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WO2024164827A1 - 外观检测装置及产品检测设备 - Google Patents

外观检测装置及产品检测设备 Download PDF

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Publication number
WO2024164827A1
WO2024164827A1 PCT/CN2024/073364 CN2024073364W WO2024164827A1 WO 2024164827 A1 WO2024164827 A1 WO 2024164827A1 CN 2024073364 W CN2024073364 W CN 2024073364W WO 2024164827 A1 WO2024164827 A1 WO 2024164827A1
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WO
WIPO (PCT)
Prior art keywords
workpiece
loading
transfer
carrier
transfer component
Prior art date
Application number
PCT/CN2024/073364
Other languages
English (en)
French (fr)
Inventor
黄智成
周启胜
杨得其
曾昆
刘枢
Original Assignee
深圳思谋信息科技有限公司
上海思谋科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN202320289128.9U external-priority patent/CN219512084U/zh
Priority claimed from CN202321376810.8U external-priority patent/CN220305178U/zh
Application filed by 深圳思谋信息科技有限公司, 上海思谋科技有限公司 filed Critical 深圳思谋信息科技有限公司
Publication of WO2024164827A1 publication Critical patent/WO2024164827A1/zh

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/01—Arrangements or apparatus for facilitating the optical investigation
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/01—Arrangements or apparatus for facilitating the optical investigation
    • G01N21/13—Moving of cuvettes or solid samples to or from the investigating station
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84—Systems specially adapted for particular applications
    • G01N21/88—Investigating the presence of flaws or contamination

Definitions

  • the present application relates to the technical field of appearance detection, and in particular to an appearance detection device and product detection equipment.
  • the quality rate of the camera module is an important factor affecting the shooting effect of smart electronic devices.
  • the appearance inspection of the camera module is mainly carried out by manual naked eye inspection.
  • an appearance inspection device which includes an inspection structure and a feeding structure, wherein the inspection structure includes a plurality of inspection modules, two of which are respectively recorded as a first inspection module and a second inspection module, the first inspection module is used for correspondingly inspecting a workpiece located at a first station, and the second inspection module is used for correspondingly inspecting the workpiece located at a second station;
  • the feeding structure includes a plurality of carriers, two of which are respectively recorded as a first transfer component and a second transfer component, the first transfer component and the second transfer component respectively act on different areas on the workpiece to carry the workpiece, the first transfer component can drive the workpiece to move between a first transfer station and the first station, the second transfer component can drive the workpiece to move between a second transfer station and the second station, and the first transfer component located at the first transfer station and the second transfer component located at the second transfer station can transfer the workpiece to each other.
  • the first transfer component includes a first bracket and a first supporting member
  • the first supporting member includes a first supporting side for supporting the workpiece
  • the first supporting member is rotatably connected to the first bracket so that the first supporting side faces the second transfer component or the first detection module.
  • the first transfer component further includes a first picking member, the first picking member is used to pick up the workpiece, and the first picking member is rotatably connected to the first supporting member.
  • a plurality of the first picking members are evenly spaced apart and arranged on the first supporting member, and the plurality of the first picking members are used to correspondingly drive a plurality of the workpieces to rotate.
  • the structure and size of the second transmission component are the same as those of the first transmission component.
  • the feeding structure further includes a first driving structure, and the first driving structure is connected to both the first transfer component and the second transfer component to drive the first transfer component and the second transfer component to move closer to or away from each other along a first direction.
  • the first detection module includes a first detection module and a second driving structure
  • the second driving structure is connected to the first detection module to drive the first detection module to approach or move away from the workpiece along a second direction, and the first direction intersects with the second direction.
  • the first detection module also includes a third driving structure, which is connected to the second driving structure to drive the second driving structure to approach or move away from the workpiece along a third direction, and the first direction, the second direction and the third direction intersect each other.
  • the second detection module includes a second detection module, a fourth driving structure and a fifth driving structure, wherein the fourth driving structure is connected to the second detection module to drive the second detection module to move closer to or farther from the workpiece along a fourth direction.
  • the fifth driving structure is connected to the fourth driving structure to drive the fourth driving structures to approach or move away from each other along a fifth direction, and the first direction, the fourth direction and the fifth direction intersect each other in pairs.
  • the first detection module includes a first light source and a first camera
  • the second detection module includes a second light source and a second camera
  • the first light source and the second light source have different lighting modes.
  • the first camera and the second camera have different shooting modes.
  • the carrier includes a bracket and a body, the bracket is movably arranged on a base, the body is used to limit the workpiece on the load-bearing side of the body, the body is rotatably connected to the bracket to adjust the orientation of the load-bearing side, and is used to transfer the workpiece to each other when the load-bearing sides of adjacent carriers face each other;
  • the body includes a carrier and a picking member, the picking member is arranged on the carrier, the carrier is rotatably connected to the bracket around a first axis, and the picking member is rotatably connected to the carrier around a second axis, and the first axis intersects with the second axis.
  • the picking member of at least one of the adjacently arranged carriers is retractable relative to the supporting member, so that the picking member elastically retracts toward the supporting member when one end of the picking member close to the workpiece is subjected to pressure.
  • the picking member includes an elastic member, a rotating part and a bearing part which are socketed with each other, the rotating part is rotatably connected to the bearing member around the second axis, the bearing part is used to carry the workpiece, the elastic member is connected between the rotating part and the bearing part, and when the bearing part is pressurized, it can slide along the rotating part in the direction of compressing the elastic member.
  • the carrier includes a vacuum generator, and an adsorption channel is opened in the picking member.
  • the adsorption channel has a plurality of adsorption holes connected to the outside to form a negative pressure in the adsorption holes.
  • the second aspect of the present application also provides a product inspection device, the product inspection device includes a loading device, a unloading device and the appearance inspection device as described above, the appearance inspection device includes a base, the detection structure and the feeding structure are both arranged on the base, the feeding structure also includes a loading piece and a unloading piece both rotatably arranged on the base, the rotation axes of the loading piece and the unloading piece are parallel to each other; the loading piece is used to position the workpiece on the loading side of the loading piece, the loading piece is rotatably arranged on the base, and the loading piece can adjust the direction of the loading side when rotating, so as to receive the workpiece transmitted by the loading device piece, and transfer the workpiece to the carrier; multiple carriers are located between the loading piece and the unloading piece, and multiple carriers can be movably arranged on the base to drive the workpiece to approach or move away from adjacent carriers, and drive the workpiece to move within the detection range of the detection structure, and adjacent carriers act on different parts of the workpiece respectively,
  • the carrier includes a bracket and a body, the body is used to limit the workpiece on the load-bearing side of the body, and the body is rotatably connected to the bracket;
  • the loading member includes a frame body and a beam body, the frame body is arranged on the base, the beam body is used to position the workpiece on the loading side of the beam body, the beam body is rotatably connected to the frame body to adjust the orientation of the loading side, and the loading side and the adjacent load-bearing side are used to transfer the workpiece to each other when they are arranged opposite to each other.
  • the loading part includes a positioning structure
  • the beam body is provided with a matching part
  • the positioning structure is respectively arranged with multiple matching parts to form multiple loading positions
  • the positioning structure is movably provided on the beam body to cooperate with multiple matching parts to position multiple workpieces respectively at the multiple loading positions.
  • the beam body includes a base plate
  • the matching piece is used to support the workpiece
  • the matching piece is telescopically arranged on the base plate so that when one end of the matching piece close to the workpiece is subjected to pressure, it elastically retracts toward the base plate.
  • the blanking piece includes the frame, the beam and the positioning structure.
  • the plurality of carriers respectively move to positions corresponding to the plurality of detection modules, and the number of the detection modules corresponds to the number of the carriers.
  • FIG1 is an axial schematic diagram of a product inspection device provided in some embodiments of the present application.
  • FIG. 2 is an axial schematic diagram of an appearance inspection device in the product inspection device shown in FIG. 1 in some embodiments.
  • FIG3 is an axial schematic diagram of an appearance inspection device in some other embodiments of the present application.
  • FIG. 4 is a side view of the appearance inspection device shown in FIG. 3 in some embodiments.
  • FIG. 5 is an axial schematic diagram of the material feeding structure in the appearance inspection device shown in FIG. 3 in some embodiments.
  • FIG. 6 is a side view of the material feeding structure shown in FIG. 5 in some embodiments.
  • FIG. 7 is an axial schematic diagram of a loading member, a feeding structure, a detection structure and a unloading member in the appearance inspection device shown in FIG. 2 in some embodiments.
  • FIG. 8 is an axial schematic diagram of the material feeding structure in the appearance inspection device shown in FIG. 2 in some embodiments.
  • FIG. 9 is an axial schematic diagram of a carrier in the material conveying structure shown in FIG. 8 in some embodiments.
  • FIG. 10 is an exploded schematic diagram of a picking-up member of the body of the carrier shown in FIG. 9 in some embodiments.
  • FIG. 11 is a top view of a loading member in the conveying assembly shown in FIG. 8 in some embodiments.
  • FIG. 12 is a partial enlarged view of the loading piece shown in FIG. 11 at point A in some embodiments.
  • FIG. 13 is an axial schematic diagram of the beam body and positioning structure of the loading piece shown in FIG. 11 in some embodiments.
  • FIG. 14 is an exploded schematic diagram of the beam body and the positioning structure shown in FIG. 13 in some embodiments.
  • FIG. 15 is a side view of a portion of the structure of the loading piece shown in FIG. 11 in some embodiments.
  • FIG. 16 is a schematic structural diagram of an example of a workpiece provided in some embodiments of the present application.
  • FIG17 is a schematic axial view of a frame and a first detection module in the appearance detection device shown in FIG3 in some embodiments;
  • FIG. 18 is an axial schematic diagram of a frame and a second inspection module in the appearance inspection device shown in FIG. 3 in some embodiments.
  • FIG. 19 is an axial schematic diagram of the detection structure in the appearance detection device shown in FIG. 2 in some embodiments.
  • FIG. 20 is an axial schematic diagram of the detection module in the detection structure shown in FIG. 19 in some embodiments.
  • FIG. 21 is an axial schematic diagram of the feeding device in the product inspection equipment shown in FIG. 1 in some embodiments.
  • FIG. 22 is an axial schematic diagram of the unloading device in the product inspection equipment shown in FIG. 1 in some embodiments.
  • FIG. 23 is a top view of the feeding device shown in FIG. 22 in some embodiments.
  • first or second are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as “first” or “second” may explicitly or implicitly include at least one of the features.
  • the meaning of “plurality” is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.
  • first feature is “on” or “below” a second feature, etc., or similar descriptions appear, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium.
  • first feature being “above”, “above” and “above” the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature.
  • the first feature being “below”, “below” and “below” the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.
  • the inventor of this application has found that the traditional inspection method of manual visual inspection is still used for the appearance inspection of relatively precise products such as camera modules.
  • the manual visual inspection method has low inspection efficiency on the one hand, and low accuracy and cannot be carried out for a long time.
  • a product inspection device which includes a feeding device, an appearance inspection device and a feeding device.
  • the feeding device is used to feed the workpiece to the appearance inspection device, and the appearance inspection device can perform appearance inspection on the workpiece.
  • the feeding device classifies the workpiece after the inspection according to the inspection result of the appearance inspection device to exclude defective products.
  • the appearance inspection device includes a feeding structure and a detection structure.
  • the feeding structure can automatically carry the workpiece to the detection structure to accept the appearance inspection.
  • the appearance inspection of the workpiece can be automatically carried out, which greatly improves the efficiency and accuracy compared with the human eye inspection.
  • the inspection efficiency of the appearance inspection device can be further improved.
  • the process of loading the carrier becomes cumbersome and affects the efficiency of the inspection process.
  • the range of motion and flexibility of each carrier are easily restricted to each other.
  • the inventors of the present application have further optimized the above product inspection equipment by setting the feeding structure to also include a loading piece, which is used to transfer the workpiece to the carrier; each carrier is set to be able to transfer the workpiece to each other.
  • the loading piece transfers the workpiece to one of the carriers, based on the effect that the workpiece can be transferred between the carriers, the workpiece can be transferred to each other carrier.
  • the arrangement between the carriers is more orderly and the division of labor is clear, so that the overall linkage of the appearance inspection device is better.
  • the product appearance inspection device includes a loading device 10 , an appearance inspection device 20 , and a unloading device 30 .
  • the appearance inspection device 20 includes a base 210 .
  • the appearance inspection device 20 is used to inspect the appearance of the workpiece 2.
  • the appearance inspection device 20 includes a base 210, a detection structure 220 and a feeding structure 230.
  • the detection structure 220 and the feeding structure 230 are both disposed on the base 210.
  • the feeding structure 230 is used to carry the workpiece 2.
  • the detection structure 220 includes a plurality of detection modules 2210, two of which are respectively recorded as a first detection module 2230 and a second detection module 2240.
  • the first detection module 2230 is used to detect the workpiece 2 located at the first station
  • the second detection module 2240 is used to detect the workpiece 2 located at the second station. Since the first detection module 2230 and the second detection module 2240 are both used to detect the workpiece 2, such a setting can improve the accuracy of the detection structure 220 when detecting the workpiece 2.
  • the feeding structure 230 is used to carry the workpiece 2, and the feeding structure 230 includes a plurality of carriers 2320. Two of the carriers 2320 are respectively recorded as the first transfer component 2350 and the second transfer component 2360.
  • the first transfer component 2350 and the second transfer component 2360 act on different areas on the workpiece 2 to carry the workpiece 2.
  • the first transfer component 2350 can drive the workpiece 2 to move between the first transfer station and the first station;
  • the second transfer component 2360 can drive the workpiece 2 to move between the second transfer station and the second station.
  • the first transfer component 2350 at the first transfer station and the second transfer component 2360 at the second station can transfer the workpiece 2 to each other.
  • the workpiece 2 By driving the workpiece 2 to move and transferring the workpiece 2 to each other through the first transfer component 2350 and the second transfer component 2360, the workpiece 2 can be automatically transferred between the first station and the second station, thereby improving the efficiency of detection.
  • the workpiece 2 carried by the first transfer component 2350 shown in Figure 4 is at the first station, and the workpiece 2 carried by the second transfer component 2360 shown in Figure 4 is at the second station.
  • the first transfer component 2350 shown in Figure 6 is at the first transfer station; the second transfer component 2360 shown in Figure 6 is at the second transfer station.
  • the first inspection module 2230 inspects the workpiece 2 carried by the first transfer component 2350, it can inspect the area on the workpiece 2 that is not covered by the first transfer component 2350; similarly, when the second inspection module 2240 inspects the workpiece 2 carried by the second transfer component 2360, it can inspect the area on the workpiece 2 that is not covered by the second transfer component 2360. Since the first transfer component 2350 and the second transfer component 2360 act on different areas on the workpiece 2 respectively, the second inspection module 2240 can inspect the area that was or will be covered by the first transfer component 2350 when inspecting the workpiece 2; similarly, when the first inspection module 2230 inspects the workpiece 2, it can inspect the area that was or will be covered by the second transfer component 2360.
  • the first inspection module 2230 cooperates with the second inspection module 2240 to perform a more comprehensive inspection on the workpiece 2, thereby preventing the structure for supporting the workpiece 2 in the appearance inspection device 20 from blocking certain areas on the workpiece 2 and causing incomplete inspection of the workpiece 2.
  • the workpiece 2 may include a first side surface and a second side surface opposite to each other, the first transfer component 2350 acts on the first side surface of the workpiece 2 to carry the workpiece 2, and the second transfer component 2360 acts on the second side surface of the workpiece 2 to carry the workpiece 2.
  • the first detection module 2230 can detect the shape of the second side surface when detecting the workpiece 2 located at the first station; similarly, the second detection module 2240 can detect the shape of the first side surface when detecting the workpiece 2 located at the second station.
  • the shape of the workpiece 2 can be fully detected by the cooperation between the first detection module 2230 and the second detection module 2240.
  • the first transfer component 2350 and the second transfer component 2360 acting on different areas on the workpiece 2 also facilitate the transfer of the workpiece 2 between the first transfer component 2350 and the second transfer component 2360.
  • the workpiece 2 may be a supporting structure such as a middle frame or a back cover in a smart device such as a mobile phone, a tablet computer or a display.
  • a smart device such as a mobile phone, a tablet computer or a display.
  • the workpiece 2 may also be other structures that require appearance inspection.
  • first transfer member 2350 and the second transfer member 2360 move toward each other to transfer the workpiece 2 to each other, and the first transfer member 2350 and the second transfer member 2360 move away from each other to move the workpiece 2 to the first station and the second station, respectively.
  • the first transfer component 2350 includes a first bracket 2351 and a first carrier 2352.
  • the first carrier 2352 includes a first carrier side 2352a for carrying the workpiece 2.
  • the first carrier 2352 is rotatably connected to the first bracket 2351, so that the first carrier side 2352a faces the second transfer component 2360 or the first detection module 2230. Further, the first carrier 2352 can rotate around the first axis.
  • the workpiece 2 on the first carrier 2352 can be transferred to the second detection module 2240 and driven by the second transfer component 2360 to the second station for detection.
  • the above-mentioned first axis is shown in the number C1 in FIG. 5.
  • the first carrier 2352 When the first carrier 2352 rotates around the first axis, it can also rotate to a position where the first carrier side 2352a faces the first detection module 2230. In this way, the first detection module 2230 can detect the workpiece 2 on the first carrier 2352. It should be noted that the first carrier 2352 can also rotate around the first axis at a preset speed during the detection process of the first detection module 2230, so that different areas on the workpiece 2 face the first detection module 2230, so that the first detection module 2230 can detect details of various parts of the workpiece 2.
  • the first transfer component 2350 also includes a first pick-up member 2353, which is used to pick up the workpiece 2, and the first pick-up member 2353 is rotatably connected to the first carrier 2352.
