CN109406538B

CN109406538B - Mobile phone appearance detection system

Info

Publication number: CN109406538B
Application number: CN201811614861.3A
Authority: CN
Inventors: 黄永祯; 周运超; 王凯
Original assignee: Zhongke Shuidi Technology Shenzhen Co ltd; Watrix Technology Beijing Co ltd
Current assignee: Zhongke Shuidi Technology Shenzhen Co ltd; Watrix Technology Beijing Co ltd
Priority date: 2018-12-27
Filing date: 2018-12-27
Publication date: 2024-09-27
Anticipated expiration: 2038-12-27
Also published as: CN109406538A

Abstract

The invention relates to the technical field of workpiece appearance detection, in particular to a mobile phone appearance detection system, which comprises a conveying system and an appearance data acquisition device, wherein the conveying system comprises a conveying device and a carrier; the carrier is placed on the material conveying device and used for carrying the product to be detected; the material conveying device comprises an upstream material conveying unit, a middle material conveying unit and a downstream material conveying unit; the middle material conveying unit comprises an upper material conveying device and a lower material conveying device, and the upstream material conveying unit and the downstream material conveying unit can ascend or descend to the heights of the upper material conveying device and the lower material conveying device; the appearance data acquisition device comprises a surface inspection module, a line scanning module, an angle inspection module, an edge inspection module and a cambered surface inspection module; the line scanning module, the angle detecting module, the cambered surface detecting module and the edge detecting module are distributed around the surface detecting module, and the angle detecting module is located between the line scanning module and the edge detecting module. The appearance detection system of the mobile phone provided by the invention can improve the detection efficiency, and is beneficial to industrial production.

Description

Mobile phone appearance detection system

Technical Field

The invention relates to the technical field of workpiece appearance detection, in particular to a mobile phone appearance detection system.

Background

At present, the appearance detection of products such as mobile phones, tablet computers and the like is carried out manually, but the detection mode is low in efficiency and is not beneficial to industrial production.

Disclosure of Invention

The invention aims to provide a mobile phone appearance detection system, which solves the technical problems of low efficiency and adverse industrial production caused by manual detection in the prior art.

The invention provides a mobile phone appearance detection system which comprises a conveying system and an appearance data acquisition device, wherein the conveying system is used for conveying a product to be detected to the appearance data acquisition device, and the conveying system comprises a conveying device and a carrier; the carrier is placed on the material conveying device and used for carrying a product to be detected; the material conveying device comprises an upstream material conveying unit, a middle material conveying unit and a downstream material conveying unit; the middle material conveying unit comprises an upper material conveying device and a lower material conveying device, and the upstream material conveying unit and the downstream material conveying unit can ascend or descend to the heights of the upper material conveying device and the lower material conveying device;

the appearance data acquisition device comprises a surface inspection module, a line scanning module, an angle inspection module, an edge inspection module and a cambered surface inspection module; the line sweep module group, the angle check module group, the cambered surface check module group and the edge check module group are distributed around the surface check module group, and the angle check module group is positioned between the line sweep module group and the edge check module group.

Further, the material conveying system further comprises a jacking device and a positioning device; the positioning device is arranged on the middle material conveying unit and used for positioning the moving position of the carrier on the material feeding and conveying device; the jacking device is connected with the middle material conveying unit, is located at the upstream position of the positioning device, and is used for pushing the carrier to move up to a set height and releasing thrust to enable the carrier to fall onto the upper material conveying unit.

Further, the appearance data acquisition device also comprises a product bearing and positioning table, which is used for bearing the product to be detected and driving the product to be detected to move; the product bearing and positioning table is positioned below the surface inspection module.

Further, the product bearing and positioning table comprises a moving mechanism and a bearing mechanism, wherein the bearing mechanism is arranged at the output end of the moving mechanism; the bearing mechanism comprises a fixed frame and a sucker arranged in the fixed frame; the adsorption end of the sucker is higher than the upper table top of the fixed frame, and the adsorption end of the adsorbed product can be flush with the upper table top of the fixed frame; the motion mechanism is used for driving the bearing mechanism to move.

Further, the appearance data acquisition device further comprises a product overturning device, which is used for overturning the product to be detected; the product turning device comprises a rotating mechanism and a clamping mechanism; the clamping mechanism is connected with an external mechanism through the rotating mechanism; the rotating mechanism can drive the clamping mechanism to perform concentric overturning movement.

