively formed by the parts of the combined detection x-axis conveying module, which are positioned at two sides of the separation sensor, and a first rotor and a second rotor which slide along the x-axis in the region of the first rotor moving part and the second rotor moving part are respectively arranged; and a joint of the first rotor moving part and the second rotor moving part is provided with a combined detection transition assembly.

Preferably, a combination detection positioning component for positioning and loosening the BG surface of the detection object is arranged at the upper parts of the first rotor and the second rotor, and one end of the first rotor moving part along the x-axis direction is positioned at the lower side of the combination detection material taking plate and is used for receiving the detection object at the combination detection material taking plate through the combination detection positioning component at the first rotor; the first rotor moving part is arranged on the upper side of the other end along the x-axis direction, the combination detection transition assembly is arranged right above the combination detection conveying passage along the z-axis direction by combining the detection transition mounting frame, the combination detection transition assembly comprises a combination detection transition z-axis module adopting a sliding table cylinder, a combination detection transition material absorbing plate is horizontally arranged on the lower part of the combination detection transition z-axis rotor at the combination detection transition z-axis module, and the combination detection transition material absorbing plate is used for being positioned and loosened to be matched with a detection object CG surface at the first rotor through control vacuum.

Preferably, a 2D detection module is arranged above the middle position of the first mover moving part along the x-axis direction, and the first mover moving part positioned in the detection area of the 2D detection module forms a 2D line scanning detection position; the 2D detection module comprises a 2D line scanning camera and bionic AOI light sources which are annularly arranged above the 2D line scanning detection position in a surrounding mode, and the bionic AOI light sources are installed through a 2D line scanning installation frame; the 2D line is swept the mounting bracket and is combined to detect the one side of transition subassembly and be formed with and shoot the opening far away, and 2D line is swept the camera and is passed through 2D camera mounting bracket fixed mounting and its shooting light path and just is sweeping the detection position to the 2D line of first active cell removal department via shooting the opening.

Preferably, one end of the second mover moving part along the x-axis direction is positioned at the lower side of the combined detection transition suction plate for receiving the detection object at the combined detection transition suction plate through the second mover, and the other end of the second mover moving part along the x-axis direction is positioned at the lower side of the combined detection blanking conveying shaft; a 3D detection module is arranged above the middle position of the second rotor moving part along the x-axis direction; the second rotor moving part located in the detection area of the 3D detection module forms a 3D line laser detection position, the 3D detection module comprises a 3D detection y-axis module which is arranged at the position of the combined detection transition installation frame and spans across the second rotor moving part and is used as a linear motor along the y-axis direction, a 3D camera is arranged at the lower part of the 3D detection y-axis rotor of the 3D detection y-axis module and moves along the y-axis along with the lower part of the 3D detection y-axis rotor so as to carry out 3D detection on a detection object at the 3D line laser detection position, and 3D detection cameras are provided with 3 detection objects and are installed in a staggered mode.

Preferably, the combined detection blanking carrying shaft comprises a combined detection blanking y-axis module which is positioned on the upper side of the tail end of the combined detection passage and transversely arranged along the y-axis direction and controlled by an air source, a combined detection blanking z-axis module which is arranged along the z-axis direction and is used as a sliding table cylinder is arranged at a combined detection blanking y-axis rotor of the combined detection blanking y-axis module, a combined detection blanking suction plate which is horizontally arranged is arranged at the lower part of the combined detection blanking z-axis rotor of the combined detection blanking z-axis module, and the combined detection blanking suction plate is used for positioning and loosening matching with the CG surface of a detection object; the combination detection unloading y axle module has arranged the combination detection unloading transition position along one side on the y-axis direction and has moved along the combination detection that the x-axis direction was towards far 3D detection module one side through air supply control and has detected unloading x axle module, the combination detection unloading x axle module is located the combination detection unloading transition position top along the one end on the x-axis direction, the combination detection unloading x axle module's combination detection unloading x axle active cell department is connected with the combination detection of arranging along the z-axis direction and carries z axle module, the combination detection that the combination detection carries z axle active cell lower part that z axle module department moved along the z-axis direction is connected with the combination detection that the level was arranged and carries the suction plate, the combination detection carries the suction plate to fix a position and adsorb the cooperation with the CG face that detects through control vacuum.

The invention also provides an application of detecting the combination of the appearance 2D and the 3D, which is realized based on the detection method of the combination of the appearance 2D and the 3D, and the detection object is a middle frame of the mobile phone.

Drawings

Fig. 1 is a schematic structural view of a main body of the apparatus in embodiment 1; fig. 2 is a schematic structural diagram of a CG surface positioning tool in embodiment 2; fig. 3 is a schematic structural diagram of another view angle of the CG surface positioning tool in embodiment 2; fig. 4 is a schematic structural view of a jig main body in embodiment 2; FIG. 5 is a schematic view of the structure of FIG. 4 from another perspective; fig. 6 is a schematic structural diagram of a main body of a feeding device in embodiment 3; FIG. 7 is a schematic view of the structure of the feeding portion of the full tray of FIG. 6; FIG. 8 is a schematic view of the structure of FIG. 7 from another perspective; FIG. 9 is a schematic structural diagram of the lifting module in the feeding process of FIG. 6; FIG. 10 is a schematic view of the material level of FIG. 6; FIG. 11 is a schematic view of the tray collection station of FIG. 6; FIG. 12 is a schematic view of the hollow tray clamping mechanism of FIG. 11; fig. 13 is a schematic view showing the structure of a dust removing device in embodiment 3; FIG. 14 is a schematic view of the structure of the flip level of FIG. 13;

FIG. 15 is a schematic view of the structure of the lift level of FIG. 13; FIG. 16 is a schematic view of the dust removal two-axis module of FIG. 13; FIG. 17 is a schematic diagram showing the structure of an area array detecting apparatus in embodiment 3; FIG. 18 is a schematic diagram of a 2D and 3D combined detection device in embodiment 4; FIG. 19 is a schematic view of the structure of FIG. 18 from another perspective; FIG. 20 is a schematic diagram of the multi-head grabbing module of FIG. 19; FIG. 21 is a schematic diagram of the combined detection y-axis take-off linear module of FIG. 19; FIG. 22 is a schematic view of the structure of the combined detection and transport path of FIG. 19; FIG. 23 is a schematic view of the joint detection transition assembly of FIG. 19; FIG. 24 is a schematic diagram of the 2D line scanning camera of FIG. 19; FIG. 25 is a schematic diagram of the structure of the biomimetic AOI light source and 2D camera mount of FIG. 19; FIG. 26 is a schematic diagram of the 3D detection module in FIG. 19; FIG. 27 is a schematic view of the combined inspection blanking conveying shaft of FIG. 19; FIG. 28 is a schematic diagram of the x-axis module of the combined inspection and blanking module of FIG. 19; fig. 29 is a schematic structural view of a macro camera body in embodiment 5; FIG. 30 is a schematic view of the first station for macro inspection in example 5; FIG. 31 is a schematic view of the structure of the second stage of the macro inspection in embodiment 5; FIG. 32 is a schematic diagram of a third station for macro detection in embodiment 5; FIG. 33 is a schematic diagram of a fourth stage of macro detection in embodiment 5; FIG. 34 is a schematic view of the fifth station for macro detection in embodiment 5; FIG. 35 is a schematic view of the sixth station for macro detection in example 5; fig. 36 is a schematic structural view of a micro distance device body in embodiment 6; FIG. 37 is a schematic view of the macro detection x-axis displacement assembly of FIG. 36; FIG. 38 is a schematic view of the macro detection flip assembly of FIG. 36; FIG. 39 is a schematic diagram of the macro detection y-axis displacement assembly of FIG. 36; FIG. 40 is a schematic view of the structure of the lifting linear module body in embodiment 6; fig. 41 is a schematic structural diagram of the BG face of the middle frame of the mobile phone; fig. 42 is a schematic diagram of the CG surface of the mobile phone center.

Detailed Description

For a further understanding of the present invention, the present invention will be described in detail with reference to examples. It is to be understood that the examples are illustrative of the present invention and are not intended to be limiting.

Example 1

The embodiment provides an appearance defect detection method based on an appearance defect detection device, which specifically comprises the following steps,

step one, feeding

Feeding through a feeding device for detecting appearance defects;

step two, dust removal and CG area array detection

The BG surface of the detection object is kept to face downwards to be dedusted by the material surface dedusting device 1300, and the CG surface of the detection object is subjected to area array detection by the area array detection device 1700 after dedusting;

step three, CG surface 2D and 3D combined detection

Detecting the CG surface of the detected object after the previous step is finished through a detection system combining the appearance 2D and the 3D;

step four, micro-distance detection

Performing CG (g) surface and BG (g) surface macro detection on the detected object after the previous step by a macro detection system 150, wherein the detected object turns over during the macro detection, and the detected object after the macro detection keeps BG surface upwards;

step five, detecting 2D and 3D combination of BG surface

Performing BG surface detection on the detection object after the previous step is finished through a detection system combining the appearance 2D and the 3D;

Step six, BG area array detection

Performing area array detection on the BG surface of the detection object by an area array detection device 1700;

step seven, sorting and discharging

Therefore, after the detection is finished, the detected objects are separated into qualified products and defective products.

It can be understood that the method can detect the BG surface and the CG surface of the detection object through a whole set of equipment, so that possible appearance defects at the detection object can be comprehensively covered, and a large number of detection objects can be efficiently detected and defective products can be sorted out.

In this embodiment, the appearance defect detecting device includes a device main body 100, where the device main body 100 includes a feeding end and a discharging end, and a feeding system 110, a dust removing system 120, a CG planar array detecting system 130, a 2D and 3D combined CG planar array detecting system 140, a macro detecting system 150, a 2D and 3D combined BG planar array detecting system 160, and a BG planar array detecting system 170 are sequentially arranged from the feeding end to the discharging end.

Specifically, the device main body 100 in this embodiment can preferably cover each area of the detection object by a single device, and detect the detection object by adopting a targeted system for different detection positions, so that the defective product detection rate can be preferably improved, and the quality of the product is ensured.

In addition, the device main body 100 in this embodiment can complete the targeted detection from loading to dedusting to each region through a single device until unloading, so that the whole detection process is more compact, the neutral period in the middle is less, thus the overall detection efficiency can be better improved, the detection efficiency is ensured, and the detection requirement of large yield is met.