  • the first pick-up member 2353 can also be driven to rotate relative to the first detection module 2230, so that the detailed structures in each area on the workpiece 2 can be detected by the first detection module 2230.
  • the first pick-up member 2353 can be rotatably connected to the first carrier 2352 around a second axis, and the second axis intersects the first axis.
  • the workpiece 2 can rotate around the first axis and the second axis, so that the first detection module 2230 can detect different sides of the workpiece 2 respectively, thereby improving the comprehensiveness of the first detection module 2230 when detecting the workpiece 2.
  • the above-mentioned second axis is referred to as C2 in Figure 5.
  • the first axis is perpendicular to the second axis.
  • the first transmission component 2350 includes a plurality of first picking members 2353.
  • the plurality of first picking members 2353 are evenly spaced and arranged on the first carrier 2352.
  • the plurality of first picking members 2353 are used to correspondingly drive the plurality of workpieces 2 to rotate.
  • the first detection module 2230 can detect a plurality of workpieces 2 at the same time, which can improve the detection efficiency.
  • the structure and size of the second transmission component 2360 are the same as those of the first transmission component 2350 .
  • the second transfer component 2360 includes a second bracket 2361, a second carrier 2362 and a second pick-up component 2363.
  • the second carrier 2362 includes a second carrier side 2362a for carrying the workpiece 2.
  • the second carrier 2362 is rotatably connected to the second bracket 2361, so that the second carrier side 2362a faces the first transfer component 2350 or the second detection module 2240. In this way, through the rotation of the second carrier 2362, it is convenient for the second transfer component 2360 to transfer the workpiece 2 to the first transfer component 2350, and it is also convenient for the workpiece 2 to face the second detection module 2240 at the second station to be detected by the second detection module 2240.
  • the second picking member 2363 is used to pick up the workpiece 2, and the second picking member 2363 is rotatably connected to the second supporting member 2362. In this way, the second picking member 2363 can make the movement of the workpiece 2 more flexible, thereby improving the comprehensiveness of the second detection module 2240 in detecting the workpiece 2.
  • the second transfer component 2360 may also include a plurality of second picking members 2363, which are evenly spaced and arranged on the second carrier 2362, and are used to correspondingly drive the plurality of workpieces 2 to rotate. In this way, the detection efficiency of the second detection module 2240 can be improved.
  • the feeding structure 230 includes a first driving structure 2340.
  • the first driving structure 2340 is connected to both the first transmission component 2350 and the second transmission component 2360 to drive the first transmission component 2350 and the second transmission component 2360 to move closer to or away from each other along a first direction.
  • the first direction is shown in the reference numeral K in FIGS. 4 to 6 .
  • the first driving structure 2340 is connected to both the first bracket 2351 and the second bracket 2361.
  • the first driving structure 2340 drives the first transfer component 2350 and the second transfer component 2360 to move in a direction close to each other.
  • the first carrier 2352 and the second carrier 2362 are rotated so that the first carrier side 2352a and the second carrier side 2362a face each other.
  • the first picking member 2353 and the second picking member 2363 can both pick up the workpiece 2, so that the workpiece 2 is transferred between the first picking member 2353 and the second picking member 2363.
  • the first driving structure 2340 drives the first transfer component 2350 and the second transfer component 2360 to move in a direction away from each other, so as to move to the first station and the second station respectively. Subsequently, the first carrier 2352 or the second carrier 2362 rotates so that the first carrier side 2352a faces the first detection module 2230, so that the workpiece 2 can be detected by the first detection module 2230; or the second carrier side 2362a faces the second detection module 2240, so that the workpiece 2 can be detected by the second detection module 2240.
  • the above description of the transfer process of the feeding structure 230 is only for the purpose of understanding how the first transfer component 2350 and the second transfer component 2360 cooperate with each other to transfer the workpiece 2 between the first station and the second station, and does not limit the steps of the transfer of the feeding structure 230 to have a strict sequence.
  • the time point of the rotation of the first carrier 2352 and the second carrier 2362 can be adaptively set according to actual needs.
  • the first picking member 2353 and the second picking member 2363 can pick up the workpiece 2 by vacuum adsorbing the workpiece 2 .
  • the vacuum adsorption method is stable in picking up, which facilitates the quick transfer of the first transfer component 2350 and the second transfer component 2360.
  • the vacuum adsorption method enables the first pick-up component 2353 and the second pick-up component 2363 to pick up different types of workpieces 2, thereby improving the versatility of the appearance inspection device 20.
  • the first driving structure 2340 includes a first driving member (not shown in the figure, the same below), a first slide rail 2342, and a plurality of first slides 2341.
  • the first bracket 2351 and the second bracket 2361 are respectively disposed on the plurality of first slides 2341, and the first driving member is connected to the first slide 2341 so that the first slide 2341 can move along the first slide rail 2342.
  • the first slide rail 2342 extends along a first direction.
  • the carrier 2320 is not limited to only including the first transfer component 2350 and the second transfer component 2360, so the following description uses the carrier 2320 as an object to explain the transfer of the workpiece 2 inside the appearance inspection device 20, and the transfer of the workpiece 2 between the loading device 10, the appearance inspection device 20 and the unloading device 30.
  • the feeding structure 230 further includes a loading member 2310 and a loading member 2330 rotatably disposed on the base 210 .
  • the rotation axes of the loading member 2310 and the loading member 2330 are parallel to each other.
  • the loading member 2310 is used to position the workpiece 2 on the loading side 2310b of the loading member 2310.
  • the loading member 2310 is rotatably disposed on the base 210.
  • the direction of the loading side 2310b can be adjusted to receive the workpiece 2 transferred by the loading device 10 and transfer the workpiece 2 to the carrier 2320.
  • the workpiece 2 can be conveniently transferred from the loading device 10 to the carrier 2320 by adjusting the direction of the loading side 2310b, thereby improving the loading efficiency.
  • the loading member 2310 can also position the workpiece 2 on the loading side 2310b, when the loading member 2310 transfers the workpiece 2 to the carrier 2320, the workpiece 2 can be accurately located at the expected position on the carrier 2320, thereby improving the detection effect.
  • a plurality of carriers 2320 are located between the loading member 2310 and the unloading member 2330, and the plurality of carriers 2320 are movably disposed on the base 210 to drive the workpiece 2 to approach or move away from adjacent carriers 2320 and to drive the workpiece 2 to move within the detection range of the detection structure 220.
  • Adjacent carriers 2320 act on different parts of the workpiece 2 respectively, and the adjacent carriers 2320 are used to transfer the workpiece 2 to each other.
  • the carriers 2320 are movably arranged on the base 210, and the carriers 2320 can transfer the workpiece 2 to each other, when the loading member 2310 transfers the workpiece 2 to one of the carriers 2320, the carrier 2320 can transfer the workpiece 2 to the next carrier 2320. In this way, through the function of each carrier 2320 to transfer the workpiece 2 to each other, the loading member 2310 only needs to transfer the workpiece 2 to one of the carriers 2320, and the workpiece 2 can be transferred to each carrier 2320. Therefore, it is not necessary to load each carrier 2320 separately, thereby improving the efficiency of detecting the workpiece 2.
  • adjacent carriers 2320 act on different parts of the workpiece 2, that is, the shielding formed by the carriers 2320 on the workpiece 2 does not overlap. Therefore, when adjacent carriers 2320 respectively carry the same or the same batch of workpieces 2 within the detection range of the detection structure 220, the detection structure 220 can detect different areas of the workpiece 2, thereby improving the comprehensiveness of the detection of the appearance of the workpiece 2.
  • the process of the workpiece 2 being transported from one carrier 2320 to the next carrier 2320 is not only used to transfer the workpiece 2, but also used to turn the workpiece 2 over, so there is no need to set up an additional process to turn the workpiece 2 over, thereby the detection efficiency of the workpiece 2 is higher.
  • the unloading member 2330 is rotatably disposed on the base 210 to face the unloading device 30 and the carrier 2320.
  • the unloading member 2330 receives the workpiece 2 transferred by the carrier 2320, thereby improving the unloading efficiency.
  • the workpiece 2 after inspection can be received; by rotating the unloading member 2330 to face the unloading device 30, the workpiece 2 can be transferred to the unloading device 30.
  • the unloading device 30 is used to receive the workpiece 2 delivered by the unloading part 2330.
  • the unloading device 30 is electrically connected to the detection structure 220 and is also used to sort the workpiece 2. That is, when the unloading part 2330 delivers the workpiece 2 to the unloading device 30, the unloading device 30 can sort the inspected workpiece 2 according to the inspection result of the detection structure 220, so as to classify good products and bad products, thereby improving the quality rate of the product.
  • a plurality of carriers 2320 are arranged in sequence in a direction from the upper material piece 2310 to the lower material piece 2330 .
  • the arrangement direction of the plurality of carriers 2320 is shown by reference numeral K in FIG. 7 and FIG. 8 .
  • the loading member 2310 is fixedly disposed on the base 210 to transfer the workpiece 2.
  • the loading member 2310 may also be movably disposed on the base 210 to transfer the workpiece 2 more flexibly.
  • the carrier 2320 includes a bracket 23210 and a body 23220.
  • the bracket 23210 is movably disposed on the base 210, and the body 23220 is rotatably connected to the bracket 23210.
  • the bracket 23210 moves relative to the base 210, it can drive the body 23220 and the workpiece 2 to move together, so that the workpiece 2 is within the detection range of the detection structure 220.
  • the bracket 23210 can also drive the body 23220 is close to the loading piece 2310 or other carrier 2320 to transfer the workpiece 2.
  • the machine body 23220 is used to limit the workpiece 2 at the load-bearing side 2320a of the machine body 23220.
  • the machine body 23220 is rotatably connected to the bracket 23210 to adjust the direction of the load-bearing side 2320a. Therefore, by reasonably adjusting the direction of the load-bearing side 2320a, the carrier 2320 can receive the workpiece 2 and transfer the workpiece 2 to another carrier 2320 or the unloading member 2330.
  • each carrier 2320 when each carrier 2320 is arranged in a direction away from the loading member 2310, by rotating the machine body 23220 within an angle toward or away from the loading member 2310, the load-bearing side 2320a is directed toward the loading member 2310 to receive the transferred workpiece 2, or the load-bearing side 2320a is directed away from the loading member 2310 to transfer the workpiece 2 to the next carrier 2320.
  • the carrier 2320 located at the farthest end from the loading part 2310 turns away from the loading part 2310 , the workpiece 2 can be transferred to the unloading part 2330 to complete unloading.
  • the body 23220 is used to carry the workpiece 2, and the body 23220 can rotate relative to the bracket 23210, when the workpiece 2 is located within the detection range of the detection structure 220, the body 23220 can rotate relative to the bracket 23210 so that the workpiece 2 can face the detection structure 220 at different angles, thereby increasing the detection angle of the detection structure 220 when detecting the workpiece 2, thereby improving the comprehensiveness of the detection of the workpiece 2.
  • bracket 23210 of the carrier 2320 described in this embodiment is that the bracket 23210 is a general term for the first bracket 2351 and the second bracket 2361, that is, when the carrier 2320 is used as the first transmission component 2350, the bracket 23210 is the first bracket 2351; when the carrier 2320 is used as the second transmission component 2360, the bracket 23210 is the second bracket 2361. Therefore, in the absence of contradiction, the bracket 23210 will have all the technical features of the first bracket 2351 and the second bracket 2361 in each embodiment and the technical effects that can be achieved by the technical features.
  • first bracket 2351 and the second bracket 2361 will also have all the technical features of the bracket 23210 described in each embodiment and the technical effects that can be achieved by the technical features.
  • the machine body 23220 includes a carrier 23221 and a pick-up member 23222.
  • the carrier 23221 is a general term for the first carrier 2352 and the second carrier 2362
  • the pick-up member 23222 is a general term for the first pick-up member 2353 and the second pick-up member 2363
  • the carrier side 2320a is a general term for the first carrier side 2352a and the second carrier side 2362a.
  • first carrier 2352 and the second carrier 2362 will have all the technical features of the carrier 23221 and the technical effects that can be achieved by the technical features; vice versa.
  • the first pick-up member 2353 and the second pick-up member 2363 will have all the technical features of the pick-up member 23222 and the technical effects that can be achieved by the technical features; vice versa.
  • the first carrying side 2352a and the second carrying side 2362a will have all the technical features of the carrying side 2320a and the technical effects that can be achieved by the technical features; and vice versa. The same is true for other structures, which will not be described one by one here.
  • the carrying sides 2320 a of adjacent carriers 2320 are used to transfer the workpiece 2 to each other when facing each other.
  • the rotation axis of the body 23220 is parallel to the rotation axis of the loading member 2310, that is, the rotation axes of the loading member 2310, the bodies 23220 of the plurality of carriers 2320, and the unloading member 2330 are parallel to each other.
  • the range of variation of the position of the workpiece 2 transferred between the loading member 2310, the carrier 2320, and the unloading member 2330 can be reduced, which facilitates the transfer of the workpiece 2 and improves the position accuracy of the workpiece 2.
  • the first driving structure 2340 is disposed on the base 210, and the first driving structure 2340 is respectively connected to each carrier 2320 to drive each carrier 2320 to move relative to the base 210, so that the carriers 2320 can transfer the workpiece 2 to each other, and the carriers 2320 can drive the workpiece 2 to move within the detection range of the detection structure 220.
  • the carrier 2320 may include a bracket 23210 connected to a first driving structure 2340, that is, the first driving structure 2340 can drive each carrier 2320 to move on the base 210 by driving each bracket 23210 to move relative to the base 210, so as to transport the workpiece 2 to different positions.
  • the driving mode of the first driving structure 2340 to drive each carrier 2320 to move and the direction of movement of each carrier 2320 driven by the first driving structure 2340 can be set according to actual needs.
  • the first driving structure 2340 can be set to drive each carrier 2320 to slide in the same direction relative to the base 210.
  • the feeder 2310 and the plurality of carriers 2320 are sequentially arranged at intervals along the reference direction, and each carrier 2320 is movable relative to the base 210 along the reference direction.
  • the plurality of carriers 2320 are arranged in a direction away from the feeder 2310 along the reference direction.
  • the first driving structure 2340 drives each carrier 2320 to move along the reference direction to approach or move away from each other.
  • the reference direction is the arrangement direction, that is, the first direction as described above.
  • the reference direction is shown in FIG. 7 and FIG. 8 as marked K.
  • the body 23220 includes a carrier 23221 and a pick-up member 23222 for carrying the workpiece 2.
  • the pick-up member 23222 is located at the carrier side 2320a.
  • the carrier 23221 is rotatably connected to the bracket 23210 around a first axis.
  • 23222 is connected to the support member 23221 for rotation around the second axis.
  • the first axis intersects the second axis, that is, when the support member 23221 rotates around the first axis, and when the pick-up member 23222 rotates around the second axis, the workpiece 2 can be inspected by the inspection structure 220 at different angles. In this way, the angle of the inspection structure 220 for inspecting the workpiece 2 can be further increased, making the inspection more detailed and comprehensive.
  • the detection structure 220 can detect the workpiece 2 from multiple angles, the detection structure 220 can complete the detection operation even for some workpieces 2 with complex shapes. That is, such a configuration can improve the product adaptability of the appearance detection device 20, so that the appearance detection device 20 can cope with the detection of a variety of different products.
  • the first axis refers to the axis C1 in Figures 8 and 9, and the second axis refers to the axis C2 in Figure 9.
  • the pick-up member 23222 is disposed on the carrier 23221.
  • the pick-up member 23222 of at least one of the adjacent carriers 2320 is retractable relative to the carrier 23221, so that when the end of the pick-up member 23222 close to the workpiece 2 is subjected to pressure, it elastically retracts toward the carrier 23221.
  • the retractable property of the pick-up member 23222 can buffer the impact that the workpiece 2 may receive, so as to reduce the probability of damaging the workpiece 2 due to the impact force that may occur between the carriers 2320 when the carriers 2320 transfer the workpiece 2 to each other.
  • the first picking member 2353 can be extended and retracted relative to the first bearing member 2352 to achieve buffering.
  • the second picking member 2363 can be extended and retracted relative to the second bearing member 2362 to achieve buffering.
  • the picking member 23222 includes an elastic member 23222a, a rotating portion 23222b and a bearing portion 23222c which are sleeved with each other.
  • the rotating portion 23222b is rotatably connected to the bearing member 23221 around a second axis, and the bearing portion 23222c is used to carry the workpiece 2.
  • the elastic member 23222a is connected between the rotating portion 23222b and the bearing portion 23222c. When the bearing portion 23222c is compressed, it can slide along the rotating portion 23222b in the direction of compressing the elastic member 23222a.
  • the elastic member 23222a can be a compression spring or other components with elastic properties.
  • the two bearing parts 23222c can be correspondingly retracted and elastically compress the elastic member 23222a to reduce the impact force on the workpiece 2. It can be understood that when the pressure on the picking member 23222 disappears, the bearing part 23222c can be restored to the position before the pressure under the action of the elastic member 23222a, so that the position of each workpiece 2 on the picking member 23222 relative to the bearing member 23221 is highly consistent, which is convenient for improving the detection effect.
  • the rotating part 23222b Since the rotating part 23222b is rotatably connected to the bearing member 23221, the rotating part 23222b and the bearing member 23221 have a stable relative position in directions other than the rotating direction.
  • the rotating part 23222b guides and limits the movement of the bearing member 23222c when it is pressed, so that the bearing member 23222c can move smoothly when it is pressed and when it returns to the position before compression under the elastic push of the elastic member 23222a, thereby improving the position accuracy of the workpiece 2.
  • one of the bearing portion 23222c and the rotating portion 23222b is provided with a limiting cavity 23222d, and the limiting cavity 23222d has an opening 23222e.
  • the other is provided with a slider 23222f, and the slider 23222f extends through the opening 23222e and is disposed in the limiting cavity 23222d.