Further, the appearance data acquisition device further comprises a transfer device, and the transfer device is used for taking down the product to be detected from the carrier and placing the product to be detected on a product bearing and positioning table.

Further, the transfer device comprises a first direction moving mechanism, a second direction moving mechanism, a transfer rotating mechanism and a transfer clamping jaw mechanism; the transferring and rotating mechanism is used for enabling the transferring clamping jaw mechanism to perform rotating motion; the second direction moving mechanism is used for enabling the transferring rotating mechanism to move along a second direction, and the first direction moving mechanism is used for enabling the second direction moving mechanism to move along a first direction; the transfer jaw mechanism comprises a plurality of jaw assemblies, and the jaw assemblies comprise a jaw driving device and a plurality of transfer jaws, wherein the jaw driving device is used for gathering or separating a plurality of transfer jaws.

Further, the device also comprises a feeding device and a discharging device; the feeding device is used for detecting the product to be detected of the conveying system, so that the appearance data acquisition device can detect the product to be detected conveyed by the conveying system; the blanking device is used for storing the product detected by the appearance data acquisition device.

Further, the surface inspection module comprises a first camera, a first lens and a first annular light source which are sequentially arranged from top to bottom; the line scanning module comprises a second camera and two linear light sources, wherein the two linear light sources are positioned on two opposite sides of the second camera; the angle detection module, the edge detection module and the cambered surface detection module all comprise a third camera, a third lens and a third light source.

Further, the jacking device comprises a fixed frame, a jacking frame, a driving device and at least one guiding device; the driving device is connected with the fixing frame and provided with a telescopic rod, and the telescopic rod is connected with the jacking frame so that the jacking frame can move relative to the fixing frame;

The guide device is provided with a fixed part and a guide part which are connected, the fixed part is connected with the fixed frame, the guide part is connected with the jacking frame, and the moving direction of the guide part is the same as the moving direction of the telescopic rod.

Compared with the prior art, the invention has the beneficial effects that:

the appearance detection system of the mobile phone provided by the invention can improve the detection efficiency, and is beneficial to industrial production.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic structural diagram of a bearing positioning table according to an embodiment of the present invention;

fig. 2 is a schematic structural diagram of a bearing mechanism in a bearing positioning table according to an embodiment of the present invention;

Fig. 3 is a schematic structural diagram of a suction cup in a bearing and positioning table according to an embodiment of the present invention;

Fig. 4 is a schematic structural view of a transfer jaw mechanism according to an embodiment of the present invention;

FIG. 5 is a front view of a transfer jaw mechanism provided in an embodiment of the present invention;

FIG. 6 is a top view of a transfer jaw mechanism provided in an embodiment of the invention;

FIG. 7 is a partially enlarged schematic illustration of the portion G in FIG. 4;

fig. 8 is a schematic structural diagram of a transfer device according to an embodiment of the present invention;

fig. 9 is a schematic structural diagram of a wire sweep module according to an embodiment of the present invention;

FIG. 10 is a schematic structural diagram of an angle detection module according to an embodiment of the present invention;

FIG. 11 is a schematic structural diagram of an edge inspection module according to an embodiment of the present invention;

Fig. 12 is a schematic structural diagram of a cambered surface detecting module according to an embodiment of the invention;

fig. 13 is a schematic structural view of a mounting bracket according to an embodiment of the present invention;

Fig. 14 is a schematic diagram of an appearance data acquisition device according to an embodiment of the present invention;

fig. 15 is a front view of an appearance data acquisition device according to an embodiment of the present invention;

FIG. 16 is a left side view of FIG. 15;

FIG. 17 is a top view of FIG. 15;

FIG. 18 is a bottom view of FIG. 15;

FIG. 19 is a schematic view of an appearance data acquisition device according to an embodiment of the present invention;

fig. 20 is a front view of fig. 19;

FIG. 21 is a schematic view of the appearance data acquisition device of FIG. 19 without a mounting bracket mounted thereto;

fig. 22 is a schematic structural diagram of a product turning device according to an embodiment of the present invention;

Fig. 23 is a schematic structural view of a clamping arm in a clamping mechanism in a product turning device according to an embodiment of the present invention;

Fig. 24 is a schematic structural diagram of an adjusting block in a product turning device according to an embodiment of the present invention;

fig. 25 is a schematic perspective view of a conveying system according to an embodiment of the present invention;

FIG. 26 is an enlarged schematic view of FIG. 25 at A;

fig. 27 is a schematic structural diagram of a feeding device according to an embodiment of the present invention;

fig. 28 is a schematic structural diagram of a middle feeding unit according to an embodiment of the present disclosure;

fig. 29 is a schematic structural view of a positioning device according to an embodiment of the present invention;

FIG. 30 is a schematic diagram illustrating a connection structure between a positioning device and a jacking device according to an embodiment of the present invention;

fig. 31 is a front view of a jacking device according to an embodiment of the present invention;

FIG. 32 is a top view of a jacking device according to an embodiment of the present invention;

Fig. 33 is a schematic structural view of a fixing frame in the jacking device according to the embodiment of the invention.