Example 2

The embodiment provides a CG surface positioning tool 200 for positioning and matching with the CG surface of the detection object in embodiment 1 and a BG surface product positioning tool for positioning and matching with the BG surface of the middle frame of the mobile phone.

The CG surface positioning tool 200 comprises a CG surface positioning bottom plate 210 for connecting and arranging an air path, a CG surface suction head arranging plate 220 is arranged at the upper end face of the CG surface positioning bottom plate 210 in a laminating way, a CG surface suction position is formed at the upper end face of the CG surface suction head arranging plate 220, a plurality of CG surface suction nozzles 221 connected with the air path are arranged at the CG surface suction head arranging plate 220, and the plurality of CG surface suction nozzles 221 cooperate together to adsorb a detection object at the CG surface suction position.

A CG surface mounting groove 222 is formed at the side wall of the long side of the CG surface suction head arrangement plate 220, a CG surface proximity sensor 223 is mounted in the CG surface mounting groove 222, and the induction direction of the CG surface proximity sensor 223 faces towards the CG surface adsorption position for induction identification; two CG-surface air passage ports 211 are respectively arranged at the centers of the side wall and the bottom wall of the CG-surface positioning bottom plate 210, and an O-shaped ring 212 for sealing is arranged at the CG-surface air passage port 211 at the center of the bottom wall of the CG-surface positioning bottom plate 210;

The CG surface positioning bottom plate 210 is provided with a CG surface process hole 213 for processing an internal gas circuit at the side wall of the CG surface gas circuit through hole 211, the process hole is plugged by a screw after processing and assembling, and the CG surface gas circuit through hole 211 is communicated with the CG surface suction nozzle 221 by the internal gas circuit.

The number of the suction nozzles at the CG surface suction head arrangement plate 220 is four, the four suction nozzles are respectively arranged at positions close to four corners relative to the central position of the CG surface suction head arrangement plate 220, a wiring groove is formed at the corner of the CG surface positioning bottom plate 210, which is close to the outer wall of one side of the CG surface proximity sensor 223, the wiring groove extends to the CG surface mounting groove 222 where the proximity sensor is located along the corner and is communicated with the CG surface mounting groove, and a rounded corner is formed at the connection area of the wiring groove and the CG surface mounting groove 222.

Four corners of the CG surface locating base plate 210 and the CG surface suction head arrangement plate 220, which are attached, are formed with through screw holes 213, and the screw holes 213 are used for screwing in screws to connect the CG surface locating base plate 210 and the CG surface suction nozzle 221 in a locating manner.

The BG surface product positioning fixture comprises a fixture body 400, wherein the fixture body 400 comprises a BG surface placing bottom plate 410 which is arranged at the bottom of the fixture body and horizontally, a BG surface placing frame 420 which is arranged along the vertical direction is arranged on the upper portion of the BG surface placing bottom plate 410, a BG surface placing position for placing a detection object is formed at the upper end face of the BG surface placing frame 420, and a BG surface adsorption component and a BG surface inner limiting component for positioning the detection object at the BG surface placing position are arranged at the BG surface placing frame 420.

The BG surface adsorption component is used for being matched with the bottom wall of the BG surface of the detection object to realize adsorption, and the BG surface inner limit component is used for being abutted against the side wall of the BG surface of the detection object to form inner limit matching; the BG surface placement frame 420 is in a four-leg stool shape; the BG in-plane limiting assembly comprises four-claw air cylinders 430 arranged in the middle of the lower side of the BG plane placing frame 420, and four claw bodies 431 of the four-claw air cylinders 430 are distributed in an annular shape relative to the center of the BG plane placing position; the four claws 431 are respectively arranged perpendicular to four edges of the detection object corresponding to the BG surface placement position and move along the perpendicular direction.

The four claw bodies 431 are vertically arranged on one side far from the center of the BG surface placement position, and the BG surface positioning pins 4311 at each claw body 431 are respectively provided with two BG surface positioning pins 4311 and symmetrically arranged on two sides of the middle part of the corresponding side line; the BG surface positioning pins 4311 at the four claw bodies 431 are respectively used for propping against and cooperating with the corresponding BG surface side walls of the detection object to form inner stretching positioning in a cooperative mode; the side wall of the BG surface rack 420 is provided with an air source interface 421 for connecting an air source pipeline.

A BG surface suction head arrangement plate 440 is arranged in a region surrounded by four claw bodies 431 of the four-claw cylinder 430 at the BG surface placement position; four corner areas of the BG surface suction head arrangement plate 440 are respectively provided with a BG surface suction nozzle 441; the BG surface suction nozzles 441 at the four corner areas are used for being in adsorption fit with the bottom wall of the BG surface so as to realize adsorption and release of a detection object; a BG surface proximity sensor 442 for identifying the detection object is also mounted at the BG surface suction cup mounting plate at one of the corner areas.

Example 3

The embodiment provides a feeding device and a method for detecting appearance defects, which are applicable to embodiment 1, wherein the feeding method for detecting the appearance defects specifically comprises the following steps:

step one, full tray feeding

Stacking the trays filled with the materials to be detected along the vertical direction to form a tray vertical row, and placing the trays at the lower part of the feeding device;

step two, lifting the material tray

Lifting the whole tray vertically to a material taking position through a feeding procedure lifting module 640;

step three, taking materials from the uppermost tray of the tray vertical columns

A feeding procedure material taking assembly arranged above the material taking position is used for taking materials from the material tray positioned at the uppermost part of the vertical row of the material tray and transferring the material tray to a next station;

step four, collecting empty trays

The loading process lifting module 640 lifts the entire tray vertically up to the empty tray collection position 630; the empty tray clamping mechanism 635 located at the empty tray collecting position 630 clamps and fixes the empty tray which has finished taking materials at the uppermost part of the tray column;

step five, the vertical column of the material tray is retracted

After the empty tray is fixed at the empty tray collecting position 630 by the empty tray clamping mechanism, the whole tray vertical column is driven by the lifting module to retract downwards to the material taking position;

Step six, repeating the steps three-five

Repeating the material taking of the vertical columns of the material trays, collecting the empty material trays, and retracting the vertical columns of the material trays;

step seven, stacking empty trays in vertical columns

All trays loaded with materials to be detected at the tray vertical columns are completely fetched by the fetching assembly, and all empty trays are stacked at the empty tray collecting position 630 through the empty tray clamping mechanism 635 to form empty tray vertical columns;

step eight, empty material tray recovery

The empty tray clamping mechanism 635 is released and the robot or hand takes the empty tray columns out entirely.

Specifically, the method can be used for taking the material trays filled with the materials more efficiently and conveniently and recovering the empty material trays; the method can enable the arrangement of the used feeding devices to be more reasonable; referring to fig. 6, a loading device for detecting an appearance defect used in the method includes a loading device main body 600, wherein a full tray feeding portion 610 for stacking full trays to form a tray column is sequentially arranged from bottom to top on the loading device main body 600, a material taking position for taking materials to be detected at the full tray and moving to a next station, and an empty tray collecting position 630 for stacking and collecting empty trays after the material taking is completed to form an empty tray column; a loading process lifting module 640 for lifting the tray is further disposed at the loading device main body 600.

Specifically, the apparatus main body in the present embodiment is first set in the form of a tray stack; it will be appreciated that the number of components,

firstly, the number of the trays which can be stacked at one time in a stacking mode is large, so that the feeding of more materials can be completed in one feeding process; and as the materials in the material tray are mainly aimed at the electronic products with square three-dimensional structures; stacking in the vertical direction can stably maintain the end face of the electronic product horizontal for subsequent material taking.

Secondly, the form that the charging tray piles up can be with full charging tray feed portion 610, get material level and empty charging tray collection position 630 that arrange in proper order along vertical direction cooperatees to make the overall arrangement structure of whole device concentrate in vertical direction, and then can ensure that the occupied space of device main part in the horizontal direction is less.

Thirdly, the trays stacked along the vertical direction can naturally form an uppermost part which can be convenient for taking materials and a lowermost part which can be convenient for matching with a supporting structure to support the whole; therefore, the single tray disassembling function of the uppermost tray can be conveniently realized, namely, the uppermost tray is independently taken and lifted and separated, and other trays are not influenced.

Fourth, in this embodiment, the loading personnel can put the stacked full trays into the full tray feeding portion 610; then the height of the stacked tray vertical columns can be coordinated with the height of the lifting modules; the material taking of the uppermost tray can be realized by only controlling the lifting of one lifting module, and the empty tray after the material taking of the uppermost tray is lifted to the empty tray collecting position 630 by matching with the height formed by the tray; with this circulation, the full tray columns of the full tray feed 610 are naturally progressively depleted by material withdrawal and the empty tray columns at the empty tray collection locations 630 are progressively raised.

Fifthly, the empty trays in the present embodiment are naturally stacked at the empty tray collecting position 630 to form an empty tray column, so that the empty trays can be collected by a manipulator or a collector more conveniently.

In this embodiment, referring to fig. 7 to 8, the full tray feeding section 610 includes a feeding section placement bottom plate 611 arranged in parallel in the horizontal direction; the upper part of the placing bottom plate is uniformly provided with a feeding part sliding guide rail 612 which is consistent with the extending direction of the placing bottom plate; a feeding part sliding bottom plate which is in sliding fit with the feeding part sliding guide rails 612 on the two sides is arranged at the feeding part sliding guide rails;

The part of the sliding bottom plate between the sliding guide rails 612 of the feeding parts at the two sides forms a lifting opening 618 along the vertical direction to be matched with the lifting module for lifting; a placing area for placing the tray is formed in the middle of the upper surface of the sliding bottom plate; limit stops 613 along the vertical direction are arranged at the four corners of the placement area; the limit stop 613 is trapezoidal, two limit stops are arranged at each corner and are respectively positioned at two sides of the corner vertex of the limit stop so as to limit the shape of the tray; a handle 614 for pulling the feed section slide base to slide along the feed section slide rail 612 is provided at the middle of the upper surface of one side of the feed section slide base far elevation opening 618.

It will be appreciated that the tray at the lowest part of the tray column at the infeed section can be preferably supported by the infeed section sliding bottom plate; and, the sliding bottom plate can cooperate with the limit stop 613 to collectively form a placement area for placing the tray columns in the vertical direction; the tray columns in the placement area are preferably vertically limited to ensure that their vertical positions correspond to the take out and empty tray collection locations 630.