  • the slider 23222f is slidably matched with the cavity wall of the limiting cavity 23222d to limit the relative movement direction of the bearing portion 23222c and the slider 23222f.
  • the elastic member 23222a is disposed in the limiting cavity 23222d, and the two ends of the elastic member 23222a respectively abut against the slider 23222f and the cavity wall of the limiting cavity 23222d, so that the picking member 23222 has elastic compression capability. At least a part of the inner wall of the opening 23222e extends toward the inside of the opening 23222e to form a limiting body 23222g, and the limiting body 23222g abuts against the side of the slider 23222f away from the elastic member 23222a.
  • the limiting body 23222g limits the slider 23222f so that the slider 23222f has a certain stroke in the limiting cavity 23222d, preventing the bearing portion 23222c from being separated from the rotating portion 23222b under the action of the elastic member 23222a.
  • the picking member 23222 itself has elastic expansion and contraction capability.
  • the picking member 23222 can be movably disposed on the supporting member 23221 as a whole, and the elastic member 23222a is connected between the supporting member 23221 and the picking member 23222, so that the picking member 23222 has the ability to elastically expand and contract relative to the supporting member 23221.
  • the pick-up member 23222 can pick up the workpiece 2 by vacuum adsorption.
  • the vacuum adsorption pick-up method has low requirements on the structure of the carrier 2320, so that the structure of the carrier 2320 can be designed to be simpler, so as to facilitate the transfer of the workpiece 2 between the carrier 2320 and the loading member 2310 or the unloading member 2330, and to facilitate the transfer of the workpiece 2 between the carriers 2320.
  • the carrier 2320 includes a vacuum generator (not shown in the figure, the same below), and a suction channel (not shown in the figure, the same below) is provided in the pick-up member 23222, and the suction channel has a plurality of suction holes 23222h connected to the outside to form a negative pressure in the suction holes 23222h.
  • the negative pressure in the suction channel can suck the workpiece 2 onto the pick-up member 23222.
  • the plurality of adsorption holes 23222h may have different sizes and may be adaptively designed according to the shape of the workpiece 2 to be picked up.
  • At least one of the slider 23222f and the wall of the limiting cavity 23222d may be provided with a sealing member.
  • a sealing ring (not shown in the figure, the same below) may be provided on the slider 23222f to improve the sealing performance between the slider 23222f and the wall of the limiting cavity 23222d.
  • the limiting cavity 23222d can be opened in the bearing part 23222c, and the rotating part 23222b includes the sliding block 23222f, that is, the bearing part 23222c can be sleeved on the rotating part 23222b and slide relative to the rotating part 23222b.
  • the body 23220 can also pick up the workpiece 2 in other ways, such as magnetic attraction and claw clamping.
  • the number of detection modules 2210 may correspond to the number of carriers 2320.
  • the detection module 2210 can specifically detect the workpiece 2 on the corresponding carrier 2320, thereby improving the detection accuracy; on the other hand, such a setting avoids the existence of idle carriers 2320, thereby improving the detection efficiency.
  • the correspondence between the number of detection modules 2210 and the number of carriers 2320 can be flexibly configured according to actual needs.
  • the detection modules 2210 and the carriers 2320 can be set to correspond one to one; or one detection module 2210 can be set to correspond to multiple carriers 2320; or multiple detection modules 2210 can be set to correspond to one carrier 2320.
  • the loading member 2310 includes a frame 23110 and a beam 23120.
  • the frame 23110 is disposed on the base 210.
  • the beam 23120 is used to position the workpiece 2 on the loading side 2310b of the beam 23120.
  • the beam 23120 is rotatably connected to the frame 23110 to adjust the direction of the loading side 2310b. It can be understood that when the loading side 2310b is facing the carrier 2320, the carrier 2320 can take the workpiece 2 from the beam 23120. When the beam 23120 is rotated so that the loading side 2310b is no longer facing the carrier 2320 but facing other positions, the loading side 2310b can be reasonably adjusted to enable the loading device 10 to conveniently load the workpiece 2 on the loading member 2310.
  • the workpiece 2 can be continuously transferred to the carrier 2320 by adjusting the direction of the loading side 2310b accordingly, so that the appearance inspection device 20 can continuously perform appearance inspection on the workpiece 2.
  • the beam 23120 included in the loading part 2310 can rotate relative to the frame 23110 around the first rotation axis, and the first rotation axis is shown in FIG8 as the R1 axis.
  • the loading side 2310 b and the adjacent carrying side 2320 a are arranged facing each other for transferring the workpiece 2 to each other.
  • the loading member 2310 and the carrier 2320 can both be used to carry multiple workpieces 2, and the loading member 2310 can simultaneously transfer multiple workpieces 2 to the carrier 2320. Similarly, the carrier 2320 can simultaneously transfer multiple workpieces 2 to each other.
  • the loading member 2310 further includes a positioning structure 23130, which is movably disposed on the beam 23120 to push the workpiece 2 to be limited at the loading position 2310a between the positioning structure 23130 and the beam 23120.
  • the beam body 23120 includes a matching piece 23121, and the positioning structure 23130 is respectively arranged with the multiple matching pieces 23121 to form multiple loading positions 2310a.
  • the positioning structure 23130 is movably arranged on the beam body 23120 to cooperate with the multiple matching pieces 23121 to position the multiple workpieces 2 at the multiple loading positions 2310a.
  • the positioning structure 23130 can push the workpiece 2 to the expected position when it moves relative to the matching piece 23121 with the matching piece 23121 as a reference, and cooperate with the matching piece 23121 to position the workpiece 2 at the loading position 2310a, thereby improving the position accuracy of the workpiece 2, so that each picking piece 23222 of the carrier 2320 can accurately pick up the workpiece 2.
  • the positioning structure 23130 is respectively arranged with the plurality of matching pieces 23121 to form a plurality of loading positions 2310a, that is, the positioning structure 23130 only needs to be driven to push against the plurality of workpieces 2 at the same time, so as to respectively cooperate with the plurality of matching pieces 23121 to simultaneously position the plurality of workpieces 2.
  • This arrangement makes the structure of the loading piece 2310 simpler, and the positioning process is more convenient, faster, and more efficient.
  • the loading position 2310a is located on the loading side 2310b.
  • the matching member 23121 includes a first baffle 23121b and a second baffle 23121c arranged at an angle.
  • the positioning structure 23130 includes a driver 23131, a first push portion 23132 and a second push portion 23133. At least a portion of the first push portion 23132 is arranged opposite to the first baffle 23121b, and at least a portion of the second push portion 23133 is arranged opposite to the second baffle 23121c. That is, at least a portion of the first push portion 23132, at least a portion of the second push portion 23133, the first baffle 23121b and the second baffle 23121c together define the loading position 2310a.
  • the driver 23131 is connected to the first push part 23132 to drive the first push part 23132 to move, and the first push part 23132 is connected to the second push part 23133 to move the first push part 23132 to the When the first baffle plate 23121b moves, the second pushing portion 23133 is driven to move toward the second baffle plate 23121c.
  • the first pushing portion 23132 when the driver 23131 drives the first pushing portion 23132 to move toward the first baffle 23121b, the first pushing portion 23132 can drive the second pushing portion 23133 to move toward the second baffle 23121c synchronously, so as to push the workpiece 2 from two directions to achieve positioning of the workpiece 2.
  • first baffle 23121b and the second baffle 23121c are arranged at an angle, and at least a part of the structure of the first pushing portion 23132 is arranged opposite to the first baffle 23121b, and at least a part of the structure of the second pushing portion 23133 is arranged opposite to the second baffle 23121c, the movement direction of the first pushing portion 23132 when moving toward the first baffle 23121b is different from the movement direction of the second pushing portion 23133 when moving toward the second baffle 23121c.
  • first baffle 23121b and the second baffle 23121c are arranged perpendicular to each other, the first pusher 23132 can move in the direction close to or away from the first baffle 23121b along the first positioning direction, and the second pusher 23133 can move in the direction close to or away from the second baffle 23121c along the second positioning direction.
  • the first positioning direction is perpendicular to the second positioning direction.
  • the first positioning direction is referred to as T1 in FIG. 12, and the second positioning direction mentioned below is referred to as T2 in FIG. 12.
  • first baffle 23121b and the second baffle 23121c are not limited to being vertically arranged, and correspondingly, the first positioning direction and the second positioning direction are not limited to being vertically arranged.
  • the beam body 23120 limits the second pushing portion 23133 to move along the second positioning direction.
  • One of the first pushing portion 23132 and the second pushing portion 23133 is provided with a linkage hole 23135, and the other is provided with a boss 23134.
  • the boss 23134 penetrates the linkage hole 23135 and slides with the hole walls on both sides facing the linkage hole 23135.
  • the first pushing portion 23132 approaches or moves away from the first baffle 23121b along the first positioning direction, and the extending direction of the hole walls on both sides facing each other intersects with the first positioning direction, that is, the extending direction of the linkage hole 23135 intersects with the first positioning direction. Therefore, the first pushing portion 23132 can push against the hole walls on different sides to make the second pushing portion 23133 approach the second baffle 23121c along the second positioning direction, or move away from the second baffle 23121c along the second positioning direction.
  • the included angle between the linkage hole 23135 and the first positioning direction may be 45°.
  • the beam body 23120 is provided with a first limiting rail 23125.
  • the second pushing portion 23133 is slidably matched with the first limiting rail 23125.
  • the first limiting rail 23125 extends along the second positioning direction.
  • the first limiting rail 23125 can limit the movement direction of the second pushing portion 23133, so that the second pushing portion 23133 can accurately approach or move away from the second baffle 23121c along the second positioning direction under the drive of the first pushing portion 23132.
  • the positioning of the workpiece 2 is achieved.
  • the beam body 23120 includes a base plate 23122 and a bottom shell 23123 , and the base plate 23122 can limit the second pusher 23133 to move along the second positioning direction. That is, the first limiting rail 23125 is disposed on the base plate 23122 .
  • the base plate 23122 is provided with a plurality of through holes 23122a, and the plurality of through holes 23122a and the plurality of matching pieces 23121 are alternately arranged on the base plate 23122 along the first positioning direction.
  • the first pushing portion 23132 includes a first connecting plate 23132a and a vertical plate 23132b disposed opposite to the first baffle plate 23121b, the first connecting plate 23132a is connected to the driver 23131, and the first connecting plate 23132a and the matching piece 23121 are respectively located on opposite sides of the base plate 23122.
  • the plurality of vertical plates 23132b are arranged at intervals on the first connecting plate 23132a along the first positioning direction and are correspondingly provided with a plurality of through holes 23122a.
  • the plurality of vertical plates 23132b can pass through the through holes 23122a and respectively correspond to the plurality of first baffles 23121b and are arranged opposite to each other, so as to cooperate with the second pushing portion 23133, the first baffle 23121b and the second baffle 23121c to enclose and form a plurality of loading positions 2310a for positioning the plurality of workpieces 2.
  • the plurality of vertical plates 23132b are arranged on the first connecting plate 23132a, and the first connecting plate 23132a is connected to the driver 23131, so that the driver 23131 can simultaneously drive the plurality of vertical plates 23132b to move through the first connecting plate 23132a, so that the plurality of vertical plates 23132b can move in the direction close to or away from the first baffle 23121b along the first positioning direction.
  • the first connecting plate 23132a and the matching piece 23121 are respectively located on opposite sides of the base plate 23122, and the vertical plate 23132b passes through the through hole 23122a to the other side of the base plate 23122, so that the loading position 2310a is formed on the side of the base plate 23122 away from the first connecting plate 23132a.
  • the first connecting plate 23132a connected between the plurality of vertical plates 23132b can be prevented from obstructing or interfering with the distribution of the loading positions 2310a.
  • the vertical plate 23132 b is spaced apart from the hole wall of the through hole 23122 a so that the vertical plate 23132 b can move in the through hole 23122 a to position the workpiece 2 or release the workpiece 2 .
  • the driver 23131 and the first connecting plate 23132a are located on the same side of the base plate 23122. It is understood that the base plate 23122 is connected to the bottom shell 23123 and is surrounded to form a receiving cavity (not shown in the figure, the same below), and the driver 23131 and the first connecting plate 23132a are both located in the receiving cavity. In this way, the bearing side 2320a of the base plate 23122 is neater, and the possibility of structural interference during the transfer of the workpiece 2 is reduced.
  • the beam body 23120 is further provided with a second limit rail 23126.
  • the second limit rail 23126 is arranged along the first limit rail 23126.
  • the first connecting plate 23132a extends in a first positioning direction, and the first connecting plate 23132a is slidably matched with the second limiting rail 23126. Through the limiting and guiding effect of the second limiting rail 23126 on the first connecting plate 23132a, the first connecting plate 23132a can accurately reciprocate along the first positioning direction.
  • the second limiting rail 23126 may be disposed on the inner wall of the bottom shell 23123 .
  • the beam body 23120 is further provided with a supporting member 23124 .
  • the first connecting plate 23132 a is slidably matched with the supporting member 23124 .
  • the supporting member 23124 can support the reciprocating movement of the first connecting plate 23132 a .
  • the driver 23131 can be a linear driver such as a pneumatic cylinder, a hydraulic cylinder, or an electric push rod.
  • the first pusher 23132 further includes a first contact body 23132c, which is disposed on the side of the vertical plate 23132b facing the first baffle 23121b.
  • the shape and size of the first contact body 23132c can be adaptively designed or selected according to the size and shape of the workpiece 2, so that the loading member 2310 can be used for various workpieces 2 with different shapes and sizes, thereby improving the product adaptability of the appearance inspection device 20.
  • the second pushing portion 23133 includes a second connecting plate 23133a and a plurality of second contact bodies 23133b spaced apart on the second connecting plate 23133a.
  • the plurality of second contact bodies 23133b are used to be arranged opposite to the plurality of second baffles 23121c.
  • the second connecting plate 23133a is slidably matched with the first limiting rail 23125, and the second connecting plate 23133a is also connected to the first connecting plate 23132a. In this way, the second connecting plate 23133a can move along the second positioning direction under the drive of the first connecting plate 23132a, so as to drive each second contact body 23133b to move in a direction close to or away from the second baffle 23121c. In this way, the first contact body 23132c and the second contact body 23133b can work together to position the workpiece 2.
  • the shape and size of the second contact body 23133b can be designed or selected according to the size and shape of the workpiece 2, so that the loading piece 2310 can be used for various workpieces 2 with different shapes and sizes, thereby improving the product adaptability of the appearance inspection device 20.
  • the boss 23134 is disposed on the vertical plate 23132b, and the linkage hole 23135 is provided on the second connecting plate 23133a.
  • the first pusher 23132 moves along the first positioning direction, it can push against the corresponding side wall of the linkage hole 23135 to drive the second pusher 23133 to move along the second positioning direction.
  • the matching member 23121 further includes a base 23121a, and the base 23121a is disposed on the base 23122.
  • the first baffle 23121b and the second baffle 23121c are both disposed at one end of the base 23121a away from the base 23122.
  • the first pushing portion 23132, the second pushing portion 23133, the first baffle 23121b and the second baffle 23121c are used to enclose the loading position 2310a on the base 23121a, that is, the base 23121a is used to carry the workpiece 2.
  • a vacuum generator is provided in the bottom shell 23123, and the substrate 23122 and the base 23121a are provided with an adsorption channel connected to the loading position 2310a, and the vacuum generator is connected to the adsorption channel to form a negative pressure at the loading position 2310a. Therefore, after the workpiece 2 is positioned, the workpiece 2 can be stably adsorbed at the loading position 2310a by the vacuum generator. Compared with other picking methods, when picking up the workpiece 2 by vacuum adsorption, there are fewer parts in contact with the workpiece 2, and the structure is simpler, so it is easier to achieve high-precision transfer of the workpiece 2 between the loading piece 2310 and the carrier 2320.
  • the workpiece 2 may include a first surface 2a to be inspected, a second surface 2b to be inspected, a third surface 2c to be inspected, and a fourth surface 2d to be inspected, wherein the first surface 2a to be inspected and the second surface 2b to be inspected are arranged opposite to each other, and the third surface 2c to be inspected and the fourth surface 2d to be inspected are arranged opposite to each other.
  • the carrier 2320 close to the loading member 2310 is the first transfer component 2350, and the detection module 2210 corresponding to the first transfer component 2350 is the first detection module 2230; the carrier 2320 far from the loading member 2310 is the second transfer component 2360, and the detection module 2210 corresponding to the second transfer component 2360 is the second detection module 2240.
  • the loading device 10 loads the workpiece 2 on the loading side 2310b of the loading member 2310
  • the loading member 2310 acts on the first surface to be inspected 2a.
  • the loading member 2310 and the first transfer member 2350 are rotated relative to the base 210 so that the loading side 2310b and the bearing side 2320a of the first transfer member 2350 are arranged opposite to each other.
  • the first transfer member 2350 can act on the second surface to be inspected 2b to remove the workpiece 2 from the loading side 2310b. Subsequently, the first transfer member 2350 moves along the reference direction K to the detection range of the first detection module 2230, so that the first detection module 2230 detects the first surface to be inspected 2a, the third surface to be inspected 2c, the fourth surface to be inspected 2d, the connection between the first surface to be inspected 2a and the third surface to be inspected 2c, and the connection between the first surface to be inspected 2a and the fourth surface to be inspected 2d of the workpiece 2.
  • the orientation of the first carrying side 2352a of the first transfer component 2350 can be adjusted so that the workpiece 2 located on the first carrying side 2352a can be detected at the expected angle.
  • the body 23220 rotates around the first axis, and drives the first picking member 2353 of the first transfer member 2350 to rotate around the second axis, so as to adjust different surfaces to be inspected on the workpiece 2 to be inspected at different angles.