FIG. 34 is a schematic diagram of a carrier according to an embodiment of the present invention;

FIG. 35 is a schematic diagram illustrating the installation of a slider in a carrier according to an embodiment of the present invention;

FIG. 36 is a schematic view of a slider in a carrier according to an embodiment of the present invention;

Fig. 37 is a schematic structural diagram of a mobile phone appearance detection system according to an embodiment of the present invention;

fig. 38 is a schematic structural diagram of another view angle of the mobile phone appearance detection system according to the embodiment of the present invention;

FIG. 39 is a partial schematic view of the storage bin of FIG. 38;

FIG. 40 is a partial schematic view of the first timing belt and carrier rack of FIG. 38;

FIG. 41 is a schematic view of a loading device according to an embodiment of the present invention when the loading device is matched with an upstream feeding unit;

FIG. 42 is a partially enlarged schematic view of FIG. 41 at D;

Fig. 43 is an enlarged partial schematic view at E in fig. 41.

Icon: 100-carrier; 101-a bottom plate; 102-Y direction slide rail; 103-a slider; 104-X direction slide rail; 105-L-shaped clamping blocks; 106-supporting blocks; 107-a first buffer; 108-a second buffer;

200-a product bearing and positioning table; 201-a fixed frame; 2011-upper table top; 2012-mounting holes; 2013-boss; 2014-vacuum airway; 2015—a robot mounting hole; 202-sucking disc; 2021-linker; 2022-adsorption end; 203-X direction movement table; 2031-grating ruler; 204-Y direction movement table; 205-Z direction rotating table;

300-a product turning device; 301-parallel clamping jaw cylinders; 3011-a clip arm; 3012-a threaded hole; 3013-a conditioning block; 3014-oblong mounting holes; 3015-protecting glue block; 3016-a first card slot; 3017-a second card slot; 3018-a sensing element; 302-a rotary cylinder; 3021-connecting plates;

400-a material conveying device; 410-an upstream feeding unit; 411-first feeding device; 412-a first lifting device; 420-a middle material conveying unit; 421-feeding device; 422-a lower feeding device; 430-a downstream feed unit; 431-a second material conveying device; 432-a second lifting device;

500-jacking devices; 510-fixing frame; 520-jacking frame; 521-lightening holes; 530-driving means; 531-telescoping rod; 540-a guide; 541-a fixing member; 542-guides; 550-cushion pad; 551-connecting groove; 560-a buffer device; 570-inductor; 580-inductor support;

600-positioning device; 610-a fixed seat; 611-a support; 620-positioning frame; 621-a trigger lever; 622-positioning rod; 630-elastic restoring member; 640-guide wheels; 650-moving the seat; 660-a support base; 661-baffle; 670-elastic connection; 680-position sensor; 690—first stop; 691-a second limiting piece;

700-a transfer device; 701-a first direction movement mechanism; 702-a second direction movement mechanism; 703-a transport rotation mechanism; 704-a transfer jaw mechanism; 706-position adjustment plate; 707-a transverse arm; 708-a vertical arm; 709-buffering the locating block; 710—positioning grooves; 711-a first fixing seat; 711-adjustment hole; 712-jaw drive;

801-a surface inspection module; an 802-line sweep module; 803-an angle detection module; 804-an edge inspection module; 805-a cambered surface detection module; 806-top plate; 807-legs; 808-a first camera; 809—first lens; 810-a first annular light source; 811-a third camera; 812-third lens; 813-a third light source; 814-vertical; 815-a horizontal section; 816-a second support shelf; 817-a third support frame; 818-a fourth support frame; 819—a cross beam plate; 820-a second camera; 821-linear light source; 822-second lens.

901-A feeding device; 903—a first synchronization belt; 904-handling the rack; 905-a first handling motor; 906-a first slide rail; 910-grip; 911-a second synchronous belt; 912-a third linear sliding table; 913-a tray support; 920-six-axis mechanical arm; 921-rotating rack; 922-storage bin.