In this embodiment, a feeding portion cylinder assembly 615 for driving the feeding portion slide base plate to slide along the feeding portion slide rail 612 is further disposed at the feeding portion placement base plate 611; the sliding mover of the feed section cylinder assembly 615 is connected to the feed section sliding floor; a feeding portion positioning pin 616 driven by an air source to move in the vertical direction is arranged at a position where the feeding portion placement bottom plate 611 is located below the grip 614; a feeding part positioning through hole which is used for being matched with the feeding part positioning pin 616 to limit the feeding part sliding bottom plate in the sliding direction is formed at the feeding part sliding bottom plate;

It will be appreciated that the movement and positioning of the feeder slide floor and the tray columns placed at the feeder in the horizontal direction is preferably controlled by the feeder cylinder assembly 615 and the feeder dowel pins 616,

An L-shaped feeding portion sensing piece 617 is arranged at the outer wall of the end part of the sliding bottom plate, which is positioned at one side of the lifting opening 618; the two ends of the feeding part placing bottom plate 611 along the sliding direction of the feeding part sliding guide rail 612 are respectively provided with an inductor which is used for being in inductive fit with the feeding part induction piece 617; the feeding portion placing bottom plate 611 is further provided with feeding portion opposite-emitting photoelectric sensors 619 for sensing and identifying the trays at the feeding portion at positions on two sides of the feeding portion sliding guide rail 612.

Specifically, the sensor can better control the automation of the feeding device.

Further, in this embodiment, referring to fig. 9, the lifting module 640 for the feeding procedure includes a lifting mounting rack 641 arranged along a vertical direction, a servo electric sliding table serving as an electric cylinder is arranged at the lifting mounting rack 641 along the vertical direction, two lifting sliding blocks 642 sliding along the vertical direction are arranged at two sides of the servo electric sliding table, and the lifting sliding blocks 642 are driven by a servo motor 643 with a brake; the two lifting sliding blocks 642 are connected with a lifting mounting plate 644 which is arranged along the vertical direction, two sides of the upper part of the lifting mounting plate 644 along the horizontal direction are symmetrically connected with lifting mounting support plates 645 which are in a right angle shape, and the upper parts of the two lifting mounting support plates 645 are provided with a lifting bottom plate 646 which is formed by extending along the lifting opening 618 at the sliding bottom plate of the feeding part; the upper end surface of the lifting base plate 646 is used for supporting the tray vertical column at the full tray feeding portion 610 and lifting along with the lifting sliding block 642 in the vertical direction.

Specifically, the servo motor 643 with brake is used as a driving device to drive the vertical column of the tray to move up and down to realize positioning; in addition, the tray columns can be preferably stably supported by the associated mechanisms at the mounting lift sliders 642 to ensure that the entire column remains vertical and that each individual tray can remain horizontal for subsequent reclaiming.

A lifting limit stop lever along the vertical direction is arranged on the outer wall of one side of the lifting mounting rack 641, which is close to the lifting bottom plate 646, and the lifting limit stop lever is abutted against the side wall of the vertical column of the material tray to form vertical guide; the middle part department of lifting bottom plate 646 is formed with the middle part opening along vertical direction, and lifting bottom plate 646's lower bottom surface is located middle part open-ended side department and has arranged and be used for lifting photoelectric sensor, and lifting photoelectric sensor is used for responding to the charging tray vertical column of placing in lifting bottom plate 646 upper surface.

In this embodiment, referring to fig. 10, the material taking position includes a material taking bottom plate 621 arranged along a horizontal direction, and a material taking opening 622 for passing a vertical column of trays along a vertical direction is formed in a middle portion of an upper surface of the material taking bottom plate 621; the material taking opening 622 reserves a gap of one more material size along the y-axis direction compared with the material tray; a feeding procedure material taking assembly is arranged above the material taking bottom plate 621, and comprises a synchronous belt type material taking procedure x-axis linear module 623 which is arranged on two sides of the upper surface of the material taking bottom plate 621 along the x-axis direction; the directions of the x axis and the y axis are respectively consistent with the width direction and the length direction of the material tray at the vertical row of the material tray; the x-axis linear module 623 of the material taking process is provided with x-axis movers of the material taking process moving along the x-axis direction, and the x-axis movers at two sides are commonly connected with a synchronous belt type y-axis linear module 624 of the material taking process moving along the x-axis;

As can be appreciated, the present embodiment mainly uses the x-axis linear module 623 of the material taking process and the y-axis linear module 624 of the material taking process to realize the required movement during material taking; on the one hand, the material taking process x-axis linear modules 623 can be conveniently arranged on two sides of the material taking opening 622, and on the other hand, the material taking requirement can be met through one material taking process y-axis linear module 624, and materials at the material tray can be sequentially picked up according to the specified material taking sequence.

The material taking process y-axis linear module 624 is provided with two material taking process y-axis movers 6241 which are adjacently arranged and move along the y-axis direction, the material taking process z-axis cylinders 6242 which are vertically arranged are connected to the two material taking process y-axis movers 6241 through x-axis connecting blocks, the lower part of a piston rod of each material taking process z-axis cylinder 6242 is connected with a material taking process adsorption component 6243, each material taking process adsorption component 6243 comprises a z-axis connecting block which moves along the vertical direction along with the piston rod, the lower surface of each z-axis connecting block is connected with a material taking process sucker mounting plate 6244 which is horizontally arranged, and four corners of each material taking process sucker mounting plate 6244 are provided with material taking process suction nozzles with downward adsorption directions; the four material taking suction cups are cooperatively matched to be used for sucking materials to be detected in the material taking process; an encoder 6245 is mounted on the upper side of the take-out process suction cup mounting plate 6244 via an encoder mounting plate.

Specifically, the materials placed at the common material tray are distributed in a way of 2×5, the length direction is 5, the width direction is 2, and 10 materials are placed at the single material tray; two material taking process adsorption assemblies 6243 at the material taking process y-axis rotor 6241, starting from the first row, picking up 2 materials each time and moving out, moving forward to the second row when picking up to the fifth, picking up the first of the second row, and then moving out; finally, sequentially removing the remaining 4 materials in the second row; the arrangement mode is matched with the picking sequence, so that 10 materials can be removed one by one without load each time, and on the other hand, the load born by the y-axis sliding block can be reduced better; and move more rapidly.

The material taking positioning components for fixing the uppermost tray of the tray vertical row are respectively arranged at two sides of the material taking opening 622 of the material taking bottom plate 621 along the x-axis direction; the material taking and positioning assembly comprises a material taking and positioning air cylinder 625 arranged along the x-axis direction, a piston rod of the material taking and positioning air cylinder 625 is connected with a material taking and positioning transverse plate 626 extending along the y-axis direction, and the material taking and positioning transverse plates 626 at the material taking and positioning assemblies at the two sides are driven to move to be pressed against the two sides of the uppermost material tray of the vertical row of the material tray through the air cylinder so as to realize positioning; a plurality of material taking guide rods 628 along the vertical direction are arranged at the two sides of the material taking opening 622 at the material taking bottom plate 621 along the x-axis direction, wherein the material taking portions of the uppermost material tray of the vertical columns of the sensing material trays are identified by the opposite-emission photoelectric sensors 627, and the material taking guide rods 628 along the vertical direction are used for propping against the vertical columns of the material trays to form the guide along the vertical direction.

Specifically, the tray to be fetched at the uppermost part of the tray vertical row can be preferably fixed through the fetching positioning assembly during fetching, so that the tray position is ensured not to deviate in the whole fetching process. In addition, the stable arrangement of the tray columns in the vertical direction can be preferably ensured by the take-out guide bar 628 to correspond to the feeding portion and the empty tray collection position 630 to ensure the normal progress of the entire feeding process.

Referring to fig. 11, the empty tray collection station 630 includes a collection station floor 631 disposed in a horizontal direction; the two sides of the upper surface of the collecting bottom plate are respectively provided with a collecting position linear guide rail 632; the collecting position linear guide rails 632 on two sides are respectively provided with a plurality of collecting position sliding blocks 633 which are in sliding fit with the collecting position linear guide rails; a collection-position annular plate 634 is commonly connected to the upper surfaces of the plurality of collection-position sliding blocks 633; the middle parts of the collecting position bottom plate 631 and the collecting position annular plate 634 are respectively provided with a collecting opening for the vertical row of the trays to pass through; the two sides of the collecting opening of the collecting position annular plate 634 are provided with empty tray clamping mechanisms 635;

specifically, the collection opening can preferably correspond to the aforementioned take out opening 622 and lift opening 618 for the vertical movement of the tray columns therethrough.

The empty tray clamping mechanism 635 comprises an empty tray clamping cylinder 6351, a piston rod end of the empty tray clamping cylinder 6351 is connected with an empty tray clamping plate 6352, and the empty tray clamping plate 6352 is L-shaped and comprises a vertical clamping vertical plate 63521 and a horizontal clamping transverse plate 63522; the clamping cross plates 63522 at the 635 parts of the two-side empty tray clamping mechanisms are cooperatively used for propping against the bottom surface of the empty tray at the lowest part of the empty tray vertical columns so as to support the empty tray vertical columns along the vertical direction, and the clamping vertical plates 63521 at the 635 parts of the two-side empty tray clamping mechanisms are propped against the side walls of the empty tray at the empty tray vertical columns so as to form limit positions;

a plurality of empty tray limiting plates 636 along the vertical direction are arranged on the side wall of the mobile phone opening at the collecting position annular plate 634; the empty tray stop bars cooperate with the clamping risers 63521 to form a vertical passageway for the empty tray columns to pass through in a vertical direction.

It will be appreciated that the empty tray column at the empty tray collection position 630 can be stably supported from the bottom by the above-described empty tray clamping mechanism 635, and the empty tray column after the material is taken out is jacked up from the lower portion, and then the empty tray at the uppermost portion of the tray column is clamped and taken down by the empty tray clamping mechanism 635 and serves as the bottom of the empty tray column.