  • the first detection module 2230 completes the detection, at least one of the first transfer component 2350 and the second transfer component 2360 moves to approach each other. Subsequently, the first transfer component 2350 and the second transfer component 2360 are both rotated relative to the base 210 so that the bearing sides 2320a of the two are arranged facing each other, so that the second transfer component 2360 can act on the first surface 2a to be inspected of the workpiece 2 to pick up the workpiece 2.
  • the second transfer component 2360 moves along the reference direction K to the detection range of the second detection module 2240, so that the second detection module 2240 detects the second surface 2b to be inspected, the third surface 2c to be inspected, the fourth surface 2d to be inspected, the connection between the second surface 2b to be inspected and the third surface 2c to be inspected, and the second surface 2b to be inspected and the fourth surface 2d to be inspected.
  • the orientation of the second carrying side 2362a of the second transfer component 2360 can be adjusted so that the workpiece 2 located on the second carrying side 2362a can be detected at a desired angle.
  • the body 23220 of the second transfer component 2360 can be driven to rotate around the first axis, and the second picking member 2363 of the second transfer component 2360 can be driven to rotate around the second axis, so that different surfaces to be detected on the workpiece 2 can be adjusted to be detected at different angles.
  • the second carrying side 2362 a of the second transfer component 2360 can be adjusted to face the blanking component 2330 , so that the blanking component 2330 can remove the workpiece 2 from the second transfer component 2360 .
  • the matching piece 23121 is used to carry the workpiece 2, and the matching piece 23121 is retractably disposed on the base plate 23122, so that when one end of the matching piece 23121 close to the workpiece 2 is subjected to pressure, it elastically retracts toward the base plate 23122. Since the matching piece 23121 is used to carry the workpiece 2, and the matching piece 23121 can elastically retract toward the base plate 23122 when subjected to pressure, the elastic retractability of the matching piece 23121 can buffer the impact that the workpiece 2 may be subjected to, so as to reduce the probability of damaging the workpiece 2 by the impact force that may be exerted between the loading piece 2310 and the carrier 2320 when the workpiece 2 is transferred to each other.
  • the matching member 23121 may include a base 23121a which elastically retracts toward the base plate 23122 when one end of the base 23121a close to the workpiece 2 is subjected to pressure.
  • the retractable structure of the base 23121a may refer to the structure of the picking member 23222.
  • the positioning structure 23130 can be synchronously extended and retracted in the extension and retraction direction of the mating piece 23121; or, the first contact body 23132c and the second contact body 23133b have a larger extension dimension in the extension and retraction direction of the mating piece 23121, so that during the extension and retraction movement of the workpiece 2 with the mating piece 23121, the first pushing portion 23132 and the second pushing portion 23133 can continuously provide positioning to the workpiece 2 to improve the positioning accuracy of the workpiece 2.
  • the appearance inspection device 20 further includes a frame 2220 .
  • the frame 2220 is disposed on the base 210 .
  • Each inspection module 2210 is movably disposed on the base to adjust a shooting angle.
  • the two detection modules 2210 can be respectively arranged on the opposite sides of the frame 2220 to detect the workpieces 2 on different carriers 2320.
  • the first detection module 2230 and the second detection module 2240 are respectively arranged on the opposite sides of the frame 2220. In this way, the overall structure of the appearance inspection device 20 can be made more compact by carrying the first detection module 2230 and the second detection module 2240 on the opposite sides of the frame 2220.
  • the number of the detection modules 2210 is greater than two, the structure of the frame 2220 or the number of the frame 2220 can be adjusted accordingly to support each detection module 2210.
  • the first detection module 2230 includes a first detection module 2231 and a second driving structure 2232.
  • the second driving structure 2232 is connected to the first detection module 2231 to drive the first detection module 2231 to approach or move away from the workpiece 2 along the second direction, so that the relative position of the first detection module 2231 and the workpiece 2 can be adjusted, so that the first detection module 2230 can fully detect the shape of the workpiece 2.
  • the first direction intersects with the second direction, and the first driving structure 2340 and the second driving structure 2232 adjust the relative position between the workpiece 2 and the first detection module 2231 along two non-parallel directions respectively, so that the workpiece 2 can be in the expected position to be detected by the first detection module 2231.
  • the second direction is shown in the number M1 in FIG. 17 .
  • the second driving structure 2232 includes a second driving member (not shown in the figure, the same below), a second slide 2232a and a second slide rail 2232b.
  • the second driving member is connected to the second slide 2232a to drive the second slide 2232a to move along the second slide rail 2232b.
  • the first detection module 2231 is arranged on the second slide 2232a and can move along the second slide rail 2232b with the second slide 2232a.
  • the second slide rail 2232b can be extended along the second direction.
  • the first detection module 2230 further includes a third driving structure 2233.
  • the third driving structure 2233 is connected to the second driving structure 2232 to drive the second driving structure 2232 to approach or move away from the workpiece 2 along the third direction.
  • the second direction and the third direction intersect each other.
  • the relative position between the first detection module 2231 and the workpiece 2 can be adjusted in three directions in space through the first drive structure 2340, the second drive structure 2232 and the third drive structure 2233.
  • the relative position between the workpiece 2 and the first detection module 2231 can be made more accurate.
  • the first detection module 2230 cooperates with the rotational movement of the first carrier 2352 and the first pickup member 2353 to achieve multi-angle and multi-faceted detection.
  • the above-mentioned third direction is shown in the number N1 in Figure 17.
  • first direction, the second direction and the third direction may be perpendicular to each other.
  • the third driving structure 2233 includes a third driving member (not shown in the figure, the same below), a third slide 2233a and a third slide rail 2233b.
  • the third slide rail 2233b is arranged on the frame 2220, and the third slide rail 2233b extends along the third direction.
  • the third driving member is connected to the third slide 2233a to drive the third slide 2233a to move along the third slide rail 2233b.
  • the second driving structure 2232 is arranged on the third slide 2233a to move along the third slide rail 2233b with the third slide 2233a.
  • the second detection module 2240 includes a second detection module 2241, a fourth driving structure 2242, and a fifth driving structure 2243.
  • the fourth driving structure 2242 is connected to the second detection module 2241 to drive the second detection module 2241 to approach or move away from the workpiece 2 along a fourth direction.
  • the fifth driving structure 2243 is connected to the fourth driving structure 2242 to drive the fourth driving structure 2242 to approach or move away from each other along a fifth direction.
  • the first direction, the fourth direction, and the fifth direction intersect each other.
  • the fourth direction is shown in FIG. 18 with reference number M2
  • the fifth direction is shown in FIG. 18 with reference number N2.
  • the first driving structure 2340, the fourth driving structure 2242 and the fifth driving structure 2243 cooperate to adjust the position of the second detection module 2241 relative to the workpiece 2 in three directions in space, so that the second detection module 2241 can detect the shape of the workpiece 2 at the expected position.
  • the second detection module 2240 cooperates with the rotation of the second carrier 2362 and the second pick-up member 2363 to achieve multi-angle and multi-faceted detection.
  • the first direction, the fourth direction and the fifth direction may be perpendicular to each other.
  • the second direction is parallel to the fourth direction, that is, M1 and M2 are arranged in parallel;
  • the third direction is parallel to the fifth direction, that is, N1 and N2 are arranged in parallel.
  • the fourth driving structure 2242 may include a fourth driving member (not shown in the figure, the same below), a fourth slide 2242a and a fourth slide rail 2242b.
  • the fourth driving member is connected to the fourth slide 2242a to drive the fourth slide 2242a to move along the fourth slide rail 2242b.
  • the second detection module 2241 is arranged on the fourth slide 2242a to move along the fourth slide rail 2242b with the fourth slide 2242a.
  • the fifth driving structure 2243 may include a fifth driving member (not shown in the figure, the same below), a fifth slide 2243a and a fifth slide rail 2243b.
  • the fifth slide rail 2243b is arranged on the frame 2220, and the fifth slide rail 2243b extends along the fifth direction.
  • the fifth driving member is connected to the fifth slide 2243a to drive the fifth slide 2243a to slide along the fifth slide rail 2243b.
  • the fourth driving structure 2242 is arranged on the fifth slide 2243a to move along the fifth slide rail 2243b with the fifth slide 2243a.
  • the first detection module 2231 includes a first light source 2231a and a first camera 2231b.
  • the second detection module 2241 includes a second light source 2241a and a second camera 2241b.
  • the first light source 2231a and the second light source 2241a have different lighting modes. In this way, the detection results obtained by the first camera 2231b and the second camera 2241b have different focuses.
  • the detection structure 220 has more means for detecting the shape of the workpiece 2, and can detect different types of defects on the workpiece 2 in a targeted manner.
  • the first light source 2231a and the second light source 2241a can be an annular light source, a dome light source, a coaxial light source, etc.
  • the lighting mode of the first light source 2231a and the second light source 2241a can be set according to different requirements when detecting the workpiece 2.
  • the first camera 2231b and the second camera 2241b have different shooting modes.
  • the results obtained by the first camera 2231b and the second camera 2241b when shooting the workpiece 2 are also different.
  • the detection structure 220 can also have more diverse means for detecting the shape of the workpiece 2, and can specifically detect different types of defects on the workpiece 2.
  • the first camera 2231b and the second camera 2241b can be line scan cameras, surface detection cameras, 3D cameras, etc.
  • first light source 2231a and the first camera 2231b should be reasonably adjusted so that they can be adapted to each other for photographing the workpiece 2.
  • the second light source 2241a and the second camera 2241b are similar and will not be described in detail.
  • the number of the first inspection modules 2231 and the number of the second inspection modules 2241 are both plural, so as to detect the multiple workpieces 2 on the first carrier 2352 and the second carrier 2362 , thereby improving the inspection efficiency of the appearance inspection device 20 .
  • the frame 2220 may be a component of the detection structure 220.
  • the frame 2220 is provided with a first guide rail 2221 and a first motor 2222 extending along a third direction, and the detection module 2210 and the detection module 2210 are connected to each other.
  • the first guide rail 2221 is slidably matched, and the first motor 2222 is used to drive the detection module 2210 to move relative to the base 210 in the third direction, so that the detection module 2210 can adjust its position relative to the workpiece 2 in the third direction.
  • the third direction is shown in FIG. 19 and the reference number N1 in FIG.
  • the detection module 2210 includes a first support plate 2211, a second support plate 2212, and a plurality of detectors 2213 disposed on the second support plate 2212.
  • the first support plate 2211 is slidably matched with the first guide rail 2221
  • the second support plate 2212 is slidably matched with the first support plate 2211 along the second direction to drive the plurality of detectors 2213 to move in the second direction relative to the first support plate 2211.
  • the detector 2213 moves in the second direction, it can approach or move away from the workpiece 2 to adjust the shooting effect when detecting the workpiece 2.
  • the second direction is shown in FIG. 19 and the number M1 in FIG. 20.
  • the first support plate 2211 is provided with a second guide rail 2211a and a second motor 2211b extending along the second direction
  • the second support plate 2212 is slidably matched with the second guide rail 2211a
  • the second motor 2211b is used to drive the second support plate 2212 to move relative to the first support plate 2211 in the second direction, so as to drive each detector 2213 to move relative to the workpiece 2.
  • the detector 2213 matches the number of workpieces 2 that can be carried by the carrier 2320 , so as to detect each workpiece 2 accordingly.
  • the detector 2213 includes a camera 2213 a , a lens 2213 b , and a light source 2213 c , which cooperate with each other to perform visual inspection on the workpiece 2 .
  • the feeding structure 230 further includes a material discharging member 2330 .
  • Each carrier 2320 is located between the material discharging member 2310 and the material discharging member 2330 . That is, after the material discharging member 2310 transfers the workpiece 2 to the carrier 2320 , the carrier 2320 drives the workpiece 2 to complete the inspection, and then transfers the workpiece 2 to the material discharging member 2330 to complete the inspection.
  • the bearing side 2320a of the body 23220 can be directed toward the material discharging member 2330 , so as to transfer the workpiece 2 to the material discharging member 2330 .
  • the material discharging member 2330 can transfer the workpiece 2 to the next station to further process the inspected workpiece 2 .
  • the blanking piece 2330 includes the frame 23110, the beam 23120 and the positioning structure 23130 as described in the above embodiments. In this way, when the blanking piece 2330 receives the workpiece 2 transferred by the carrier 2320, the positioning structure 23130 can position the workpiece 2 for subsequent processing.
  • the beam 23120 included in the blanking piece 2330 can rotate relative to the frame 23110 around the second rotation axis, and the second rotation axis is referred to as the R2 axis shown in Figure 8.
  • the picking member 23222 in the beam body 23120 included in the blanking member 2330 can also elastically expand and contract relative to the base plate 23122 when subjected to pressure, so as to buffer the pressure and impact force exerted on the workpiece 2.
  • the loading piece 2310 can carry 10 workpieces 2 in the same batch, and correspondingly, each carrier 2320 can also carry 10 workpieces 2 at the same time.
  • the detection module 2210 may include 10 detectors 2213 to perform targeted appearance inspection on each workpiece 2 on the carrier 2320.
  • the unloading piece 2330 can carry 10 workpieces 2 in the same batch. Such a setting can improve the efficiency of the detection process.
  • the loading piece 2310 can also be set to carry other numbers of workpieces 2 in the same batch, such as 4, 5, 6, 7, 8, 9, 13 and 15, etc., which can be set according to actual needs and will not be repeated here.
  • the loading device 10 includes a loading platform 11 , a material bin 12 , a turnover assembly 13 , and a loading robot 14 .
  • the material bin 12 is disposed on the loading platform 11 and is used to store the workpieces 2 to be inspected.
  • loading manipulators 14 There are two sets of loading manipulators 14, one set is used to transfer the workpiece 2 in the silo 12 to the turnover assembly 13, and the other set of loading manipulators 14 is used to transfer the workpiece 2 from the turnover assembly 13 to the loading part 2310.
  • the number of loading manipulators 14 is not limited to two sets and can be set according to actual needs.
  • the turnover assembly 13 is movably arranged on the loading platform 11 to transport the workpiece 2 from the material bin 12 to the appearance inspection device 20.
  • Multiple sets of turnover assemblies 13 can be designed, and multiple sets of turnover assemblies 13 alternately transport the workpiece 2. For example, when one set of turnover assemblies 13 is at the material bin 12 and the corresponding loading robot 14 fills the workpiece 2 from the material bin 12, another set of turnover assemblies 13 can be at the loading part 2310 and the corresponding loading robot 14 loads the workpiece 2 on the loading part 2310, thereby improving efficiency.
  • the loading robot 14 can be set to load the workpieces 2 on the loading part 2310 in multiple times. This also requires that the loading robot 14 can also move relative to the loading part 2310 and correspond to different workstations. During the movement of the loading robot 14, positioning errors may occur. Based on this, the positioning function of the positioning structure 23130 described in the aforementioned embodiment can compensate for the above errors and improve the transfer of the workpiece 2. Accuracy.
  • the unloading device 30 includes an unloading platform 31, an unloading robot 32, a conveying assembly 33, a buffer assembly 34, a good product bin 35, and a bad product bin 36.
  • the buffer assembly 34 is disposed on the unloading platform 31 and is used to temporarily store the workpiece 2.
  • the good product bin 35 and the bad product bin 36 are both disposed on the unloading platform 31.
  • the unloading robot 32 and the conveying assembly 33 are both movably disposed on the unloading platform 31.
  • unloading manipulators 32 There can be two sets of unloading manipulators 32, one set is used to transfer the workpiece 2 from the unloading part 2330 to the buffer assembly 34, and the other set is used to transfer the workpiece 2 with a good inspection result to the good product bin 35.
  • the number of unloading manipulators 32 is not limited to two sets and can be set according to actual needs.
  • the transport component 33 is used to transfer the workpiece 2 that is detected as a defective product to the defective product warehouse 36 .
  • the product inspection equipment 1 may include a controller (not shown in the figure, the same below), which is electrically connected to the inspection structure 220 and the unloading device 30.
  • the controller can issue instructions to the unloading device 30 according to the inspection results of the inspection structure 220, so that the unloading device 30 can sort the workpiece 2 when unloading, so as to classify good products and inferior products.