Example 3

The present embodiment provides a dust removing and detecting system applicable to the apparatus main body 100 in embodiment 1, which is realized based on the dust removing device 1300 and the area array detecting device 1700 that are mutually matched; the area array detection device 1700 is simultaneously applicable to the CG area array detection system 130 and the BG area array detection system 170; the embodiment also provides a material surface dust removal and detection method based on the dust removal device 1300 and the area array detection device 1700, which specifically comprises the following steps:

step one, feeding for dedusting

Placing a detection object to be dedusted at a turning position 1310 and keeping the BG face upwards;

step two, turning over the object to be dedusted and detected

Turning the test object at the turning position 1310 180 degrees to the lifting position 1320, wherein the test object CG is positioned facing upwards at the lifting position 1320;

step three, lifting the object to be dedusted and detected

Lifting the detection object at the lifting position 1320 upwards to a height that can be picked up by the follow-up dust removal two-axis module 1330;

step four, picking up the detection object and moving to a dust removal position

The dust removal two-axis module 1330 is moved and the detection object lifted to the position of the pick-up height is sucked; keeping the BG surface of the detection object downward, and after the BG surface is sucked, firstly transversely moving to the position right above the dust removing position along the x-axis direction and then downwards moving to the dust removing position along the z-axis;

Step five, dust removal

The dust removal typhoon system positioned at the lower side of the dust removal position is used for removing dust from a detection object positioned at the dust removal position, and the dust is blown up and pumped away from the top;

step six, the detection object is transported to the area array detection position 1713

The detection object after dust removal is moved to an area array detection position 1713 at an area array camera 1714 through a dust removal two-axis module 1330;

seventh, area array detection

The area array detection position 1713 has degrees of freedom in two rotational directions about the y-axis and relative to its own central axis; the area camera 1714 has three degrees of freedom along the x-axis, the y-axis, and the z-axis; the relative spatial position relationship between the object to be detected and the area array camera 1714 is adjusted by matching the movements of the area array detection position 1713 and the area array camera 1714 in five axial directions; and detecting four sides and four opposite angles of the detection object, which are easy to generate defects, and detecting four sides on the plane successively by adjusting the position relation.

Specifically, in the embodiment, the object to be detected with the CG facing upwards in the previous feeding station is turned to the BG facing downwards by the turning mechanism, and because the BG surface is formed with the parts such as the groove and the crack which are easy to deposit ash, the BG surface is kept to be dedusted downwards by the dedusting position, so that the BG surface which is easy to deposit ash can be dedusted better, and the dedusting effect is better; meanwhile, the situation that the subsequent appearance defect of the BG surface is influenced by dust due to excessive ash on the surface area of the BG surface of the detection object can be effectively avoided; and further, the situation of the surface of the BG surface can be clearly identified by drawing in the subsequent detection process.

In addition, the dust removing method in the embodiment can be preferably connected with the prior feeding device and the subsequent area array detection smoothly, so that the whole visual detection process is carried out continuously and efficiently, and the detection object is not required to be removed by other external devices; in addition, after dust removal, the detection object is directly moved to the area array detection position, so that the detection object is not contacted with the external environment again, and dust accumulation is avoided again due to the contact with the external environment, and the dust removal method in the embodiment can ensure that the detection object can keep the surface clean after dust removal is finished.

In this embodiment, referring to fig. 13, a turning material level 1310, a lifting material level 1320 and a dust removing typhoon system are sequentially arranged at a dust removing device 1300 along the x-axis direction; a dust removal biaxial module 1330 for conveying the detection object between the turning material level 1310, the lifting material level 1320, the dust removal position formed on the upper side of the dust removal typhoon system and the detection position in the area array detection device 1700 is arranged above the dust removal typhoon system; the area array detector 1700 is provided with an area array camera 1714 for performing area array visual detection on the object to be detected.

It can be appreciated that the foregoing dust removal and area array detection process can be preferably realized by the above-described structure.

Referring to fig. 14, a turn-up table 1310 includes turn-up placement portions 1311 installed at the turn-up shaft 1312 at intervals in the y-axis direction, which adsorb detection objects by adsorbing CG surfaces; one end of a turning rotating shaft 1312 is connected with a power wheel, the power wheel is connected with the output end of a turning servo motor 1313 through a transmission belt and a transmission wheel to realize control rotation, and a turning placing part 1311 is connected with a vacuum chuck to realize absorption and release of a detection object;

referring to fig. 15, the lifting material level 1320 includes lifting material placement portions 1321 which are arranged at intervals corresponding to the turning material placement plates one by one along the y axis direction and adsorb the detection object by adsorbing the BG surface, the lower portion of the lifting material placement portions 1321 is connected to lifting material bottom plates 1322 arranged along the y axis, a plurality of lifting material placement plates are symmetrically arranged at two sides of the middle of the lifting material bottom plates 1322, the lower ends of the middle of the lifting material bottom plates 1322 are connected with piston rods of lifting material cylinders 1323 so as to move along the z axis direction, and the lifting material placement portions 1321 include BG surface product positioning fixtures for realizing the fixation of the detection object by adsorbing the BG surface of the detection object;

referring to fig. 16, the dust removing two-axis module 1330 includes a synchronous belt type dust removing x-axis linear module 1331 disposed over the whole turning material level 1310, the lifting material level 1320 and both sides of the dust removing typhoon system in the x-axis direction, the dust removing x-axis linear modules 1331 on both sides are driven by the same dust removing x-axis servo motor 1332, and synchronization is achieved between the dust removing x-axis linear modules 1331 on both sides by a synchronizing rod 1333;

The upper parts of dust removal x-axis sliding blocks 1334 at the two sides of the dust removal x-axis linear modules 1331 are jointly provided with dust removal y-axis cross beams 1335 along the y-axis direction, the outer wall of one side of the dust removal y-axis cross beams 1335, which is far away from the lifting material level 1320, is provided with a synchronous belt type dust removal z-axis linear module 1336 along the z-axis direction, the lower parts of dust removal z-axis sliding plates 1337 moving along the z-axis direction at the dust removal z-axis linear module 1336 are connected with dust removal y-axis mounting plates 1338 which are arranged in one-to-one correspondence with the lifting material level 1320 along the y-axis direction, and dust removal position adsorption parts 1339 are arranged at intervals along the y-axis direction at the lower parts of the dust removal y-axis mounting plates 1338.

The dust removal position adsorption part 1339 comprises a dust removal position suction nozzle mounting plate which is horizontally arranged, suction nozzles with the adsorption direction facing to the lower side are arranged at four corners of the dust removal position suction nozzle mounting plate, the suction nozzles at the four corners are cooperatively matched with the CG surface of the detection object at the lifting position 1320 to be picked up, and the dust removal y-axis beam 1335 can move to a dust removal position positioned on the upper side of the dust removal typhoon system along the x-axis direction.

Referring to fig. 17, an area array two-axis rotating device 1710 is disposed at the area array detecting device 1700, and the area array two-axis rotating device 1710 includes a rotating housing 1711 disposed along the y-axis direction; two ends of the rotary shell 1711 along the y-axis direction are respectively movably arranged at the area array x-axis moving plate 1712, and the rotary shell 1711 realizes rotation through an area array servo motor arranged at the inner side of the rotary shell 1711;

A plurality of area array detection positions 1713 are uniformly arranged at intervals along the y-axis direction on the upper surface of the rotary housing 1711, and the area array detection positions 1713 can rotate around the central axis relative to the rotary housing 1711; the area array x-axis moving plate 1712 is arranged at the area array x-axis sliding rail in a sliding way along the x-axis direction, the area array camera 1714 is arranged at the upper side of the middle part of the area array x-axis sliding rail, and the lower part of the area array camera 1714 forms an area array visual detection area; one end of the area array x-axis sliding rail along the x-axis direction is used for receiving the detection object subjected to dust removal by the dust removal device 1300, and the other end is used for being matched with a 2D and 3D detection system so as to enable the detection object subjected to area array visual detection to enter a next detection station.

Specifically, through the entity structure, stable movement and smooth turnover of the detection object among different stations in the whole dust removal and detection process can be preferably ensured, so that the smooth progress of the whole dust removal and detection process is ensured. In addition, the planar array camera 1714 is matched with the planar array two-axis rotating device 1710 to acquire images of different angles of the detection object, so that the positions of the detection object, which are easy to have defects, on the appearance of the detection object can be comprehensively covered.

When the detection object is a mobile phone middle frame and the size proportion of the whole device is arranged according to the mobile phone middle frame, in the actual operation process, the four mobile phone middle frames are overturned for 1s at the same time, the material receiving time of the material lifting position 1320 is 1.5s, then the material overturning position 1310 is overturned back to the original position along with the material overturning rotating shaft 1312 for 1s, the material taking time of the dust removing position absorbing part 1339 at the dust removing two-axis module 1330 is moved for 2s, the dust removing position absorbing part 1339 carries the mobile phone middle frame to move to the dust removing position for 1s, the tornado dust removing time is 3s, the dust removing end is moved to the area array detection device 1700 for 1s, the dust removing two-axis module 1330 drives the dust removing position absorbing part 1339 to return to the original position for 1s, the whole process time is 13s, the total dust removing and the area array detection are carried out on the 4 mobile phone middle frames, the whole dust removing process is about 3.3s, and the whole dust removing process is rapid and efficient; and the dust removal and the area array detection can be used as one link in the whole detection process and smoothly transition with other links of the whole detection equipment so as to ensure the stable operation of the whole detection flow.

When the detection object is a mobile phone middle frame and the size proportion of the whole device is arranged according to the mobile phone middle frame, in the actual area array detection process, the suction nozzle at the dust removing position descends (0.2 s) to break vacuum and discharge (0.3 s), the suction nozzle at the dust removing position ascends (0.2 s), the area array two-axis rotating device 1710 moves to an area array visual detection area (0.5 s), the mobile phone middle frame rotates and moves to detect four sides and four opposite angles of the mobile phone middle frame and four sides on a plane one by one (17 s), the area array two-axis rotating device 1710 moves to a position (0.5 s) where the 2D detection system and the 3D detection system are matched, the suction nozzle at the 2D detection system descends (0.2 s) to open vacuum and suction (0.3 s), the suction nozzle at the 2D detection system and the 3D detection system ascends, the area array two-axis rotating device 1710 returns to wait for receiving the mobile phone middle frame (1 s) of the next batch to finish dust removing, the time is 20.4s, the single mobile phone middle frame occupies about 5.1s, the whole operation process is ensured, and the whole operation process is fast, and the whole operation speed is ensured.

Example 4

The present embodiment provides an external 2D and 3D combined detection system applicable to the apparatus main body 100 in embodiment 1, which is implemented based on one external 2D and 3D combined detection device 1800; the device is simultaneously applicable to a 2D and 3D combined CG surface detection system 140 and a 2D and 3D combined BG surface detection system 160, and the embodiment also provides a detection method and application of appearance 2D and 3D combination realized based on the appearance 2D and 3D combined detection system, and the method can be applicable to CG surface detection and BG surface detection, and specifically comprises the following steps:

Step one, 2D and 3D combined detection feeding

The multi-head grabbing module 1810 grabs the detection object which is subjected to dust removal and area array visual detection;

step two, 2D and 3D combined detection discharging

The multi-head grabbing module 1810 places the grabbed detection objects at the combined detection initial positions one by one;

step three, 2D and 3D combined detection material taking

The detection objects positioned at the initial position of the combination detection are grabbed and placed at the combined detection conveying passage 1890 one by one in turn through the combined detection material taking assembly;

step four, 2D detection

The single detection object is conveyed to a 2D line scanning detection position along the combined detection conveying path 1890, and the 2D line scanning detection is carried out on defects such as collision and scratch, medium plate stress marks and medium plate passing/washing omission on the surface of the detection object through the 2D detection module;

step five, 3D detection

The detection object is continuously conveyed to a 3D line laser detection position along the combined detection conveying path 1890, and defects such as middle plate stress marks, middle plate pits, middle plate surface steps, middle plate surface passing , middle plate rebound, middle plate surface deformation, middle plate passing/leaking and middle plate knife lines on the surface of the detection object are detected through the 3D detection module 1860;

step six, 2D and 3D combined detection blanking

The detection object after the completion of the 2D and 3D detection is conveyed to the blanking level by the combined detection blanking conveying shaft 1870.

Specifically, by the above detection method for combining 2D and 3D, 2D detection and 3D detection can be preferably completed sequentially through the single combined detection conveying path 1890, so that the appearance defects possibly occurring at the detection object are preferably identified by drawing, the coverage range is wider, the accuracy of the detection result can be preferably ensured, and further, the products with the appearance defects can be preferably identified by detection.

18-19, a detection device 1800 for 2D and 3D combination of appearance comprises a multi-head grabbing module 1810 for 2D and 3D combination detection feeding and a combination detection feeding conveying shaft 1870 for 2D and 3D combination detection feeding, wherein a combination detection conveying passage 1890 arranged along the x-axis direction is arranged at the lower side of the multi-head grabbing module 1810; the 2D detection module and the 3D detection module 1860 are sequentially arranged on the moving route of the combined detection conveying path 1890 from the multi-head grabbing module 1810 to the blanking conveying shaft.

Specifically, the above structure can realize 2D and 3D detection by using a single conveying path 1890, so that the overall structure is more compact, and the gaps between the detection areas are smaller, so that higher detection efficiency can be obtained.

Referring to fig. 20, the multi-head gripper module 1810 includes a multi-head gripper mounting frame 1811 arranged vertically, and a gripper x-axis linear module 1812 driven by an air source is horizontally arranged along the x-axis direction at the upper surface of the multi-head gripper mounting frame 1811; the upper part of the grabbing x-axis rotor at the grabbing x-axis linear module 1812 is connected with a grabbing mounting plate 1813 which moves along the x-axis along with the grabbing x-axis rotor, a grabbing z-axis linear module 1814 which is an electric cylinder is placed and arranged at the grabbing mounting plate 1813 along the z-axis, a grabbing z-axis mounting plate 1815 which faces downwards along the z-axis direction is arranged at the grabbing z-axis rotor of the grabbing z-axis linear module 1814, a grabbing head mounting plate 1816 along the y-axis direction is mounted at the lower part of the grabbing z-axis mounting plate 1815, and a plurality of grabbing heads 1817 are mounted at equal intervals along the y-axis direction at the lower side of the grabbing head mounting plate 1816.

One end of the grabbing x-axis linear module 1812 along the x-axis direction is positioned at the upper side of the discharge level of the previous station, a grabbing rack 1818 in one-to-one correspondence with grabbing heads 1817 at the grabbing head mounting plate 1816 is arranged at the lower side position of the other end, and the upper part of the grabbing rack 1818 is used for being matched with a detection object in a positioning mode; referring to fig. 21, a combined detection y-axis material taking linear module 1820 which is an electric cylinder and is arranged on the upper side of the material grabbing rack 1818 along the y-axis direction, a combined detection z-axis material taking module 1821 which is a sliding table cylinder and is arranged along the z-axis direction is connected to a combined detection y-axis material taking rotor which is moving along the y-axis direction and is arranged at the combined detection y-axis material taking linear module 1820, a combined detection material taking plate 1822 which is horizontally arranged is connected to the lower part of the combined detection z-axis material taking rotor which is moving along the z-axis direction and is arranged at the combined detection z-axis material taking module 1821, the lower surface of the combined detection material taking plate 1822 is used for being matched with and released from a CG surface of a detection object, and fig. 22 is combined detection conveying passages 1890 are arranged below the combined detection material taking plate 1822 and are positioned at middle positions of the plurality of material grabbing racks 1818 along the y-axis direction; the combined test take out plate 1822 is adapted to be in positioning engagement with a test object to carry it to the combined test transport path 1890 and to be released to place it in the combined test transport path 1890.

The combined detection conveying path 1890 comprises a combined detection x-axis conveying module 1891 which is arranged along the x-axis direction and adopts a double-rotor linear motor module, a separation sensor is arranged at the middle position of the combined detection x-axis conveying module 1891 along the x-axis direction, the parts of the combined detection x-axis conveying module 1891 positioned at two sides of the separation sensor respectively form a first rotor moving part 18911 and a second rotor moving part 18912, and the first rotor moving part 18911 and the second rotor moving part 18912 are respectively provided with a first rotor and a second rotor which slide along the x-axis in the area; the junction of the first mover moving portion 18911 and the second mover moving portion is provided with a joint detection transition assembly 1850.

A combined detection positioning assembly 1892 for positioning and loosening BG-plane phase positioning of the detection object is installed at the upper parts of the first mover and the second mover, and one end of the first mover moving part 18911 along the x-axis direction is positioned at the lower side of the combined detection taking plate 1822 for receiving the detection object at the combined detection taking plate 1822 through the combined detection positioning assembly 1892 at the first mover;

in connection with fig. 23, a joint detection transition assembly 1850 is disposed at the upper side of the other end of the first mover moving part 18911 in the x-axis direction, and in connection with fig. 23, the joint detection transition assembly 1850 is disposed and mounted right above the joint detection conveying path 1890 in the z-axis direction by a joint detection transition mounting frame 1851, the joint detection transition assembly 1850 includes a joint detection transition z-axis module 1852 using a slide cylinder, and a joint detection transition suction plate 1853 is horizontally disposed at the lower part of the joint detection transition z-axis mover at the joint detection transition z-axis module 1852, and the joint detection transition suction plate 1853 is adapted to be positioned and released in cooperation with a detection object CG surface at the first mover by controlling vacuum.

A 2D detection module is arranged above the middle position of the first mover moving part 18911 along the x-axis direction, and the first mover moving part 18911 positioned in the detection area of the 2D detection module forms a 2D line scanning detection position; the 2D detection module comprises a 2D line scanning camera 1840 and a bionic AOI light source 1832 annularly arranged above the 2D line scanning detection position, and is installed through a 2D camera installation frame 1830 in combination with the bionic AOI light source 1832; the 2D line scan mounting bracket is formed with a photographing opening 1831,2D on one side of the line scan camera 1840 far from the detection transition assembly 1850, is fixedly mounted through the 2D camera mounting bracket 1830 and has a photographing optical path forward to the 2D line scan detection position at the first mover moving part 18911 via the photographing opening 1831.

One end of the second mover moving portion 18912 in the x-axis direction is positioned at the lower side of the bonding detection transition suction plate 1853 for receiving a detection object at the bonding detection transition suction plate 1853 by the second mover, and the other end of the second mover moving portion 18912 in the x-axis direction is positioned at the lower side of the bonding detection blanking conveying shaft 1870; referring to fig. 26, the second mover moving part 18912 is provided with a 3D detection module 1860 disposed above a middle position in the x-axis direction; the second mover moving part 18912 located in the detection area of the 3D detection module 1860 forms a 3D line laser detection position, the 3D detection module 1860 includes 3D detection y-axis linear modules 1861,3D cameras 1862, which are arranged in the y-axis direction and are selected as linear motors, which are arranged across the second mover moving part 18912 at the joint detection transition mounting frame 1851, are mounted on the lower part of the 3D detection y-axis mover of the 3D detection y-axis module and move along the y-axis therewith to perform 3D detection on the detection object at the 3D line laser detection position, and the 3D detection cameras are provided with 3 and are mounted in a staggered manner.

Referring to fig. 27, a combined detection blanking carrying shaft 1870 includes a combined detection blanking y-axis module 1871 which is disposed transversely across the y-axis direction and is controlled by an air source, a combined detection blanking z-axis module 1872 which is disposed along the z-axis direction and is used as a sliding table cylinder is mounted at a combined detection blanking y-axis mover 18711 at the combined detection blanking y-axis module 1871, a combined detection blanking suction plate 18722 which is disposed horizontally is mounted at the lower part of a combined detection blanking z-axis mover 18721 of the combined detection blanking z-axis module 1872, and a combined detection blanking suction plate 18722 is used for positioning and releasing the CG surface of a detection object;

the combined detection blanking x-axis module 1871 is provided with a combined detection blanking transition position and a combined detection blanking x-axis module 1880 which is controlled by an air source and faces to the far 3D detection module side along the x-axis direction, one end of the combined detection blanking x-axis module 1880 along the x-axis direction is positioned above the combined detection blanking transition position, a combined detection conveying z-axis module 1882 which is arranged along the z-axis direction is connected to a combined detection blanking x-axis rotor 1881 of the combined detection blanking x-axis module 1880, a combined detection conveying z-axis rotor 18821 which is moved along the z-axis direction at the combined detection conveying z-axis module 1882 is connected with a combined detection conveying suction plate 1883 which is horizontally arranged, and the combined detection conveying suction plate 1883 is positioned and adsorbed on a detected CG surface by controlling vacuum.