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Abstract

一种外观检测装置（20）及产品检测设备（1），外观检测装置（20）包括检测结构（220）及输料结构（230），检测结构（220）包括多个检测模组（2210），将其中两检测模组（2210）分别记为第一检测模组（2230）及第二检测模组（2240），第一检测模组（2230）用于对应检测位于第一工位的工件（2），第二检测模组（2240）用于对应检测位于第二工位的工件（2）；输料结构（230）包括多个载具（2320），将其中两载具（2320）中分别记为第一传递部件（2350）及第二传递部件（2360），第一传递部件（2350）与第二传递部件（2360）分别作用于工件（2）上的不同区域以承载工件（2），第一传递部件（2350）能够带动工件（2）在第一传递工位与第一工位之间运动，第二传递部件（2360）能够带动工件（2）在第二传递工位与第二工位之间运动，处于第一传递工位的第一传递部件（2350）与处于第二传递工位的第二传递部件（2360）能够彼此传递工件（2）。产品检测设备（1）包括外观检测装置（20）。

Description

外观检测装置及产品检测设备
相关申请
本申请要求2023年02月10日申请的，申请号为2023202891289，名称为“一种产品外观检测设备”的中国专利申请的优先权。本申请同时还要求2023年05月31日申请的，申请号为2023213768108，名称为“产品检测设备”的中国专利申请的优先权。在此将所述两者全文引入作为参考。
技术领域
本申请涉及外形检测技术领域，特别是涉及一种外观检测装置及产品检测设备。
背景技术
随着科技以及信息网络的发展，图像、视频记录能够带来很大的便利性，故各种智能电子设备均搭载了拍摄功能。摄像头模组作为实现拍摄功能的关键零部件之一，其优良率是影响智能电子设备拍摄效果的重要因素。目前，对摄像头模组的外观检测主要通过人工肉眼检测。
然而，对于摄像头模组这种相对精密的结构，采用人工检测的方式将会使检测过程效率低，且准确率较低。
发明内容
根据本申请的各种实施例，提供一种外观检测装置，所述外观检测装置包括检测结构及输料结构，所述检测结构包括多个检测模组，将其中两所述检测模组分别记为第一检测模组及第二检测模组，所述第一检测模组用于对应检测位于第一工位的工件，所述第二检测模组用于对应检测位于第二工位的所述工件；所述输料结构包括多个载具，将其中两所述载具中分别记为第一传递部件及第二传递部件，所述第一传递部件与所述第二传递部件分别作用于所述工件上的不同区域以承载所述工件，所述第一传递部件能够带动工件在第一传递工位与所述第一工位之间运动，所述第二传递部件能够带动工件在第二传递工位与所述第二工位之间运动，处于所述第一传递工位的所述第一传递部件与处于所述第二传递工位的所述第二传递部件能够彼此传递工件。
在其中一个实施例中，所述第一传递部件包括第一支架及第一承载件，所述第一承载件包括用于承载所述工件的第一承载侧，所述第一承载件与所述第一支架转动连接，而使所述第一承载侧朝向所述第二传递部件或朝向所述第一检测模组。
在其中一个实施例中，所述第一传递部件还包括第一拾取件，所述第一拾取件用于拾取所述工件，所述第一拾取件与所述第一承载件转动连接。
在其中一个实施例中，多个所述第一拾取件间隔均匀地设于所述第一承载件上，多个所述第一拾取件用于对应驱动多个所述工件转动。
在其中一个实施例中，所述第二传递部件的结构及尺寸与所述第一传递部件相同。
在其中一个实施例中，所述输料结构还包括第一驱动结构，所述第一驱动结构与所述第一传递部件及所述第二传递部件均连接，以驱动所述第一传递部件与所述第二传递部件沿第一方向靠近或远离彼此。
在其中一个实施例中，所述第一检测模组包括第一检测模块、第二驱动结构，所述第二驱动结构与所述第一检测模块连接以驱动所述第一检测模块沿第二方向靠近或远离所述工件，所述第一方向与所述第二方向相交。
在其中一个实施例中，所述第一检测模组还包括第三驱动结构，所述第三驱动结构与所述第二驱动结构连接以驱动所述第二驱动结构沿第三方向靠近或远离所述工件，所述第一方向、所述第二方向及所述第三方向三者两两相交。
在其中一个实施例中，所述第二检测模组包括第二检测模块、第四驱动结构以及第五驱动结构，所述第四驱动结构与所述第二检测模块连接以驱动所述第二检测模块沿第四方向与靠近或远离所述工件， 所述第五驱动结构与所述第四驱动结构连接以驱动所述第四驱动结构沿第五方向靠近或远离彼此，所述第一方向、所述第四方向以及所述第五方向三者两两相交。
在其中一个实施例中，所述第一检测模块包括第一光源与第一相机，所述第二检测模块包括第二光源与第二相机，所述第一光源与所述第二光源的照明方式不同。
在其中一个实施例中，所述第一相机与所述第二相机的拍摄方式不同。
在其中一个实施例中，所述载具包括支架及机体，所述支架用于可动地设于基座，所述机体用于将所述工件限位在所述机体的承载侧，所述机体与所述支架转动连接，以调整所述承载侧的朝向，相邻所述载具的所述承载侧彼此相向时用于向彼此传递所述工件；所述机体包括承载件及拾取件，所述拾取件设于所述承载件，所述承载件绕第一轴与所述支架转动连接，所述拾取件绕第二轴与所述承载件转动连接，所述第一轴与所述第二轴相交。
在其中一个实施例中，相邻设置的所述载具中至少一所述载具的所述拾取件相对所述承载件可伸缩，以使所述拾取件靠近所述工件的一端受压力时向所述承载件弹性回缩。
在其中一个实施例中，所述拾取件包括弹性件、彼此套接的转动部及承载部，所述转动部绕所述第二轴与所述承载件转动连接，所述承载部用于承载所述工件，所述弹性件连接在所述转动部与所述承载部之间，所述承载部受压时能够沿所述转动部向压缩所述弹性件的方向滑动。
在其中一个实施例中，所述载具包括真空发生器，所述拾取件内开设有吸附通道，所述吸附通道具有与外部连通的多个吸附孔，以在所述吸附孔内形成负压。
本申请第二方面还提供一种产品检测设备，所述产品检测设备包括上料装置、下料装置以及如上所述的外观检测装置，所述外观检测装置包括基座，所述检测结构及所述输料结构均设于所述基座，所述输料结构还包括均可转动地设于所述基座的上料件及下料件，所述上料件及所述下料件的转动轴线相互平行；所述上料件用于将工件定位在所述上料件的上料侧，所述上料件可转动地设于所述基座，所述上料件转动时能够调整所述上料侧的朝向，以用于接收所述上料装置所传递的所述工件，以及将所述工件传递给所述载具；多个所述载具位于所述上料件与所述下料件之间，多个所述载具均可动地设于所述基座，以带动所述工件靠近或远离相邻所述载具，以及带动所述工件运动至所述检测结构的检测范围内，相邻所述载具分别作用在所述工件的不同部位，相邻所述载具用于向彼此传递所述工件；所述下料件可转动地设于所述基座以朝向所述下料装置及朝向所述载具，所述下料件用于接收所述载具所传递的所述工件；所述下料装置用于接收所述下料件传递的所述工件。
在其中一个实施例中，所述载具包括支架及机体，所述机体用于将所述工件限位在所述机体的承载侧，所述机体与所述支架转动连接；所述上料件包括架体及梁体，所述架体设于所述基座，所述梁体用于将所述工件定位在所述梁体的所述上料侧，所述梁体与所述架体转动连接以调整所述上料侧的朝向，所述上料侧和与之相邻的所述承载侧相向设置时用于向彼此传递所述工件。
在其中一个实施例中，所述上料件包括定位结构，所述梁体设有配合件，所述定位结构分别与多个所述配合件围设形成多个装载位，所述定位结构可动地设于所述梁体以配合多个所述配合件将多个所述工件分别对应定位在多个所述装载位。
在其中一个实施例中，所述梁体包括基板，所述配合件用于承载所述工件，所述配合件可伸缩地设于所述基板，以使所述配合件靠近所述工件的一端受压力时向所述基板弹性回缩。
在其中一个实施例中，所述下料件包括所述架体、所述梁体及所述定位结构。
在其中一个实施例中，多个所述载具分别运动至与多个所述检测模组对应的位置，所述检测模组的数量与所述载具数量相对应。
附图说明
为了更清楚地说明本申请实施例或传统技术中的技术方案，下面将对实施例或传统技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据公开的附图获得其他的附图。并且，附图仅用于帮助理解本申请，而非构成对本申请披露范围和保护范围的限制。
图1为本申请一些实施例提供的产品检测设备的轴侧示意图。
图2为图1所示产品检测设备中外观检测装置在一些实施例中的轴侧示意图。
图3为本申请另外的一些实施例提供外观检测装置在一些实施例中的轴侧示意图。
图4为图3所示外观检测装置在一些实施例中的侧视图。
图5为图3所示外观检测装置中输料结构在一些实施例中的轴侧示意图。
图6为图5所示输料结构在一些实施例中的侧视图。
图7为图2所示外观检测装置中上料件、输料结构、检测结构及下料件在一些实施例中的轴侧示意图。
图8为图2所示外观检测装置中输料结构在一些实施例中的轴侧示意图。
图9为图8所示输料结构中载具在一些实施例中的轴侧示意图。
图10为图9所示载具中机体的拾取件在一些实施例中的爆炸示意图。
图11为图8所示输送组件中上料件在一些实施例中的俯视图。
图12为图11所示上料件在一些实施例中于A处的局部放大图。
图13为图11所示上料件的梁体与定位结构在一些实施例中的轴侧示意图。
图14为图13所示梁体与定位结构在一些实施例中的爆炸示意图。
图15为图11所示上料件中部分结构在一些实施例中的侧视图。
图16为本申请一些实施例所提供的工件的示例的结构示意图。
图17为图3所示外观检测装置中机架及第一检测模组在一些实施例中的轴侧示意图；
图18为图3所示外观检测装置中机架及第二检测模组在一些实施例中的轴侧示意图。
图19为图2所示外观检测装置中检测结构在一些实施例中的轴侧示意图。
图20为图19所示检测结构中检测模组在一些实施例中的轴侧示意图。
图21为图1所示产品检测设备中上料装置在一些实施例中的轴侧示意图。
图22为图1所示产品检测设备中下料装置在一些实施例中的轴侧示意图。
图23为图22所示下料装置在一些实施例中的俯视图。
附图标记：1、产品检测设备；10、上料装置；11、上料台；12、料仓；13、周转组件；14、上料机械手；20、外观检测装置；210、基座；220、检测结构；2210、检测模组；2211、第一支板；2211a、第二导轨；2211b、第二电机；2212、第二支板；2213、检测器；2213a、相机；2213b、镜头；2213c、光源；2220、机架；2221、第一导轨；2222、第一电机；2230、第一检测模组；2231、第一检测模块；2231a、第一光源；2231b、第一相机；2232、第二驱动结构；2232a、第二滑台；2232b、第二滑轨；2233、第三驱动结构；2233a、第三滑台；2233b、第三滑轨；2240、第二检测模组；2241、第二检测模块；2241a、第二光源；2241b、第二相机；2242、第四驱动结构；2242a、第四滑台；2242b、第四滑轨；2243、第五驱动结构；2243a、第五滑台；2243b、第五滑轨；230、输料结构；2310、上料件；2310a、装载位；2310b、上料侧；23110、架体；23120、梁体；23121、配合件；23121a、底座；23121b、第一挡板；23121c、第二挡板；23122、基板；23122a、穿孔；23123、底壳；23124、承托件；23125、第一限位轨；23126、第二限位轨；23130、定位结构；23131、驱动器；23132、第一推动部；23132a、第一连接板；23132b、立板；23132c、第一接触体；23133、第二推动部；23133a、第二连接板；23133b、第二接触体；23134、凸柱；23135、联动孔；2320、载具；2320a、承载侧；23210、支架；23220、机体；23221、承载件；23222、拾取件；23222a、弹性件；23222b、转动部；23222c、承载部；23222d、限位腔；23222e、开口；23222f、滑块；23222g、限位体；23222h、吸附孔；2330、下料件；2340、第一驱动结构；2341、第一滑台；2342、第一滑轨；2350、第一传递部件；2351、第一支架；2352、第一承载件；2352a、第一承载侧；2353、第一拾取件；2360、第二传递部件；2361、第二支架；2362、第二承载件；2362a、第二承载侧；2363、第二拾取件；30、下料装置；31、下料台；32、下料机械手；33、搬运组件；34、缓存组件；35、良品仓；36、劣品仓；2、工件；2a、第一待检面；2b、第二待检面；2c、第三待检面；2d、第四待检面。
具体实施方式
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
在本申请的描述中，需要理解的是，若有出现这些术语“中心”、“纵向”、“横向”、“长度”、“宽度”、“厚度”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”、“内”、“外”、“顺时针”、“逆时针”、“轴向”、“径向”、“周向”等，这些术语指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本申请和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本申请的限制。
此外，若有出现这些术语“第一”、“第二”，这些术语仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括至少一个该特征。在本申请的描述中，若有出现术语“多个”，“多个”的含义是至少两个，例如两个，三个等，除非另有明确具体的限定。
在本申请中，除非另有明确的规定和限定，若有出现术语“安装”、“相连”、“连接”、“固定”等，这些术语应做广义理解。例如，可以是固定连接，也可以是可拆卸连接，或成一体；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系，除非另有明确的限定。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本申请中的具体含义。
在本申请中，除非另有明确的规定和限定，若有出现第一特征在第二特征“上”或“下”等类似的描述，其含义可以是第一和第二特征直接接触，或第一和第二特征通过中间媒介间接接触。而且，第一特征在第二特征“之上”、“上方”和“上面”可是第一特征在第二特征正上方或斜上方，或仅仅表示第一特征水平高度高于第二特征。第一特征在第二特征“之下”、“下方”和“下面”可以是第一特征在第二特征正下方或斜下方，或仅仅表示第一特征水平高度小于第二特征。
需要说明的是，若元件被称为“固定于”或“设置于”另一个元件，它可以直接在另一个元件上或者也可以存在居中的元件。若一个元件被认为是“连接”另一个元件，它可以是直接连接到另一个元件或者可能同时存在居中元件。如若存在，本申请所使用的术语“垂直的”、“水平的”、“上”、“下”、“左”、“右”以及类似的表述只是为了说明的目的，并不表示是唯一的实施方式。
本申请发明人发现，目前对摄像头模组等相对精密的产品进行外观检测时，仍采用人工肉眼检测的传统检测方式。人工肉眼检测的方式，一方面检测效率低；另一方面，肉眼检测准确度低且无法进行长时间连续检测。
为了解决上述问题，本申请发明人提出一种产品检测设备，产品检测设备包括上料装置、外观检测装置及下料装置，上料装置用于将工件上料至外观检测装置，外观检测装置能够对该工件进行外观检测，下料装置则根据外观检测装置的检测结果将检测完成后的工件进行分类，以排除不良品。外观检测装置包括输料结构及检测结构，输料结构能够自动携带工件运动至检测结构处，以接受外观检测。由此，通过自动化的送料配合检测结构的检测作用，使对工件的外观检测可自动化进行，相对人眼检测大幅提高了效率及准确性。并且，通过增加输送组件所能携带的工件的数量，还能够进一步提高外观检测装置检测效率。然而，随着输送组件所携带工件数量的增加，由于需要对输送组件的每个载具单独上料，使得对载具上料的过程变得繁琐而影响了检测过程的效率。同时，载具数量的增多，各载具之间容易相互制约运动范围及灵活性。
为了解决上述问题，本申请发明人在上述产品检测设备的基础上进行进一步优化，通过设置输料结构还包括上料件，上料件用于将工件传递给载具；设置各载具能够向彼此传递工件。由此，上料件将工件传递给其中一个载具后，基于各载具之间能够传递工件的效果，工件能够被传递到其他各个载具上。如此设置，无需为每个载具单独设置上料装置为该载具单独上料，从而提高了上料的效率，使整体检测效率更高。并且，各载具之间的排布更加有序、分工明确，使外观检测装置整体联动性更好。以下将结合具体实施例及说明书附图详细说明所述产品检测设备和外观检测装置。
请参阅图1至图3，本申请一实施例提供了一种产品外观检测设备，产品外观检测设备包括上料装置10、外观检测装置20及下料装置30，外观检测装置20包括基座210。
请参阅图3及图4，外观检测装置20用于检测工件2的外形，外观检测装置20包括基座210、检测结构220及输料结构230，检测结构220及输料结构230均设于基座210，输料结构230用于承载工件2。
检测结构220包括多个检测模组2210，将其中两检测模组2210分别记为第一检测模组2230及第二检测模组2240。第一检测模组2230用于对应检测位于第一工位的工件2，第二检测模组2240用于对应检测位于第二工位的工件2。由于第一检测模组2230以及第二检测模组2240均用于检测工件2，故如此设置能够提高检测结构220对工件2进行检测时的准确度。
输料结构230用于承载工件2，输料结构230包括多个载具2320。将其中两载具2320分别记为第一传递部件2350以及第二传递部件2360。第一传递部件2350与第二传递部件2360分别作用于工件2上的不同区域以承载工件2。第一传递部件2350能够带动工件2在第一传递工位与第一工位之间运动；第二传递部件2360能够带动工件2在第二传递工位与第二工位之间运动。处于第一传递工位的第一传递部件2350与处于第二工位的第二传递部件2360能够彼此传递工件2。通过第一传递部件2350与第二传递部件2360带动工件2运动并将工件2传递转移至彼此上，能够自动地使工件2流转于第一工位与第二工位之间，提高了检测的效率。图4所示第一传递部件2350所承载的工件2处于第一工位，图4所示第二传递部件2360所承载的工件2处于第二工位。图6所示第一传递部件2350处于第一传递工位；图6所示第二传递部件2360处于第二传递工位。