Specifically, the transplanting and detecting requirements in the whole detecting process can be preferably met through the structure; in the detection process, when the device is used for detecting the CG-plane middle plate area, the 2D detection module and the 3D detection module 1860 can be used for carrying out image acquisition identification on appearance defects such as bruise, crush injury, scratch and the like at the CG-plane middle plate.

When the device is used for detecting the BG surface middle plate area (the detection of the BG surface middle plate area is located after the micro-distance detection), stress marks, bruise, crush injury, scratch, edge burrs, edge hemming, overstock, omission milling, non-milling in-place and other appearance defects at the BG surface middle plate can be detected through the 2D detection module and the 3D detection module 1860, and meanwhile, the image acquisition recognition can be carried out on burrs, 2D code scratch, overstock, omission milling, non-milling in-place at the 2D code area.

When the detection object is a mobile phone middle frame and the size ratio of the whole device is arranged according to the mobile phone middle frame, in the whole 2D line scanning detection process, firstly, the combined detection material taking plate 1822 descends (0.2 s) to break vacuum and discharge to the first rotor (0.3 s) at the combined detection conveying path 1890, then ascends to the original position (0.2 s), the detection object moves to the 2D line scanning detection position (2 s) along the combined detection conveying path 1890, then moves to the lower side (0.5 s) of the combined detection transition material absorbing plate 1853, the combined detection transition material absorbing plate 1853 descends (0.2 s) to open vacuum material absorbing (0.3 s), the combined detection transition material absorbing plate 1853 ascends (0.2 s) after material absorbing, the first rotor returns (1 s), the whole 2D detection process takes 5.4s, the 2D detection of a single detection object is completed, and the detection time can be controlled in a shorter time, so that the high efficiency of the whole detection process is ensured.

When the detection object is a mobile phone middle frame and the size proportion of the whole device is arranged according to the mobile phone middle frame, in the whole 3D laser detection process, firstly, the detection transition material absorbing plate 1853 is combined to descend (0.2 s) and break vacuum material discharging (0.3 s), the micro-distance detection transition material absorbing plate ascends (0.2 s), the second rotor carries the mobile phone middle frame to move to a photographing position (0.5 s), then 3D line laser (150 mm/s) takes 2s, the second rotor carries the mobile phone middle frame to move to a material discharging position (0.5 s), the detection conveying absorbing plate 1883 descends (0.2 s) and opens vacuum material absorbing (0.3 s), the detection conveying absorbing plate 1883 ascends (0.2 s) after the material absorbing is completed, and the empty jig at the second rotor returns (1 s), and the 3D detection takes 5.4s.

The 2D camera parameters employed in this implementation are: camera model: DASLA LA-CM-16K05A-00-R, telecentric lens: DTCM16-80H-AL, working distance: 120mm, scan interval: 0.005mm, movement pattern: the camera is fixed and the product moves horizontally.

The parameters of the 3D camera 1862 used in this embodiment are: camera SR8060, object distance: 60mm, sampling frequency: 3.2k-13k.

Example 5

The embodiment provides an appearance defect micro-distance detection system applicable to the equipment main body in the embodiment 1, and also provides an appearance defect micro-distance detection method realized based on the appearance defect micro-distance detection system and application thereof, wherein the method can be applicable to CG (g-g) surface detection and BG (g-g) surface detection, and specifically comprises the following steps:

Step one, micro-distance detection feeding

Placing a detection object needing to be subjected to macro detection at a macro detection loading position;

step two, CG surface detection

The CG surface of the detection object passes through the first macro detection station 3000 and the second macro detection station 3100 in turn; the first micro-distance detection station 3000 is used for detecting edges of the CG surface middle plate of the detection object, and the second micro-distance detection station 3100 is used for detecting the CG surface waterproof surface of the detection object.

Step three, detecting object overturning

Flipping a CG-face up test object to BG-face up

Fourth, BG surface detection

The BG surface of the detection object passes through a third micro-distance detection station 3200, a fourth micro-distance detection station 3300, a fifth micro-distance detection station 3400 and a sixth micro-distance detection station 3500 in sequence; the third micro-distance detection station 3200 is used for detecting the position of a nut on the BG inner cavity surface of a detection object, the fourth micro-distance detection station 3300 is used for detecting the upper and lower U-shaped areas on the BG inner cavity surface of the detection object, the fifth micro-distance detection station 3400 is used for detecting four corners of the upper and lower U-shaped areas on the BG inner cavity surface of the detection object, and the sixth micro-distance detection station 3500 is used for detecting the T-slot area on the BG inner cavity surface of the detection object.

Fifth step, micro-distance detection blanking

And blanking the detection object subjected to the micro-distance detection to the next station.

Specifically, by the micro-distance detection method, each position on the CG surface and the BG surface of the material, which is easy to have appearance defects, can be detected independently through a plurality of stations, and meanwhile, the best detection effect can be realized through a special micro-distance detection camera arrangement mode at each station.

The macro detection device comprises a macro BG surface detection part and a macro CG surface detection part; a macro detection first station 3000 and a macro detection second station 3100 are arranged at the macro CG surface detection part; the third station 3200, the fourth station 3300, the fifth station 3400 and the sixth station 3500 are arranged at the micro-distance BG surface detecting part.

The first and second stations 3000 and 3100 each include a CG surface positioning tool for adsorbing and releasing the detected object by matching with the CG surface of the detected object, and the third, fourth, fifth and sixth stations 3200, 3400 and 3500 each include a BG surface positioning tool for adsorbing and releasing the detected object by matching with the BG surface of the detected object; the micro-distance detection z-axis lifting module used for lifting the detection object and adopting the electric cylinder is arranged on the lower sides of the CG surface positioning fixture and the BG surface positioning fixture, and the micro-distance BG surface detection part and the micro-distance CG surface detection part are matched with each other by adopting a plurality of micro-distance detection cameras in a cooperative arrangement mode so as to detect the micro-distance of the BG surface and the CG surface of the detection object.

Referring to fig. 29, the macro camera includes a macro camera body 2900, a macro camera mounting block 2910 is formed at an upper side wall of the macro camera body 2900, the macro camera mounting block 2910 is used for being matched with macro camera mounting holes at each macro detection station to be arranged and mounted, a first macro photographing lens 2920 with a photographing light path facing downwards is arranged at a lowermost end face of the macro camera body 2900, and a second macro photographing lens 2930 with a photographing light path facing outwards is arranged at a lower portion of a side wall of the macro camera body 2900 opposite to the side wall provided with the macro camera mounting block 2910; the lens axes of the first macro lens 2920 and the second macro lens 2930 are perpendicular to each other.

Referring to fig. 30, the first macro detection station 3000 further includes a first macro detection camera assembly located right above the CG surface positioning tool at the station, where a plurality of macro detection cameras at the first macro detection camera assembly cooperate to form a first macro detection position, and the z-axis lifting module for macro detection can drive the CG surface positioning tool at the station and the detection object to move upwards to the first macro detection position, where the first macro detection camera assembly includes a plurality of macro detection cameras respectively arranged outside two wide sides of the CG surface of the detection object; the macro detection cameras on two sides are arranged between two ends of the CG surface of the detection object in parallel at intervals, the macro detection cameras are obliquely arranged through the adapter plate, and the outer wall planes of the macro detection cameras at the macro detection first camera assembly maintain an oblique angle of 20-30 degrees; the first macro shooting lens 2920 and the second macro shooting lens 2930 of each macro detection camera at the station face towards one side of the edge of the wide side of the CG middle plate for detecting the micro distance of the edge of the CG middle plate;

Referring to fig. 31, the macro detection second station 3100 further includes a macro detection second camera assembly located right above the CG surface positioning tool at the station, where a macro detection second detection position is formed at the macro detection second camera assembly, the macro detection z-axis lifting module can drive the CG surface positioning tool at the station and the detection object to move upwards to the macro detection second detection position, the macro detection second camera assembly includes two rows of macro detection cameras respectively arranged in parallel between two long sides of the CG surface, the two rows of macro detection cameras are respectively parallel to the two long sides of the CG surface of the detection object, a single row of macro detection Xiang Jiping rows of spaces are arranged from one wide side to the other wide side of the CG surface to cover the entire CG waterproof surface, the first macro imaging lenses 2920 of the single macro detection camera at the two rows of macro detection cameras are all vertically oriented to the bottom plane of the CG surface, and the second macro imaging lenses 2930 are all oriented to one side of the long sides of the CG surface for CG waterproof surface macro detection.

Referring to fig. 32, the third macro detection station 3200 further includes a third macro detection camera assembly located right above the BG surface positioning fixture at the station, the plurality of macro detection cameras at the third macro detection station cooperate to form a third macro detection position, the z-axis lifting module for macro detection can drive the CG surface positioning fixture at the station and the detection object to move upwards to the third macro detection position, the third macro detection station assembly includes two rows of macro detection cameras respectively arranged in parallel between two long sides of the BG surface cavity of the detection object, each row of macro detection cameras is arranged in parallel at intervals from one wide side to the other wide side of the BG surface cavity, the first macro shooting lens 2920 of each macro detection camera at the station faces perpendicularly to the bottom plane of the BG surface cavity, and the second macro shooting lens 2930 faces perpendicularly to the inner side wall of the BG surface cavity protruding perpendicularly to the bottom plane for macro detection of the BG surface nut position;

Referring to fig. 33, the fourth macro detection station 3300 further includes a fourth macro detection camera component located right above the BG surface positioning fixture at the station, the multiple macro detection cameras at the fourth macro detection camera component cooperate to form a fourth macro detection position, the macro detection z-axis lifting module can drive the CG surface positioning fixture at the station and the detection object to move upwards to the fourth macro detection position, the fourth macro detection camera component includes two rows of macro detection cameras respectively arranged parallel to two wide sides of the BG surface cavity, each row of macro detection cameras is arranged at a parallel interval from one wide side to the other wide side of the BG surface cavity, the first macro shooting lens 2920 of each macro detection camera at the station faces perpendicularly to the bottom plane of the BG surface cavity, and the second macro shooting lens 2930 faces perpendicularly to the inner side wall of the BG surface cavity perpendicular to the bottom plane for U region macro detection above and below the BG surface cavity;

referring to fig. 34, the fifth macro detection station 3400 further includes a fifth macro detection camera assembly located right above the BG surface positioning fixture at the station, where a plurality of macro detection cameras at the fifth macro detection camera assembly cooperate to form a fifth macro detection position, the z-axis lifting module for macro detection can drive the CG surface positioning fixture at the station and the detection object to move upward to the fifth macro detection position, the fifth macro detection camera assembly includes four macro detection cameras respectively arranged inside four corners of the BG surface cavity, the first macro shooting lens 2920 of each macro detection camera faces perpendicularly to the bottom plane of the BG surface cavity, and the second macro shooting lens 2930 faces the inner wall of the corner of the BG surface cavity for macro detection of four corners of the U region above and below the BG surface cavity;

In combination with fig. 35, the sixth macro detection station 3500 further includes a sixth macro detection camera assembly located right above the BG surface positioning fixture at the station, where a plurality of macro detection cameras at the sixth macro detection camera assembly cooperate to form a sixth macro detection position, the macro detection z-axis lifting module can drive the CG surface positioning fixture at the station and the detection object to move upward to the sixth macro detection position, the sixth macro detection camera assembly includes two rows of macro detection cameras respectively arranged parallel to two long sides of the BG surface inner wall, each row of macro detection cameras is arranged at a parallel interval from one wide side to the other wide side of the BG surface inner cavity, the first macro shooting lens 2920 of each macro detection camera at the station is vertically oriented to the bottom plane of the BG surface inner cavity, and the second macro shooting lens 2930 is vertically oriented to the inner side wall perpendicular to the bottom plane and protruding long side inner side for micro detection of the BG surface inner cavity T slot area.

Specifically, the positions, which are easy to generate appearance defects, of the detected object can be covered by the station and the corresponding arrangement method of the micro-distance detection camera, and the multi-station arrangement method can enable the detection of the appearance defects which can be covered to be more complete, so that the detection precision of the micro-distance detection and the whole detection process is ensured; in addition, the micro-distance detection is arranged at the middle part of the whole detection equipment, on one hand, due to the fact that the micro-distance detection is arranged more finely, the BG surface detection and the CG surface detection can be arranged conveniently and cost can be reduced compared with the separated arrangement; meanwhile, turning over the detection object in the micro-distance detection; therefore, the parts of the whole equipment, which are positioned on two sides of the micro-distance detection device, can be used for detecting the CG surface and the BG surface respectively, and further the whole process is started from feeding, the former half sections are CG surface detection, and the latter half sections are BG surface detection, so that the subsequent image analysis data processing can be facilitated.

The parameters of the macro detection camera used in this embodiment are as follows, and the lens structure is as follows: 3p+ir, lens matched wafer: 1/6", maximum image plane of lens: diameter 3.3mm; lens focal length: 1.35mm; total lens length: 2.90+/-0.1 mm; lens aperture: 2.2+ -5%; lens diagonal angle: d=88.7 °; the optical distortion of the lens is less than 1.5%; the relative illumination of the lens is more than 39.6%; the pixel precision is 0.01mm. The distance between the micro-distance detection camera and the detection position is kept at 10mm plus or minus 0.03 mm.

Example 6

The present embodiment provides a macro detection apparatus suitable for the macro detection system in embodiment 5, and in combination with fig. 36, the macro detection apparatus includes a macro apparatus main body 3600, where the macro apparatus main body 3600 includes a macro loading level 3610 for macro detection loading and a macro unloading level 3620 for macro detection unloading; a macro CG surface detection part, a macro detection overturning assembly 3630 and a macro BG surface detection part are sequentially arranged from the macro loading level 3610 to the macro unloading level 3620, and a CG surface camera assembly for detecting the CG surface of the detection object at the CG surface detection part and a BG surface camera assembly for detecting the BG surface of the detection object at the BG surface detection part are respectively arranged above the macro CG surface detection part and the macro BG surface detection part.

Sixteen macro detection placement bits are arranged in parallel along the x-axis and y-axis directions at intervals of 4×4, the sixteen macro detection placement bits are divided into four rows of first, second, third and fourth macro detection parts arranged along the y-axis direction, the CG surface detection part comprises first and second macro detection parts, and the BG surface detection part comprises third and fourth macro detection parts; the macro loading level 3610 is located at a first macro detection part of the CG surface detection part, the macro unloading level 3620 is located at a fourth macro detection part of the BG surface detection part, sixteen macro detection positions are matched together from the macro loading level 3610 to the macro unloading level 3620 to form a moving route of a detection object in the macro detection, and the moving route of the detection object is in an S shape from the first macro detection part to the fourth macro detection part.

It may be understood that, in this embodiment, through the arrangement mode of 4×4, two sides of each row of positions along the y-axis direction are respectively used as the upper and lower material levels of the row, two middle positions can be used as detection stations and are matched with corresponding macro detection cameras, the arrangement mode of 4×4 can better meet the arrangement requirement of eight detection stations, meanwhile, the BG surface detection parts and the CG surface detection parts can be distributed in a symmetrical structure, each occupy the macro detection parts of two rows, and thus the macro detection turnover assembly 3630 can be just arranged at the interface position of the BG surface detection parts and the CG surface detection parts, so that the whole arrangement structure and subsequent operation are more stable.

The 4 macro detection placement bits at the first macro detection part sequentially form a macro loading level 3610, a macro detection first station 3000, a macro detection second station 3100 and a macro detection transition bit along the positive direction of the y axis; the 4 micro-distance detection placement bits at the second micro-distance detection part sequentially form a micro-distance detection transition bit, a micro-distance detection first reserved station, a micro-distance detection second reserved station and a micro-distance detection overturning loading bit along the negative direction of the y axis; the 4 macro detection placement bits at the third macro detection part sequentially form a macro detection overturning blanking level, a macro detection third station 3200, a macro detection fourth station 3300 and a macro detection transition bit along the positive direction of the y axis, and the 4 macro detection bits at the fourth macro detection part sequentially form a macro detection transition bit, a macro detection fifth station 3400, a macro detection sixth station 3500 and a macro detection blanking level along the negative direction of the y axis.

The first, second, third, fourth, fifth and sixth macro-detection camera assemblies are respectively disposed above the first, second, fourth, and sixth macro-detection stations 3000, 3100, 3200, 3400, 3500, respectively, and cooperatively detect them with each other and cooperatively employ a plurality of macro-detection cameras.

Referring to fig. 37, a macro detection transition position at the first macro detection part and a macro detection transition position at the second macro detection part are realized by a macro detection x-axis material moving assembly 3700, the macro detection x-axis material moving assembly 3700 comprises a macro detection x-axis linear module 3710 which is arranged along the x-axis direction and controlled by an air source, a macro detection z-axis module 3720 which is a sliding table cylinder is arranged at a macro detection x-axis rotor 3711 of the macro detection x-axis linear module 3710 along the z-axis direction, a macro detection transition material moving plate 3730 is connected at a macro detection z-axis rotor 3721 of the macro detection z-axis module 3720, and a macro detection transition material moving position for moving a detection object between the macro detection transition positions is arranged at the macro detection transition material moving plate 3730; a macro detection x-axis material moving assembly 3700 for moving the detection object is also arranged between the macro detection transition position at the third macro detection part and the macro detection transition position at the fourth macro detection part;

with reference to fig. 36 and 38, the second macro detection portion is implemented by a macro detection overturning assembly 3630 between a macro detection overturning upper material level and a macro detection overturning lower material level, the macro detection overturning assembly 3630 includes a macro detection overturning servo motor 3631, an output end of the macro detection servo motor is connected with an L-shaped cantilever plate 3632 through a speed reducer, the macro detection overturning lower material level is arranged at the L-shaped cantilever plate 3632, and the macro detection overturning upper material level is arranged at a position where the macro detection servo motor drives the cantilever plate 3632 to rotate by one hundred eighty degrees.

Referring to fig. 39, two macro detection y-axis moving components 3900 are arranged at positions between the first macro detection part and the second macro detection part along the y-axis direction, the two macro detection y-axis moving components 3900 are respectively used in cooperation with the first macro detection part and the second macro detection part, each macro detection y-axis moving component 3900 comprises a macro detection y-axis linear module 3910 which is provided with a ball screw type along the y-axis direction, a macro detection moving plate 3912 is connected to a macro detection y-axis runner 3911 of the macro detection y-axis linear module 3910, three macro detection moving positions 3913 are arranged at intervals along the y-axis direction at the macro detection moving plate 3912, and the interval distance between the three macro detection moving positions 3913 is the same as the interval between four macro detection positioning positions at the first macro detection part; three macro detection displacement positions 3913 are used to move the detection object at each macro detection displacement position forward by one position along the S-shaped movement route at a time.

The first micro-distance detection part and the second micro-distance detection part are respectively provided with a product positioning clamp for fixing the detection object by the BG surface of the detection object; the third micro-distance detection part and the fourth micro-distance detection part are respectively provided with a CG (center of gravity) surface positioning tool for realizing the fixation of the middle frame of the mobile phone through the CG surface of the middle frame of the mobile phone;

The first and second stations 3000, 3100, 3200, 3300, 3400 and 3500 are all lifted by a z-axis lifting module, which comprises a CG plane z-axis lifting straight line module and a BG plane z-axis lifting straight line module; the lower sides of a first micro-distance detection station 3000, a second micro-distance detection station 3100, a first micro-distance detection reserved station and a second micro-distance detection reserved station are provided with a CG surface z-axis lifting linear module which is used as an electric cylinder, and the lower sides of a third micro-distance detection station 3200, a fourth micro-distance detection station 3300, a fifth micro-distance detection station 3400 and a sixth micro-distance detection station 3500 are provided with a BG surface z-axis lifting linear module which is used as an electric cylinder;

referring to fig. 40, the cg surface z-axis lifting linear module and the BG surface z-axis lifting linear module each include a lifting linear module body 4000, the lifting linear module body 4000 includes a lifting linear electric cylinder module 4010, a macro lifting frame 4030 is connected to a lifting linear electric cylinder mover 4020 of the lifting linear electric cylinder module 4010, and four groups of lifting links are arranged on an upper end surface of the macro lifting frame 4030; four groups of micro-distance lifting connecting rods 4040 at the CG surface z-axis lifting linear module are respectively connected with the lower ends of the micro-distance detection first station 3000, the micro-distance detection second station 3100, the micro-distance detection first reserved station and the micro-distance detection second reserved station so as to drive the micro-distance detection first reserved station and the micro-distance detection second reserved station to move upwards to corresponding detection positions; four groups of micro-distance lifting connecting rods 4040 at the position of the BG surface z-axis lifting linear module are respectively connected with the lower ends of the micro-distance detection third station 3200, the micro-distance detection fourth station 3300, the micro-distance detection fifth station 3400 and the micro-distance detection sixth station 3500 so as to drive the micro-distance lifting connecting rods to move upwards to corresponding detection positions.