上述外观检测装置20中，第一检测模组2230在对第一传递部件2350上所承载的工件2进行检测时，能够对工件2上未被第一传递部件2350覆盖的区域进行检测；同理，第二检测模组2240在对第二传递部件2360上所承载的工件2进行检测时，能够对工件2未被第二传递部件2360覆盖的区域进行检测。由于第一传递部件2350与第二传递部件2360分别作用于工件2上的不同区域，故第二检测模组2240检测工件2时能够检测曾经或即将被第一传递部件2350覆盖的区域；同理，第一检测模组2230检测工件2时能够检测曾经或即将被第二传递部件2360覆盖的区域。如此设置，通过第一检测模组2230与第二检测模组2240相配合，能够对工件2进行更全面的检测，避免外观检测装置20中用于承载工件2的结构遮挡工件2上的某些区域而导致对工件2的检测不全面。
关于上述第一传递部件2350与第二传递部件2360分别作用于工件2上的不同区域以承载工件2，举例而言，工件2可以包括相背的第一侧面与第二侧面，第一传递部件2350作用于工件2的第一侧面以承载工件2，第二传递部件2360作用于工件2的第二侧面以承载工件2。如此第一检测模组2230检测位于第一工位的工件2时能够检测到第二侧面的外形；同理，第二检测模组2240检测位于第二工位的工件2时能够检测到第一侧面的外形。从而，通过第一检测模组2230与第二检测模组2240相互配合，能够全面地检测工件2外形。并且，第一传递部件2350与第二传递部件2360作用于工件2上的不同区域还便于工件2在第一传递部件2350与第二传递部件2360之间转交。
在一个实施例中，工件2可以为手机、平板电脑或显示器等智能设备中的中框、后盖等起支撑承载作用的结构，当然工件2也可以是其他需要进行外形检测的结构。
请参阅图5，在一个实施例中，第一传递部件2350与第二传递部件2360相向运动以彼此传递工件2，第一传递部件2350与第二传递部件2360相背运动以分别使工件2运动至第一工位和第二工位。
请参阅图5及图6，在一个实施例中，第一传递部件2350包括第一支架2351及第一承载件2352。第一承载件2352包括用于承载工件2的第一承载侧2352a。第一承载件2352与第一支架2351转动连接，而使第一承载侧2352a朝向第二传递部件2360或朝向第一检测模组2230。进一步地，第一承载件2352可以绕第一轴转动，当第一承载侧2352a朝向第二传递部件2360时，第一承载件2352上的工件2能够转交至第二检测模组2240上，并由第二传递部件2360带动至第二工位进行检测。上述第一轴参见图5中标号C1。
结合图6，可以理解的是，第一传递部件2350与第二传递部件2360彼此传递时，工件2位于第一传递部件2350与第二传递部件2360之间，第一传递部件2350与第二传递部件2360分别作用于工件2 上相背的两侧面。如此，能够使第一传递部件2350与第二传递部件2360能够分别作用于工件2上的不同区域，以提高检测的全面性。
第一承载件2352绕第一轴转动时，还能够转动至第一承载侧2352a朝向第一检测模组2230的位置。如此第一检测模组2230能够对应检测第一承载件2352上的工件2。需要说明的是，第一承载件2352在第一检测模组2230检测过程中也可以预设的速度绕第一轴转动，以使工件2上的不同区域朝向第一检测模组2230，使第一检测模组2230能够检测工件2各处的细节。
请继续参阅图5及图6，在一个实施例中，第一传递部件2350还包括第一拾取件2353，第一拾取件2353用于拾取工件2，第一拾取件2353与第一承载件2352转动连接。如此，工件2在接受第一检测模组2230检测时，还可以通过驱动第一拾取件2353相对第一检测模组2230转动，以使工件2上各个区域内的细节结构均能够被第一检测模组2230检测到。进一步地，第一拾取件2353可以绕第二轴与第一承载件2352转动连接，第二轴与第一轴相交。即，第一检测模组2230在检测工件2时，工件2能够绕第一轴、第二轴这两个不同的轴线转动，以使第一检测模组2230能够分别对工件2不同侧面进行检测，从而提高第一检测模组2230检测工件2时的全面性。上述第二轴参见图5中标号C2。
请参阅图5，在一个实施例中，第一轴与第二轴垂直。
请继续参阅图5及图6，在一个实施例中，第一传递部件2350包括多个第一拾取件2353，多个第一拾取件2353间隔均匀地设于第一承载件2352上，多个第一拾取件2353用于对应驱动多个工件2转动。如此，第一检测模组2230能够同时检测多个工件2，能够提高检测的效率。
请再次参阅图5及图6，在一个实施例中，第二传递部件2360的结构及尺寸与第一传递部件2350相同。
也就是说，第二传递部件2360包括第二支架2361、第二承载件2362及第二拾取件2363。第二承载件2362包括用于承载工件2的第二承载侧2362a，第二承载件2362与第二支架2361转动连接，而使第二承载侧2362a朝向第一传递部件2350或朝向第二检测模组2240。如此，通过第二承载件2362的转动运动，能够便于第二传递部件2360将工件2转交至第一传递部件2350，同时还便于工件2于第二工位时朝向第二检测模组2240，以接受第二检测模组2240的检测。
第二拾取件2363用于拾取工件2，第二拾取件2363与第二承载件2362转动连接。如此，通过第二拾取件2363能够使工件2的运动更加灵活，提高第二检测模组2240检测工件2的全面性。
第二传递部件2360同样可以包括多个第二拾取件2363，多个第二拾取件2363间隔均匀地设于第二承载件2362上，多个第二拾取件2363用于对应驱动多个工件2转动。如此，能够提高第二检测模组2240检测的效率。
请参阅图5及图6，在一个实施例中，输料结构230包括第一驱动结构2340。第一驱动结构2340与第一传递部件2350及第二传递部件2360均连接，以驱动第一传递部件2350与第二传递部件2360沿第一方向靠近或远离彼此。上述第一方向参见图4至图6中标号K。
进一步地，第一驱动结构2340与第一支架2351及第二支架2361均连接。当需要转交工件2时，第一驱动结构2340驱动第一传递部件2350及第二传递部件2360向靠近彼此的方向移动。随后，第一承载件2352与第二承载件2362两者转动，使第一承载侧2352a与第二承载侧2362a彼此相向。如此，第一拾取件2353与第二拾取件2363均能够拾取工件2，以便于工件2在第一拾取件2353与第二拾取件2363之间转交。当完成转交工件2后，第一驱动结构2340驱动第一传递部件2350及第二传递部件2360向远离彼此的方向移动，以分别运动至第一工位及第二工位。随后，第一承载件2352或第二承载件2362转动，使第一承载侧2352a朝向第一检测模组2230，从而工件2能够接受第一检测模组2230的检测；或使第二承载侧2362a朝向第二检测模组2240，从而工件2能接受第二检测模组2240的检测。应当理解的是，上述对输料结构230转交过程的说明仅为便于理解第一传递部件2350与第二传递部件2360如何相互配合以使工件2流转于第一工位与第二工位之间，并非限定输料结构230转交时的步骤具有严格的先后顺序。换言之，第一承载件2352与第二承载件2362转动的时间点，可以根据实际需求而适应性设置。
在一个实施例中，第一拾取件2353与第二拾取件2363可以通过真空吸附工件2以将工件2拾取。 真空吸附的方式拾取稳定，便于第一传递部件2350与第二传递部件2360快速转交。同时，真空吸附的方式使第一拾取件2353及第二拾取件2363能够拾取不同类型的工件2，提高外观检测装置20的通用性。
请参阅图6，在一个实施例中，第一驱动结构2340包括第一驱动件(图未示，下同)、第一滑轨2342以及多个第一滑台2341。第一支架2351与第二支架2361分别设于多个第一滑台2341上，第一驱动件与第一滑台2341连接，以使第一滑台2341能够沿第一滑轨2342运动。从而，使第一支架2351与第二支架2361能够相向运动或相背运动。第一滑轨2342沿第一方向延伸。
前述以第一传递部件2350及第二传递部件2360为对象说明工件2在外观检测装置20处的传递。需要说明的是，载具2320并不限于仅包括第一传递部件2350及第二传递部件2360，故以下以载具2320为对象说明工件2在外观检测装置20内部的传递，以及工件2在上料装置10、外观检测装置20以及下料装置30之间的传递。
请参阅图1、图2及图7，在一个实施例中，输料结构230还包括均可转动地设于基座210的上料件2310及下料件2330，上料件2310及下料件2330的转动轴线相互平行。
结合图8，上料件2310用于将工件2定位在上料件2310的上料侧2310b，上料件2310可转动地设于基座210，上料件2310转动时能够调整上料侧2310b的朝向，以用于接收上料装置10所传递的工件2，以及将工件2传递给载具2320。如此，通过调整上料侧2310b的朝向即可方便地将工件2从上料装置10传递给载具2320，提高了上料效率。由于上料件2310还能够将工件2定位在上料侧2310b，故上料件2310将工件2传递给载具2320时，工件2能够准确地处于载具2320上的预期位置，便于提高检测效果。
多个载具2320位于上料件2310与下料件2330之间，多个载具2320均可动地设于基座210，以带动工件2靠近或远离相邻载具2320及带动工件2运动至检测结构220的检测范围内。相邻载具2320分别作用在工件2的不同部位，相邻载具2320用于向彼此传递工件2。
由于载具2320可动地设于基座210，且载具2320能够彼此传递工件2，则当上料件2310将工件2传递给其中一个载具2320后，该载具2320能够将工件2传递给下一个载具2320。如此，通过各个载具2320彼此传递工件2的功能，使上料件2310仅需向其中一个载具2320传递工件2，该工件2即可被传递到各个载具2320上。从而，无需单独向每个载具2320上料，从而提高了对工件2检测效率的效率。
进一步地，与前述同理，相邻载具2320作用在工件2的不同部位，即载具2320对工件2形成的遮挡不重叠。由此，当相邻载具2320分别带动同一个或同批工件2处于检测结构220的检测范围内时，检测结构220能够检测工件2的不同区域，从而提高检测工件2外观的全面性。也就是说，工件2从其中一个载具2320被输送至下一载具2320的过程，不仅用于传递该工件2，还用于对工件2翻面处理，故无需设置额外工序以对工件2进行翻面，由此对工件2进行检测效率时的更高。
下料件2330可转动地设于基座210以朝向下料装置30及朝向载具2320，下料件2330接收载具2320所传递的工件2，提高了下料效率。通过下料件2330转动以朝向载具2320，能够接收检测完成的工件2；通过下料件2330转动以朝向下料装置30，能够将工件2传递给下料装置30。
下料装置30用于接收下料件2330传递的工件2，下料装置30与检测结构220电连接，下料装置30还用于分拣工件2。即，当下料件2330将工件2传递给下料装置30后，下料装置30能够根据检测结构220的检测结果而对检测完的工件2进行分拣，以将良品与不良品分类，提高产品的优良率。
请参阅图7及图8，在一个实施例中，在由上料件2310指向下料件2330的方向上，多个载具2320依次排布，多个载具2320的排布方向参见图7及图8中标号K。
在一个实施例中，上料件2310固定设于基座210，以用于传递工件2。当然，在某些实施例中，也可以设置上料件2310可动地设于基座210，以更加灵活地传递工件2。
请参阅图8及图9，在一个实施例中，载具2320包括支架23210及机体23220，支架23210可动地设于基座210，机体23220与支架23210转动连接。支架23210相对基座210运动时能够带动机体23220及工件2一同运动，以使工件2处于检测结构220的检测范围内。同时，支架23210还能够带动机体 23220靠近上料件2310或其他载具2320，以传递工件2。
机体23220用于将工件2限位在机体23220的承载侧2320a，机体23220与支架23210转动连接，以调整承载侧2320a的朝向。由此，通过合理调整承载侧2320a的朝向，能够使载具2320接收工件2，及将工件2传递给另一载具2320或下料件2330。例如，当各载具2320在远离所述上料件2310的方向上排布时，通过在朝向或背离上料件2310的角度内转动机体23220，使承载侧2320a朝向上料件2310以接收传来的工件2，或者使承载侧2320a背离上料件2310以将工件2传递给下一个载具2320。同理，位于距上料件2310最远端的载具2320背离上料件2310时可以将工件2传递给下料件2330，以完成下料。
进一步地，由于机体23220用于承载工件2，且机体23220能够相对支架23210转动，故当工件2位于检测结构220的检测范围内，机体23220相对支架23210转动时能够使工件2以不同的角度朝向检测结构220，以增加检测结构220检测工件2时的检测角度，提高检测工件2的全面性。
需要说明的是，本实施例所述的载具2320的支架23210，与前述实施例中所述第一支架2351及第二支架2361的关系为，所述支架23210为第一支架2351和第二支架2361的统称，即当载具2320作为第一传递部件2350时，所述支架23210即为第一支架2351；当载具2320作为第二传递部件2360时，所述支架23210即为第二支架2361。由此，在不矛盾的情况下，支架23210将具有如各实施例中所述第一支架2351及第二支架2361的所有技术特征以及该技术特征所能够实现的技术效果。反之同理，第一支架2351及第二支架2361也将具有如各实施例中所述的支架23210所具有的全部技术特征以及该技术特征所能够实现的技术效果。下述还将提到机体23220包括承载件23221及拾取件23222，同理地，承载件23221为第一承载件2352与第二承载件2362的统称，拾取件23222为第一拾取件2353与第二拾取件2363的统称，承载侧2320a为第一承载侧2352a与第二承载侧2362a的统称。也就是说，第一承载件2352与第二承载件2362将具有承载件23221的全部技术特征以及该技术特征所能够达到的技术效果；反之亦然。第一拾取件2353与第二拾取件2363将具有拾取件23222的全部技术特征以及该技术特征所能够达到的技术效果；反之亦然。第一承载侧2352a与第二承载侧2362a将具有承载侧2320a的全部技术特征以及该技术特征所能够达到的技术效果；反之亦然。对于其他的结构也是同理，于此不再一一赘述。
如图8，在一个实施例中，相邻载具2320的承载侧2320a彼此相向时用于向彼此传递工件2。
在一个实施例中，机体23220转动时的转动轴线与上料件2310的转动轴线平行，即上料件2310、多个载具2320的机体23220以及下料件2330转动时的转动轴线相互平行。由此，能够减小工件2在上料件2310、载具2320及下料件2330之间传递位置的变化范围，便于传递工件2，也便于提高工件2的位置精度。
请参阅图7及图8，在一个实施例中，第一驱动结构2340设于基座210，第一驱动结构2340分别与各载具2320连接，以分别用于驱动各载具2320相对基座210运动，以便于载具2320能够相互传递工件2，以及便于载具2320带动工件2运动至检测结构220的检测范围内。
在本实施例中，载具2320中可以是支架23210与第一驱动结构2340连接，即第一驱动结构2340通过驱动各支架23210相对基座210运动，能够带动各载具2320在基座210上运动，以实现将工件2运载至不同位置。
可以理解的是，可根据实际需求而设置第一驱动结构2340驱动各载具2320运动的驱动方式，以及设置各载具2320在第一驱动结构2340驱动下运动的方向。例如，可以设置第一驱动结构2340分别驱动各载具2320相对基座210在同一方向上滑动。
请参阅图7及图8，在一个实施例中，上料件2310与多个载具2320沿参考方向依次间隔排布，各载具2320均沿参考方向相对基座210可动。换言之，多个载具2320沿参考方向在远离上料件2310的方向上排布。也就是说，第一驱动结构2340驱动各载具2320沿参考方向运动，以靠近彼此或远离彼此。参考方向即为上述排布方向，也即为如前所述的第一方向，参考方向参见图7及图8中标号K。
请继续参阅图8及图9，在一个实施例中，机体23220包括承载件23221及用于承载工件2的拾取件23222，拾取件23222位于承载侧2320a。承载件23221绕第一轴与支架23210转动连接，拾取件 23222绕第二轴与承载件23221转动连接。第一轴与第二轴相交，即承载件23221绕第一轴转动时，与拾取件23222绕第二轴转动时，分别能够使工件2以不同的角度接受检测结构220的检测。如此，能够进一步增加检测结构220检测工件2时的角度，使检测更加细致、全面。
并且，需要说明的是，由于检测结构220能够对工件2进行多角度的检测，则即使是某些外形复杂工件2，检测结构220也能够完成检测作业。即如此设置，能够提高外观检测装置20的产品适应性，使外观检测装置20能够应对多种不同产品的检测。第一轴参见图8及图9中轴线C1，上述第二轴参见图9中轴线C2。
请参阅图8及图10，在一个实施例中，拾取件23222设于承载件23221，相邻设置的载具2320中至少一个载具2320的拾取件23222相对承载件23221可伸缩，以使拾取件23222靠近工件2的一端受压力时向承载件23221弹性回缩。由于拾取件23222用于承载工件2，且拾取件23222受压力时可弹性伸缩，故通过拾取件23222的弹性伸缩性质能够对工件2可能受到的冲击起到缓冲作用，以降低载具2320彼此传递工件2时，载具2320相互之间可能具有的冲击力损坏工件2的几率。
进一步地，第一传递部件2350中，第一拾取件2353可相对第一承载件2352伸缩，以实现缓冲。第二传递部件2360中，第二拾取件2363可相对第二承载件2362伸缩，以实现缓冲。
请参阅图10，在一个实施例中，拾取件23222包括弹性件23222a、彼此套接的转动部23222b及承载部23222c。转动部23222b绕第二轴与承载件23221转动连接，承载部23222c用于承载工件2。弹性件23222a连接在转动部23222b与承载部23222c之间，承载部23222c受压时能够沿转动部23222b向压缩弹性件23222a的方向滑动。所述弹性件23222a可以为压簧或其他具有弹性性质的元器件。
由此，当载具2320间相互传递工件2，且彼此的承载部23222c发生相互冲击时，两承载部23222c均能够对应缩回并弹性压缩弹性件23222a，以减低工件2所受冲击力。可以理解的是，当拾取件23222所受压力消失时，承载部23222c能够在弹性件23222a的作用下恢复至受压前的位置，以使各个处于拾取件23222上的工件2相对承载件23221的位置的一致性程度高，便于提高检测效果。
由于转动部23222b与承载件23221转动连接，故在转动方向外其他方向上，转动部23222b与承载件23221具有稳定的相对位置。则通过转动部23222b对承载部23222c受压时的运动进行导向及限位，能够使承载部23222c受压运动时以及在弹性件23222a的弹性抵推下恢复至压缩前的位置时运动平稳，从而提高工件2位置精度。
请继续参阅图10，在一个实施例中，承载部23222c与转动部23222b的其中一个开设有限位腔23222d，限位腔23222d具有开口23222e；另一个设有滑块23222f，滑块23222f经开口23222e延伸设于限位腔23222d内。滑块23222f与限位腔23222d的腔壁滑动配合以限定承载部23222c与滑块23222f的相对运动方向。
弹性件23222a设于限位腔23222d内，弹性件23222a两端分别抵接滑块23222f与限位腔23222d的腔壁，以使拾取件23222具有弹性压缩能力。开口23222e内周壁至少部分区域向开口23222e内部延伸而形成限位体23222g，限位体23222g与所述滑块23222f远离所述弹性件23222a的一侧抵接。由此，通过限位体23222g对滑块23222f的限位能够使滑块23222f于限位腔23222d内具有确定的行程，防止在弹性件23222a的作用下承载部23222c与转动部23222b分离。
上述实施例中均以拾取件23222自身具有弹性伸缩能力为例进行说明。在某些实施例中，还可以设置拾取件23222整体可动地设于承载件23221，且弹性件23222a连接在承载件23221与拾取件23222之间，而使拾取件23222具有相对承载件23221弹性伸缩的能力。
请参阅图8及图10，在一个实施例中，如前述，拾取件23222可以通过真空吸附的方式拾取工件2。采用真空吸附的拾取方式对载具2320的结构要求低，使载具2320的结构可以设计得更加简单，以便于载具2320与上料件2310或下料件2330之间传递工件2，以及便于载具2320之间传递工件2。
进一步地，载具2320包括真空发生器(图未示，下同)，拾取件23222内开设有吸附通道(图未示，下同)，吸附通道具有与外部连通的多个吸附孔23222h，以在吸附孔23222h内形成负压。由此，当工件2于外部覆盖吸附孔23222h时，吸附通道内的负压能够将工件2吸附至拾取件23222上。
吸附孔23222h的数量为多个，多个吸附孔23222h间隔布置于承载部23222c远离转动部23222b的 一端。多个吸附孔23222h可以具有不同的尺寸，可以根据所需拾取的工件2的形状而适应性设计。
为提高滑块23222f与限位腔23222d腔壁之间的密封性，可以设置滑块23222f和限位腔23222d的腔壁中的至少一个有密封件。例如，可以在滑块23222f上套设密封圈(图未示，下同)以提高滑块23222f与限位腔23222d腔壁之间的密封性。
限位腔23222d可以开设于承载部23222c，转动部23222b包括所述滑块23222f。即承载部23222c可以套于转动部23222b而相对转动部23222b滑动。
当然，在其他实施例中，还可以机体23220还可以通过其他形式拾取工件2，例如磁吸以及夹爪夹持等。
请参阅图7，在一个实施例中，检测模组2210的数量可以与载具2320的数量相对应。如此，一方面检测模组2210能够针对性地对其所对应的载具2320上的工件2进行检测，提高检测的精度；另一方面，如此设置避免存在空闲的载具2320，以提高检测效率。
需要说明的是，检测模组2210的数量与载具2320数量的对应关系，可以根据实际需求而灵活配置。例如，可以设置检测模组2210与载具2320一一对应；或者，可以设置一个检测模组2210对应多个载具2320；亦或，可以设置多个检测模组2210对应一个载具2320。
请参阅图8及图11，在一个实施例中，上料件2310包括架体23110及梁体23120，架体23110设于基座210。梁体23120用于将工件2定位在梁体23120的上料侧2310b，梁体23120与架体23110转动连接，以调整上料侧2310b的朝向。可以理解的是，当上料侧2310b朝向载具2320，载具2320可以从梁体23120上取走工件2。当转动梁体23120使上料侧2310b不再朝向载具2320而朝向其他位置时，可以通过合理调整上料侧2310b的朝向，以使上料装置10能够方便地将工件2填装于上料件2310。如此设置，通过相应调整上料侧2310b的朝向能够不断地将工件2传递至载具2320，使外观检测装置20能够持续对工件2进行外观检测。上料件2310所包括的梁体23120可以绕第一转轴相对架体23110转动，第一转轴参见图8所示R1轴。
如图8，在一个实施例中，上料侧2310b和与之相邻的承载侧2320a相向设置时用于向彼此传递工件2。
请参阅图11及图12，在一个实施例中，上料件2310及载具2320均可以用于承载多个工件2，上料件2310能够将多个工件2同时传递给载具2320。同理，载具2320可以向彼此同时传递多个工件2。
请参阅图11及图12，对于精密的元器件，对其进行外观检测的精度高。从而要求工件2能够准确的处于载具2320上的预期位置。为了解决工件2的定位问题，上料件2310还包括定位结构23130，定位结构23130可动地设于梁体23120，以抵推工件2被限位在定位结构23130与梁体23120之间的装载位2310a处。
进一步地，梁体23120包括配合件23121，定位结构23130分别与多个配合件23121围设形成多个装载位2310a，定位结构23130可动地设于梁体23120以配合多个配合件23121将多个工件2分别对应定位在多个装载位2310a。如此，当工件2的位置相对预期位置偏移时，以配合件23121为基准，定位结构23130相对配合件23121运动时能够抵推工件2运动至预期位置，并与配合件23121相配合以将工件2定位在装载位2310a，提高对工件2的位置精度，使载具2320的各个拾取件23222能够准确地拾取工件2。并且，由于定位结构23130分别与多个配合件23121围设形成多个装载位2310a，也就是说，仅需驱动定位结构23130即可同时抵推多个工件2，以分别与多个配合件23121相配合而同时定位多个工件2。如此设置，使上料件2310的结构更加简单，定位过程更加方便、快捷，效率更高。
应当理解的是，装载位2310a位于上料侧2310b。
请继续参阅图12至图16，在一个实施例中，配合件23121包括呈夹角设置的第一挡板23121b和第二挡板23121c。定位结构23130包括驱动器23131、第一推动部23132及第二推动部23133，第一推动部23132至少部分结构与第一挡板23121b相向设置，第二推动部23133至少部分结构与第二挡板23121c相向设置，即第一推动部23132的至少部分结构、第二推动部23133的至少部分结构、第一挡板23121b以及第二挡板23121c四者合围限定出装载位2310a。驱动器23131与第一推动部23132连接以驱动第一推动部23132运动，第一推动部23132与第二推动部23133连接，以在第一推动部23132向 第一挡板23121b运动时带动第二推动部23133向第二挡板23121c运动。
本实施例中，当驱动器23131驱动第一推动部23132向第一挡板23121b运动时，第一推动部23132能够带动第二推动部23133同步向第二挡板23121c运动，以从两个方向推动工件2，实现对工件2的定位。可以理解的是，由于第一挡板23121b与第二挡板23121c夹角设置，而第一推动部23132至少部分结构与第一挡板23121b相向设置，且第二推动部23133至少部分结构与第二挡板23121c相向设置，则第一推动部23132向第一挡板23121b运动时的运动方向，与第二推动部23133向第二挡板23121c运动时的运动方向不相同。例如，第一挡板23121b与第二挡板23121c相互垂直设置，第一推动部23132可以沿第一定位方向向靠近或远离第一挡板23121b的方向运动，第二推动部23133可以沿第二定位方向向靠近或远离第二挡板23121c的方向运动。第一定位方向与第二定位方向垂直。上述第一定位方向参见图12中标号T1，下述将提到的第二定位方向参见图12中标号T2。
当然，第一挡板23121b与第二挡板23121c不限于垂直设置，与之对应地，第一定位方向与第二定位方向也不限于垂直设置。
请继续参阅图12，在一个实施例中，梁体23120限定所述第二推动部23133沿第二定位方向运动。第一推动部23132与第二推动部23133其中一个设有联动孔23135，另一个设有凸柱23134。凸柱23134穿设联动孔23135并与联动孔23135相向的两侧孔壁滑动配合。第一推动部23132沿第一定位方向靠近或远离第一挡板23121b，相向的两侧孔壁的延伸方向与第一定位方向相交，即联动孔23135的延伸方向与第一定位方向相交。由此，第一推动部23132能够通过抵推不同侧的孔壁，以使第二推动部23133沿第二定位方向靠近第二挡板23121c，或沿第二定位方向远离第二挡板23121c。
联动孔23135与第一定位方向的夹角可以为45°。
请参阅图13及图14，在一个实施例中，梁体23120设有第一限位轨23125，第二推动部23133与第一限位轨23125滑动配合，第一限位轨23125沿第二定位方向延伸。由此，通过第一限位轨23125能够限定第二推动部23133的运动方向，以使第二推动部23133能够在第一推动部23132的带动下准确地沿第二定位方向靠近或远离第二挡板23121c。由此，实现对工件2的定位。
请一并参阅图12至图15，在一个实施例中，梁体23120包括基板23122与底壳23123，基板23122能够限定第二推动部23133沿第二定位方向运动。即，上述第一限位轨23125设于基板23122上。
基板23122上开设有多个穿孔23122a，沿第一定位方向多个穿孔23122a与多个配合件23121于基板23122上交替布置。第一推动部23132包括第一连接板23132a及与第一挡板23121b相向设置的立板23132b，第一连接板23132a与驱动器23131连接，且第一连接板23132a与配合件23121分别位于基板23122相背的两侧。多个立板23132b沿第一定位方向间隔布置于第一连接板23132a并对应穿设多个穿孔23122a。由此，多个立板23132b能够穿过穿孔23122a分别与多个第一挡板23121b对应相向设置，以配合第二推动部23133、第一挡板23121b及第二挡板23121c围设形成多个装载位2310a，用于定位多个工件2。多个立板23132b设于第一连接板23132a上，而第一连接板23132a与驱动器23131连接，故驱动器23131通过第一连接板23132a能够同时驱动多个立板23132b移动，以使多个立板23132b能够沿第一定位方向向靠近或远离第一挡板23121b的方向移动。
第一连接板23132a与配合件23121分别位于基板23122相背的两侧，而立板23132b穿过穿孔23122a至基板23122的另一侧，则装载位2310a形成于基板23122上背离第一连接板23132a的一侧。如此设置，能够避免连接在多个立板23132b之间的第一连接板23132a阻碍或干涉装载位2310a的分布。
在一个实施例中，立板23132b与穿孔23122a的孔壁间隔设置，以供立板23132b在穿孔23122a内活动而定位工件2或松开工件2。
请参阅图15，在一个实施例中，驱动器23131与第一连接板23132a位于基板23122的同一侧。可以理解的是，基板23122与底壳23123连接并围设形成容纳腔(图未示，下同)，驱动器23131及第一连接板23132a均位于容纳腔内。如此，使基板23122的承载侧2320a更整洁，而减低传递工件2过程中发生结构干涉的可能性。
请继续参阅图15，在一个实施例中，梁体23120还设有第二限位轨23126，第二限位轨23126沿第 一定位方向延伸，第一连接板23132a与第二限位轨23126滑动配合。通过第二限位轨23126对第一连接板23132a的限位及导向作用，能够使第一连接板23132a准确地沿第一定位方向往复运动。
第二限位轨23126可以设于底壳23123的内壁。
请继续参阅图15，在一个实施例中，梁体23120还设有承托件23124，第一连接板23132a与承托件23124滑动配合，承托件23124能够支撑第一连接板23132a往复移动。
驱动器23131可以为气缸、液压缸及电动推杆等线性驱动器。
请再次参阅图12，在一个实施例中，第一推动部23132还包括第一接触体23132c，第一接触体23132c设于立板23132b朝向第一挡板23121b的一侧。可以根据工件2的尺寸及形状而适配性设计或选择第一接触体23132c的形状及尺寸，以使上料件2310能够针对形状及尺寸不同的各种工件2，提高外观检测装置20的产品适应性。
请继续参阅图12，在一个实施例中，第二推动部23133包括第二连接板23133a及间隔设于第二连接板23133a上的多个第二接触体23133b，多个第二接触体23133b用于与多个第二挡板23121c对应相向设置。第二连接板23133a与第一限位轨23125滑动配合，第二连接板23133a还与第一连接板23132a连接。如此，第二连接板23133a能够在第一连接板23132a的带动下沿第二定位方向运动，以带动各第二接触体23133b向靠近或远离第二挡板23121c的方向运动。如此，第一接触体23132c与第二接触体23133b能够共同作用，以对工件2进行定位。
与第一接触体23132c类似地，可以根据工件2的尺寸及形状而设计或选择第二接触体23133b的形状及尺寸，以使上料件2310能够针对形状及尺寸不同的各种工件2，提高外观检测装置20的产品适应性。
在一个实施例中，凸柱23134设于立板23132b，而联动孔23135开设于第二连接板23133a。如此，第一推动部23132沿第一定位方向运动时通过抵推联动孔23135相应的侧壁能够带动第二推动部23133沿第二定位方向运动。
请参阅图13及图14，在一个实施例中，配合件23121还包括底座23121a，底座23121a设于基板23122。第一挡板23121b与第二挡板23121c均设于底座23121a远离基板23122的一端。第一推动部23132、第二推动部23133、第一挡板23121b及第二挡板23121c四者用于将装载位2310a合围形成在底座23121a上，即底座23121a用于承载工件2。
在一个实施例中，底壳23123内设有真空发生器，基板23122及底座23121a开设有连通装载位2310a的吸附通道，真空发生器与吸附通道连通，以在装载位2310a处形成负压。由此，当工件2被定位后，通过真空发生器能够将工件2稳定的吸附在装载位2310a处。相对于其他拾取方式，采用真空吸附的方式拾取工件2时与工件2接触的部位较少，结构更简单，故更便于实现工件2在上料件2310与载具2320之间高精度传递。
请参阅图7及图16，以载具2320及检测模组2210的数量均为两个，且工件2大致呈板状为例进行说明。工件2可以包括待检的第一待检面2a、第二待检面2b、第三待检面2c及第四待检面2d，其中，第一待检面2a与第二待检面2b相向设置，第三待检面2c与第四待检面2d相向设置。以靠近上料件2310的载具2320为第一传递部件2350，第一传递部件2350所对应的检测模组2210为第一检测模组2230；远离上料件2310的载具2320为第二传递部件2360，第二传递部件2360所对应的检测模组2210为第二检测模组2240。当上料装置10将工件2填装于上料件2310的上料侧2310b后，上料件2310作用在第一待检面2a。随后，上料件2310及第一传递部件2350均相对基座210转动，以使上料侧2310b与第一传递部件2350的承载侧2320a相向设置，此时，第一传递部件2350能够作用于第二待检面2b，以将工件2从上料侧2310b处取走。随后，第一传递部件2350沿参考方向K运动至第一检测模组2230的检测范围内，以便于第一检测模组2230检测工件2的第一待检面2a、第三待检面2c、第四待检面2d、第一待检面2a与第三待检面2c的连接处、以及第一待检面2a与第四待检面2d的连接处。可以理解的是，在第一传递部件2350拾取工件2后至第一传递部件2350运动到第一检测模块2231的检测范围内的任一时刻，可以调整第一传递部件2350的第一承载侧2352a的朝向，使位于第一承载侧2352a的工件2能够以预期的角度位置接受检测。同时，在检测过程中可以驱动第一传递部件2350 的机体23220绕第一轴转动，以及驱动第一传递部件2350的第一拾取件2353绕第二轴转动，从而调整工件2上不同的待检面能够以不同多角度接受检测。
当第一检测模组2230完成检测后，第一传递部件2350与第二传递部件2360中至少一个运动，以靠近彼此。随后，第一传递部件2350与第二传递部件2360均相对基座210转动，以使两者的承载侧2320a相向设置，从而第二传递部件2360能够作用于工件2的第一待检面2a以拾取工件2。之后，第二传递部件2360沿参考方向K运动至第二检测模组2240的检测范围内，以便于第二检测模组2240检测工件2的第二待检面2b、第三待检面2c、第四待检面2d、第二待检面2b与第三待检面2c的连接处、以及第二待检面2b与第四待检面2d。与第一传递部件2350同理，在第二传递部件2360拾取工件2后至第二传递部件2360运动到第二检测模块2241的检测范围内的任一时刻，可以调整第二传递部件2360的第二承载侧2362a的朝向，使位于第二承载侧2362a的工件2能够以预期的角度位置接受检测。同时，在检测过程中可以驱动第二传递部件2360的机体23220绕第一轴转动，以及驱动第二传递部件2360的第二拾取件2363绕第二轴转动，从而调整工件2上不同的待检面能够以不同多角度接受检测。
当第二检测模块2241完成检测后，可以调整第二传递部件2360的第二承载侧2362a朝向下料件2330，以便于下料件2330将工件2从第二传递部件2360上取走。
在一个实施例中，配合件23121用于承载工件2，配合件23121可伸缩地设于基板23122，以使配合件23121靠近工件2的一端受压力时向基板23122弹性回缩。由于配合件23121用于承载工件2，且配合件23121受压力时可向基板23122弹性伸缩，故通过配合件23121的弹性伸缩性质能够对工件2可能受到的冲击起到缓冲作用，以降低上料件2310与载具2320彼此传递工件2时，两者相互之间可能具有的冲击力损坏工件2的几率。
在一个实施例中，配合件23121中可以是底座23121a靠近工件2的一端受压力时向基板23122弹性回缩。底座23121a的可伸缩结构可参见拾取件23222的结构。
在一个实施例中，定位结构23130在配合件23121的伸缩方向上可同步伸缩；或者，第一接触体23132c及第二接触体23133b在配合件23121的伸缩方向上具有较大的延伸尺寸，以使工件2随配合件23121伸缩运动的过程中，第一推动部23132及第二推动部23133能够持续向工件2提供定位作用，以提高工件2的位置精度。
请参阅图17至图20，在一个实施例中，外观检测装置20还包括机架2220，机架2220设于基座210、各检测模组2210可动地设于基架，以调整拍摄角度。