The lower sides of the other micro-distance detection placing positions except the first, second, third, fourth, fifth and sixth micro-distance detection stations and the first and second micro-distance detection reserved stations are respectively provided with a micro-distance lifting cylinder arranged along the z-axis direction, and the end part of a piston rod of the micro-distance lifting cylinder is connected with the lower ends of the other micro-distance detection placing positions and drives the piston rod to move upwards so as to be matched with the micro-distance detection y-axis material moving component 3900 to realize the connection of detection objects.

Specifically, through the structure, the transplanting of the detection objects among the stations in the whole micro-distance detection process can be preferably met, the detection objects at the positions of 4 micro-distance detection placement positions in each row can be picked up by three micro-distance detection placement positions 3913 each time and then stably move forwards by one unit along the moving route, and the operation is simple and efficient, and the normal operation of the whole micro-distance detection can be preferably ensured by matching with the arrangement mode of 4 multiplied by 4.

It is to be understood that, based on one or several embodiments provided herein, those skilled in the art may combine, split, reorganize, etc. the embodiments of the present application to obtain other embodiments, which do not exceed the protection scope of the present application.

The invention and its embodiments have been described above by way of illustration and not limitation, and the examples are merely illustrative of embodiments of the invention and the actual construction is not limited thereto. Therefore, if one of ordinary skill in the art is informed by this disclosure, the structural mode and the embodiments similar to the technical scheme are not creatively designed without departing from the gist of the present invention.

Claims (10)

1. The detection device for combining appearance 2D and 3D is characterized by comprising a multi-head grabbing module (1810) for detecting feeding in a 2D and 3D combined mode and a combined detection blanking conveying shaft (1870) for detecting blanking in a 2D and 3D combined mode, wherein a combined detection conveying passage (1890) arranged along the x-axis direction is arranged at the lower side of the multi-head grabbing module (1810); the 2D detection module and the 3D detection module (1860) are sequentially arranged from the multi-head grabbing module (1810) to the blanking conveying shaft on a moving route of the combined detection conveying passage (1890).

2. The combined 2D and 3D appearance detection device according to claim 1, wherein the multi-head grabbing module (1810) comprises a multi-head grabbing mounting frame (1811) which is vertically arranged, and a grabbing x-axis linear module (1812) driven by an air source is horizontally arranged along the x-axis direction on the upper surface of the multi-head grabbing mounting frame (1811); the upper part of a grabbing x-axis rotor at the grabbing x-axis linear module (1812) is connected with a grabbing mounting plate (1813) which moves along the x-axis along with the grabbing x-axis rotor, a grabbing z-axis linear module (1814) with a synchronous belt is arranged at the grabbing mounting plate (1813) along the z-axis, a grabbing z-axis mounting plate (1815) which faces downwards along the z-axis direction is arranged at the grabbing z-axis rotor of the grabbing z-axis linear module (1814), a grabbing head mounting plate (1816) along the y-axis direction is mounted at the lower part of the grabbing z-axis mounting plate (1815), and a plurality of grabbing heads (1817) are uniformly arranged at intervals along the y-axis direction on the lower side of the grabbing head mounting plate (1816).

3. The detection device with combined appearance 2D and 3D according to claim 2, wherein one end of the grabbing x-axis linear module (1812) along the x-axis direction is located at the upper side of the material outlet position of the previous station, a grabbing rack (1818) corresponding to grabbing heads (1817) of the grabbing head mounting plate (1816) one by one is arranged at the lower side position of the other end, and the upper part of the grabbing rack (1818) is used for being matched with a detection object in a positioning way; the upper side of grabbing material rack (1818) has arranged the synchronous belt type's of following y axis direction combination and has detected y axle and get material sharp module (1820), combines and detects y axle and get material sharp module (1820) department and is connected with the combination of slip table cylinder type that follows the Z axle direction and detects Z axle and get material module (1821) along the combination that the Y axle orientation moved of y axle was got material mover department.

4. A combined 2D and 3D inspection apparatus according to claim 3, wherein a combined inspection z-axis pick-up mover moving in the z-axis direction at the combined inspection z-axis pick-up module (1821) is connected with a combined inspection pick-up plate (1822) horizontally arranged, a lower surface of the combined inspection pick-up plate (1822) is used for positioning and releasing the combination with the CG surface of the inspection object, and a combined inspection conveying path (1890) is arranged below the combined inspection pick-up plate (1822) and at a middle position of the plurality of gripping racks (1818) in the y-axis direction; the combined detection take-out plate (1822) is used for being matched with a detection object in a positioning way so as to carry the detection object to a combined detection conveying path (1890) and loosening the detection object so as to be placed in the combined detection conveying path (1890).

5. The detection device for combining appearance 2D and 3D according to claim 4, wherein the combined detection conveying path (1890) comprises a combined detection x-axis conveying module (1891) which is arranged along the x-axis direction and adopts a double-mover linear motor module, a separation sensor is arranged at the middle position of the combined detection x-axis conveying module (1891) along the x-axis direction, a first mover moving part (18911) and a second mover moving part (18912) are respectively formed by combining the parts of the combined detection x-axis conveying module (1891) positioned at two sides of the separation sensor, and a first mover and a second mover which slide along the x-axis in the region of the first mover moving part (18911) and the second mover moving part (18912) are respectively arranged; a joint detection transition assembly (1850) is arranged at the junction of the first rotor moving part (18911) and the second rotor moving part.

6. The combined 2D and 3D inspection apparatus according to claim 5, wherein a combined inspection positioning member (1892) for positioning and releasing BG-plane phase of the inspection object is installed at upper portions of the first mover and the second mover, and one end of the first mover moving part (18911) in the x-axis direction is located at a lower side of the combined inspection take-out plate (1822) for receiving the inspection object at the combined inspection take-out plate (1822) through the combined inspection positioning member (1892) at the first mover; the first mover moving part (18911) is provided with a bonding detection transition assembly (1850) on the upper side of the other end in the x-axis direction.

7. The detection device for combining appearance 2D and 3D according to claim 6, wherein the combination detection transition assembly (1850) is installed directly above the combination detection conveying path (1890) by being installed on the combination detection transition installation frame (1851) along the z-axis direction, the combination detection transition assembly (1850) comprises a combination detection transition z-axis module (1852) using a sliding table cylinder, a combination detection transition suction plate (1853) is horizontally arranged at the lower part of a combination detection transition z-axis mover at the combination detection transition z-axis module (1852), and the combination detection transition suction plate (1853) is used for being positioned and released in cooperation with a detection object CG surface at the first mover by controlling vacuum.

8. The detection device with combined 2D and 3D appearance according to claim 7, wherein the first mover moving part (18911) is provided with a 2D detection module above a middle position in the x-axis direction, and the first mover moving part (18911) located in a detection area of the 2D detection module forms a 2D line scanning detection position; the 2D detection module comprises a 2D line scanning camera (1840) and bionic AOI light sources (1832) which are annularly arranged above the 2D line scanning detection position in a surrounding mode, and the bionic AOI light sources (1832) are installed through a 2D line scanning installation frame; one side of the 2D line scanning installation frame far combined with the detection transition assembly (1850) is provided with a shooting opening (1831), the 2D line scanning camera (1840) is fixedly installed through the 2D camera installation frame (1830) and a shooting light path of the 2D line scanning camera is opposite to a 2D line scanning detection position at the first rotor moving part (18911) through the shooting opening (1831).

9. The detection apparatus for combining appearance 2D and 3D according to claim 5, wherein one end of the second mover moving part (18912) in the x-axis direction is located at a lower side of the combination detection transition suction plate (1853) for receiving a detection object at the combination detection transition suction plate (1853) through the second mover, and the other end of the second mover moving part (18912) in the x-axis direction is located at a lower side of the combination detection blanking conveying shaft (1870); a 3D detection module (1860) is arranged above the middle position of the second rotor moving part (18912) along the x-axis direction; the second rotor moving part (18912) located in the detection area of the 3D detection module (1860) forms a 3D line laser detection position, the 3D detection module (1860) comprises 3D detection y-axis linear modules (1861) which are arranged in the Y-axis direction and are arranged in a crossing manner and used as linear motors and are arranged at the joint detection transition mounting frame (1851), the 3D camera 1862 is arranged at the lower part of the 3D detection y-axis rotor of the 3D detection y-axis module and moves along the y-axis along with the lower part of the 3D detection y-axis rotor so as to carry out 3D detection on detection objects at the 3D line laser detection position, and 3D detection cameras are provided with 3 detection cameras and are installed in a staggered manner.

10. The detection device for combining appearance 2D and 3D according to claim 2, wherein the combined detection blanking carrying shaft (1870) comprises a combined detection blanking y-axis module (1871) which is positioned at the upper side of the tail end of the combined detection carrying passage (1890) and transversely arranged along the y-axis direction and is controlled by an air source, a combined detection blanking z-axis module (1872) which is arranged along the z-axis direction and is used as a sliding table cylinder is installed at a combined detection blanking y-axis rotor (18711) at the combined detection blanking y-axis module (1871), a combined detection blanking suction plate (18722) which is horizontally arranged is installed at the lower part of a combined detection blanking z-axis rotor (18721) of the combined detection blanking z-axis module (1872), and the combined detection blanking suction plate (18722) is used for positioning and releasing matching with the CG surface of a detection object; a combination detection blanking x-axis module (1880) which is controlled by an air source and is arranged on one side of a combination detection blanking y-axis module (1871) along the y-axis direction and one side of a remote 3D detection module along the x-axis direction is arranged, one end of the combination detection blanking x-axis module (1880) along the x-axis direction is positioned above the combination detection blanking transition position, a ball screw type combination detection conveying z-axis module (1882) which is arranged along the z-axis direction is connected at a combination detection blanking x-axis rotor (1881) of the combination detection blanking x-axis module (1880), a combination detection conveying z-axis rotor (18821) which is moved along the z-axis direction is connected at the lower part of the combination detection conveying z-axis module (1882), and a combination detection conveying suction plate (1883) is positioned and adsorbed and matched with a detected CG surface by controlling vacuum.