当检测模组2210的数量为两个时，两个检测模组2210可以分别设于机架2220相背的两侧，以对应检测不同载具2320上的工件2。例如，第一检测模组2230与第二检测模组2240分别设于机架2220相背的两侧上。如此，通过机架2220相背的两侧分别承载第一检测模组2230及第二检测模组2240，能够使外观检测装置20整体结构更加紧凑。当检测模组2210的数量大于两个，可以相应调整机架2220的结构或机架2220的数量，以支撑各检测模组2210。
请继续参阅图17、图18，在一个实施例中，第一检测模组2230包括第一检测模块2231、第二驱动结构2232。第二驱动结构2232与第一检测模块2231连接以驱动第一检测模块2231沿第二方向靠近或远离工件2，如此，能够调整第一检测模块2231与工件2的相对位置，使第一检测模组2230能够全面地检测工件2的外形。
第一方向与第二方向相交，第一驱动结构2340与第二驱动结构2232分别沿非平行的两个方向调整工件2与第一检测模块2231之间的相对位置，以使工件2能够处于预期的位置接受第一检测模块2231的检测。上述第二方向参见图17中标号M1。
请参阅图17，在一个实施例中，第二驱动结构2232包括第二驱动件(图未示，下同)、第二滑台2232a以及第二滑轨2232b，第二驱动件与第二滑台2232a连接，以驱动第二滑台2232a沿第二滑轨2232b运动。第一检测模块2231设于第二滑台2232a上，能够随第二滑台2232a沿第二滑轨2232b运动。第二滑轨2232b可以沿第二方向延伸设置。
请继续参阅图17，在一个实施例中，第一检测模组2230还包括第三驱动结构2233。第三驱动结构2233与第二驱动结构2232连接以驱动第二驱动结构2232沿第三方向靠近或远离工件2，第一方向、第 二方向及第三方向三者两两相交。如此，通过第一驱动结构2340、第二驱动结构2232以及第三驱动结构2233，能够在空间中三个方向调整第一检测模块2231与工件2之间的相对位置。从而，能够使工件2与第一检测模块2231之间的相对位置更准确。并且，第一检测模组2230配合第一承载件2352及第一拾取件2353的转动运动，能够实现多角度、多面的检测。上述第三方向参见图17中标号N1。
在一个实施例中，第一方向、第二方向以及第三方向三者可以是两两垂直。
请参阅图17，在一个实施例中，第三驱动结构2233包括第三驱动件(图未示，下同)、第三滑台2233a以及第三滑轨2233b。第三滑轨2233b设于机架2220上，第三滑轨2233b沿第三方向延伸。第三驱动件与第三滑台2233a连接，以驱动第三滑台2233a沿第三滑轨2233b移动。第二驱动结构2232设于第三滑台2233a上，以随第三滑台2233a沿第三滑轨2233b运动。
请参阅图18，在一个实施例中，第二检测模组2240包括第二检测模块2241、第四驱动结构2242以及第五驱动结构2243。第四驱动结构2242与第二检测模块2241连接以驱动第二检测模块2241沿第四方向靠近或远离工件2，第五驱动结构2243与第四驱动结构2242连接以驱动第四驱动结构2242沿第五方向靠近或远离彼此，第一方向、第四方向以及第五方向三者两两相交。上述第四方向参见图18中标号M2，上述第五方向参见图18中标号N2。
上述第二检测模组2240中，与第一检测模组2230类似地，通过第一驱动结构2340、第四驱动结构2242以及第五驱动结构2243三者配合，能够在空间内的三个方向上调整第二检测模块2241相对工件2的位置，使第二检测模块2241能够在预期的位置检测工件2的外形。并且，第二检测模组2240配合第二承载件2362及第二拾取件2363的转动运动，能够实现多角度、多面的检测。
在一个实施例中，第一方向、第四方向以及第五方向三者可以是两两垂直。
在一个实施例中，第二方向与第四方向平行，即M1与M2平行设置；第三方向与第五方向平行，即N1与N2平行设置。
请继续参阅图18，在一个实施例中，第四驱动结构2242可以包括第四驱动件(图未示，下同)、第四滑台2242a以及第四滑轨2242b。第四驱动件与第四滑台2242a连接，以驱动第四滑台2242a沿第四滑轨2242b移动。第二检测模块2241设于第四滑台2242a上，以随第四滑台2242a沿第四滑轨2242b移动。
第五驱动结构2243可以包括第五驱动件(图未示，下同)、第五滑台2243a以及第五滑轨2243b。第五滑轨2243b设于机架2220上，第五滑轨2243b沿第五方向延伸。第五驱动件与第五滑台2243a连接，以驱动第五滑台2243a沿第五滑轨2243b滑动。第四驱动结构2242设于第五滑台2243a上，以随第五滑台2243a沿第五滑轨2243b移动。
请参阅图17及图18，在一个实施例中，第一检测模块2231包括第一光源2231a与第一相机2231b。第二检测模块2241包括第二光源2241a与第二相机2241b。第一光源2231a与第二光源2241a的照明方式不同。如此，第一相机2231b与第二相机2241b所拍摄得到的检测结果的侧重点不同。从而，使检测结构220检测工件2外形的手段更丰富，能够针对性的检测工件2上不同类型的瑕疵。第一光源2231a与第二光源2241a可以为环形光源、穹顶光源以及同轴光源等。可以根据工件2检测时的不同需求而设置第一光源2231a与第二光源2241a的照明方式。
请参阅图17及图18，在一个实施例中，第一相机2231b与第二相机2241b的拍摄方式不同。如此，第一相机2231b与第二相机2241b拍摄工件2所得到的结果也不同。从而，同样能够使检测结构220检测工件2外形的手段更加丰富，能够针对性的检测工件2上不同类型的瑕疵。第一相机2231b与第二相机2241b可以为线扫相机、面检测相机以及3D相机等。
可以理解的是，应当合理调整第一光源2231a与第一相机2231b的类型，以使两者能够相互适配用于拍摄工件2。第二光源2241a与第二相机2241b同理，不再赘述。
在一个实施例中，第一检测模块2231的数量及第二检测模块2241的数量均为多个，以对应检测第一承载件2352及第二承载件2362上的多个工件2，提高外观检测装置20的检测效率。
当然，在某些实施例中，机架2220可以为检测结构220的组成部分。此时，参阅图19及图20，在一个实施例中，机架2220设有沿第三方向延伸的第一导轨2221及第一电机2222，检测模组2210与 第一导轨2221滑动配合，第一电机2222用于驱动检测模组2210在第三方向上相对基座210运动，从而使检测模组2210能够调整相对工件2在第三方向上的位置。上述第三方向参见图19及图20中标号N1。
在一个实施例中，检测模组2210包括第一支板2211、第二支板2212及设于第二支板2212上的多个检测器2213，第一支板2211与第一导轨2221滑动配合，第二支板2212与第一支板2211沿第二方向滑动配合，以带动多个检测器2213相对第一支板2211在第二方向上运动。检测器2213在第二方向上运动时能够靠近或远离工件2，以调整检测工件2时的拍摄效果。上述第二方向参见图19及图20中标号M1。
在一个实施例中，第一支板2211设有沿第二方向延伸设置的第二导轨2211a及第二电机2211b，第二支板2212与第二导轨2211a滑动配合，第二电机2211b用于驱动第二支板2212在第二方向上相对第一支板2211运动，以带动各检测器2213相对工件2运动。
请继续参阅图20，在一个实施例中，检测器2213与载具2320上所能够承载的工件2的数量相匹配，以对应检测各工件2。
参阅图20，在一个实施例中，检测器2213包括相机2213a、镜头2213b及光源2213c，三者相互配合对工件2进行视觉检测。
请参阅图7，在一个实施例中，输料结构230还包括下料件2330，各载具2320位于上料件2310与下料件2330之间，即上料件2310将工件2传递给载具2320后，载具2320带动工件2完成检测后，再将工件2传递给下料件2330，以完成检测。结合图8及图9，通过载具2320转动时能够使机体23220的承载侧2320a朝向下料件2330，以将工件2传递给下料件2330。下料件2330接收工件2后，能够将工件2传递给下一个工位，以对检测后的工件2进行进一步处理。
请参阅图11至图15，在一个实施例中，下料件2330包括如上述各实施例中所述的架体23110、梁体23120及定位结构23130。如此，下料件2330在接收载具2320所传递的工件2时，通过定位结构23130能够对工件2进行定位，以便于后续工序处理。结合图8，下料件2330所包括的梁体23120可以绕第二转轴相对架体23110转动，第二转轴参见图8所示R2轴。
进一步地，下料件2330所包括的梁体23120中的拾取件23222，也能够在受到压力时相对基板23122弹性伸缩，以对工件2所受的压力、冲击力起缓冲作用。
请参阅图6及图7，在一个实施例中，上料件2310同批次可承载10个工件2，与之对应地，各载具2320也能够同时承载10个工件2。检测模组2210可以包括10个检测器2213，以分别对载具2320上的各个工件2进行针对性外观检测。同样，下料件2330同批次可承载10个工件2。如此设置，能够提高检测过程的效率。当然，还可以设置上料件2310同批次能够承载其他数量的工件2，如4个、5个、6个、7个、8个、9个、13个及15个等，可以根据实际需求而设置，在此不再赘述。
请参阅图21，在一个实施例中，上料装置10包括上料台11、料仓12、周转组件13及上料机械手14。
料仓12设于上料台11，用于存储待检测的工件2。
上料机械手14为两套，其中一套用于将料仓12内的工件2转移至周转组件13，另一套上料机械手14用于将工件2从周转组件13转移至上料件2310。当然，上料机械手14的数量不限于两套，可以根据实际需求而设置。
周转组件13可动地设于上料台11，以将工件2从料仓12处运送至外观检测装置20处。周转组件13可以设计多套，多套周转组件13交替输送工件2。例如，其中一套周转组件13处于料仓12处而供对应的上料机械手14从料仓12将工件2填装时，另一套周转组件13可以处于上料件2310处而供对应的上料机械手14将工件2装载在上料件2310，由此能够提高效率。
在一个实施例中，可以无需设置上料机械手14将上料件2310所能够承载的所有工件2一次性填装完成，可以设置上料机械手14分多次将工件2装载在上料件2310上。这也就要求上料机械手14还能够相对上料件2310移动，而对应至不同的工位。在上料机械手14移动的过程中，可能会产生定位误差。基于此，前述实施例中所述的定位结构23130的定位作用能够补偿上述误差，提高传递工件2时的 精度。
请参阅图22及图23，在一个实施例中，下料装置30包括下料台31、下料机械手32、搬运组件33、缓存组件34、良品仓35及劣品仓36，缓存组件34设于下料台31并用于临时存放工件2。良品仓35及劣品仓36均设于下料台31。下料机械手32及搬运组件33均可动地设于下料台31。
下料机械手32可以为两套，其中一套用于将工件2从下料件2330转移至缓存组件34中，另一套用于将检测结果为良品的工件2转移至良品仓35。同样，下料机械手32的数量也不限于两套，可以根据实际需求而设置。
搬运组件33用于将检测结果为劣品的工件2转移至劣品仓36。
在一个实施例中，产品检测设备1可以包括控制器(图未示，下同)，控制器与检测结构220及下料装置30电连接，控制器能够根据检测结构220的检测结果而向下料装置30发出指令，使下料装置30在下料时对工件2进行分拣，以对良品与劣品分类处理。
以上所述实施例的各技术特征可以进行任意的组合，为使描述简洁，未对上述实施例中的各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。
以上所述实施例仅表达了本申请的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对申请专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本申请构思的前提下，还可以做出若干变形和改进，这些都属于本申请的保护范围。因此，本申请专利的保护范围应以所附权利要求为准。

Claims (20)

  1. 一种外观检测装置，其特征在于，所述外观检测装置包括：
    检测结构，所述检测结构包括多个检测模组，将其中两所述检测模组分别记为第一检测模组及第二检测模组，所述第一检测模组用于对应检测位于第一工位的工件，所述第二检测模组用于对应检测位于第二工位的所述工件；
    输料结构，所述输料结构包括多个载具，将其中两所述载具中分别记为第一传递部件及第二传递部件，所述第一传递部件与所述第二传递部件分别作用于所述工件上的不同区域以承载所述工件，所述第一传递部件能够带动工件在第一传递工位与所述第一工位之间运动，所述第二传递部件能够带动工件在第二传递工位与所述第二工位之间运动，处于所述第一传递工位的所述第一传递部件与处于所述第二传递工位的所述第二传递部件能够彼此传递工件。
  2. 根据权利要求1所述的外观检测装置，其特征在于，所述第一传递部件包括第一支架及第一承载件，所述第一承载件包括用于承载所述工件的第一承载侧，所述第一承载件与所述第一支架转动连接，而使所述第一承载侧朝向所述第二传递部件或朝向所述第一检测模组。
  3. 根据权利要求2所述的外观检测装置，其特征在于，所述第一传递部件还包括第一拾取件，所述第一拾取件用于拾取所述工件，所述第一拾取件与所述第一承载件转动连接。
  4. 根据权利要求3所述的外观检测装置，其特征在于，多个所述第一拾取件间隔均匀地设于所述第一承载件上，多个所述第一拾取件用于对应驱动多个所述工件转动。
  5. 根据权利要求1-4任意一项所述的外观检测装置，其特征在于，所述第二传递部件的结构及尺寸与所述第一传递部件相同。
  6. 根据权利要求1所述的外观检测装置，其特征在于，所述输料结构还包括第一驱动结构，所述第一驱动结构与所述第一传递部件及所述第二传递部件均连接，以驱动所述第一传递部件与所述第二传递部件沿第一方向靠近或远离彼此。
  7. 根据权利要求6所述的外观检测装置，其特征在于，所述第一检测模组包括第一检测模块、第二驱动结构，所述第二驱动结构与所述第一检测模块连接以驱动所述第一检测模块沿第二方向靠近或远离所述工件，所述第一方向与所述第二方向相交。
  8. 根据权利要求7所述的外观检测装置，其特征在于，所述第一检测模组还包括第三驱动结构，所述第三驱动结构与所述第二驱动结构连接以驱动所述第二驱动结构沿第三方向靠近或远离所述工件，所述第一方向、所述第二方向及所述第三方向三者两两相交。
  9. 根据权利要求8所述的外观检测装置，其特征在于，所述第二检测模组包括第二检测模块、第四驱动结构以及第五驱动结构，所述第四驱动结构与所述第二检测模块连接以驱动所述第二检测模块沿第四方向与靠近或远离所述工件，所述第五驱动结构与所述第四驱动结构连接以驱动所述第四驱动结构沿第五方向靠近或远离彼此，所述第一方向、所述第四方向以及所述第五方向三者两两相交。
  10. 根据权利要求9所述的外观检测装置，其特征在于，所述第一检测模块包括第一光源与第一相机，所述第二检测模块包括第二光源与第二相机，所述第一光源与所述第二光源的照明方式不同。
  11. 根据权利要求1至10任意一项所述的外观检测装置，其特征在于，所述载具包括支架及机体，所述支架用于可动地设于基座，所述机体用于将所述工件限位在所述机体的承载侧，所述机体与所述支架转动连接，以调整所述承载侧的朝向，相邻所述载具的所述承载侧彼此相向时用于向彼此传递所述工件；所述机体包括承载件及拾取件，所述拾取件设于所述承载件，所述承载件绕第一轴与所述支架转动连接，所述拾取件绕第二轴与所述承载件转动连接，所述第一轴与所述第二轴相交。
  12. 根据权利要求11所述的外观检测装置，其特征在于，相邻设置的所述载具中至少一所述载具的所述拾取件相对所述承载件可伸缩，以使所述拾取件靠近所述工件的一端受压力时向所述承载件弹性回缩。
  13. 根据权利要求11所述的外观检测装置，其特征在于，所述拾取件包括弹性件、彼此套接的转 动部及承载部，所述转动部绕所述第二轴与所述承载件转动连接，所述承载部用于承载所述工件，所述弹性件连接在所述转动部与所述承载部之间，所述承载部受压时能够沿所述转动部向压缩所述弹性件的方向滑动。
  14. 根据权利要求3所述的外观检测装置，其特征在于，所述载具包括真空发生器，所述拾取件内开设有吸附通道，所述吸附通道具有与外部连通的多个吸附孔，以在所述吸附孔内形成负压。
  15. 一种产品检测设备，其特征在于，所述产品检测设备包括上料装置、下料装置以及如权利要求1至14中任意一项所述的外观检测装置，所述外观检测装置包括基座，所述检测结构及所述输料结构均设于所述基座，所述输料结构还包括均可转动地设于所述基座的上料件及下料件，所述上料件及所述下料件的转动轴线相互平行；
    所述上料件用于将工件定位在所述上料件的上料侧，所述上料件可转动地设于所述基座，所述上料件转动时能够调整所述上料侧的朝向，以用于接收所述上料装置所传递的所述工件，以及将所述工件传递给所述载具；
    多个所述载具位于所述上料件与所述下料件之间，多个所述载具均可动地设于所述基座，以带动所述工件靠近或远离相邻所述载具，以及带动所述工件运动至所述检测结构的检测范围内，相邻所述载具分别作用在所述工件的不同部位，相邻所述载具用于向彼此传递所述工件；
    所述下料件可转动地设于所述基座以朝向所述下料装置及朝向所述载具，所述下料件用于接收所述载具所传递的所述工件；
    所述下料装置用于接收所述下料件传递的所述工件。
  16. 根据权利要求15所述的产品检测设备，其特征在于，所述载具包括支架及机体，所述机体用于将所述工件限位在所述机体的承载侧，所述机体与所述支架转动连接；所述上料件包括架体及梁体，所述架体设于所述基座，所述梁体用于将所述工件定位在所述梁体的所述上料侧，所述梁体与所述架体转动连接以调整所述上料侧的朝向，所述上料侧和与之相邻的所述承载侧相向设置时用于向彼此传递所述工件。
  17. 根据权利要求16所述的产品检测设备，其特征在于，所述上料件包括定位结构，所述梁体设有配合件，所述定位结构分别与多个所述配合件围设形成多个装载位，所述定位结构可动地设于所述梁体以配合多个所述配合件将多个所述工件分别对应定位在多个所述装载位。
  18. 根据权利要求17所述的产品检测设备，其特征在于，所述梁体包括基板，所述配合件用于承载所述工件，所述配合件可伸缩地设于所述基板，以使所述配合件靠近所述工件的一端受压力时向所述基板弹性回缩。
  19. 根据权利要求17或18所述的产品检测设备，其特征在于，所述下料件包括所述架体、所述梁体及所述定位结构。
  20. 根据权利要求15所述的产品检测设备，其特征在于，多个所述载具分别运动至与多个所述检测模组对应的位置，所述检测模组的数量与所述载具数量相对应。
PCT/CN2024/073364 2023-02-10 2024-01-19 外观检测装置及产品检测设备 WO2024164827A1 (zh)

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