Detailed Description

The following description of the embodiments of the present invention will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the invention are shown.

In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.

Referring to fig. 37 to 41, an embodiment of the present invention provides a mobile phone appearance detection system, which includes a feeding device 901, a conveying system, an appearance data acquisition device and a discharging device, where the conveying system is used for conveying a product to be detected to the appearance data acquisition device. The feeding device is used for detecting the product to be detected of the conveying system, so that the appearance data acquisition device can detect the product to be detected conveyed by the conveying system; the blanking device is used for storing the product detected by the appearance data acquisition device.

Specifically, the product to be detected is stored in the feeding device, the feeding device can convey the product to be detected to the conveying system, the conveying system conveys the product to be detected to the appearance data acquisition device, the appearance data acquisition device clamps the product to be detected from the conveying system and detects the product to obtain image information, then the appearance data acquisition device returns the detected product to be detected (the detected product is the detected product at the moment), the conveying system conveys the detected product returned by the appearance data acquisition device to the discharging device, and then the discharging device takes the detected product from the conveying system and stores the product.

In this embodiment, the loading device may include a first handling mechanism and a first storage mechanism; the first carrying mechanism carries the product to be detected on the first storage mechanism onto the conveying system. The first carrying mechanism may include a first synchronous belt 903 provided with a vacuum chuck (not shown) and a carrying bracket 904, one end of the carrying bracket is provided with a first carrying motor 905, the other end of the carrying bracket is provided with a first synchronous wheel, the first carrying motor is provided with a second synchronous wheel, and the first synchronous wheel and the second synchronous wheel are linked through the first synchronous belt; the vacuum chuck is fixed on the first synchronous belt, and the vacuum chuck faces downwards so as to absorb the product to be detected, the first carrying motor can be a servo motor, and the first carrying motor can move from one end of the carrying support to the other end of the carrying support through positive and negative rotation to absorb the product to be detected from the first storage mechanism and then carry the product to the carrier of the conveying system. The first storage mechanism comprises two first sliding rails which are arranged in parallel at intervals, the first sliding rails are provided with first sliding blocks 906 in a sliding manner, first air cylinders are arranged on the first sliding blocks, and two clamping hands 910 are arranged on the first air cylinders; the movement of the first slider can be realized through the movement of the second synchronous belt 911 or through a screw motor, and when the second synchronous belt is adopted for driving, the first slider is fixedly connected with the second synchronous belt; the second synchronous belt is arranged on two third synchronous wheels which are arranged at intervals, and one of the third synchronous wheels is driven by a third motor. The vacuum chuck is communicated with a vacuum pump.

The first storage mechanism comprises two third linear sliding tables 912 which are vertically arranged, and the two third linear sliding tables are arranged at intervals; the sliding block of the third linear sliding table is fixed with a tray bracket 913 for placing a tray, and a product to be detected is placed on the tray. The vacuum chuck is positioned above a tray with a plurality of products to be detected; when the tray rack is used, a plurality of trays with products to be detected are arranged on the third linear sliding table, after all products to be detected on the uppermost tray are sucked by the vacuum suction tray, the first air cylinder enables the clamping hands to extend out, the clamping hands extend into the lower surface of the uppermost tray, then the second synchronous motor drives the first sliding block to move, the empty tray is moved to the upper side of the tray rack on the other third linear sliding table, then the first air cylinder is retracted, the clamping hands are retracted, and therefore the empty tray is placed on the tray rack on the other third linear sliding table, the tray rack with the products to be detected is placed on the tray rack, and the empty tray with the products to be detected is placed on the other tray rack.

It should be noted that the first carrying mechanism may also be a six-axis manipulator. The mobile phone appearance detection system can further comprise a shell, and the loading device, the conveying system, the appearance data acquisition device and the unloading device are packaged in a closed space through the shell. An alarm is arranged on the shell and is used for alarming system faults and the like.

The appearance detection system of the mobile phone can detect the problems of color spots, particles, pits, bulges, edge breakage and the like of the mobile phone. The conveying system designed by the invention solves the problems that the traditional material conveying device can not realize the positioning of the carrier used for carrying the mobile phone on line, and can not realize the automatic backflow of the carrier, thereby influencing the production efficiency of the mobile phone. As shown in fig. 25 and 26, a conveying system provided in an embodiment of the present invention includes: carrier 100, feeder 400, jack 500, and positioning device 600.

The carrier 100 is placed on the material conveying device 400 and used for carrying a product to be detected;

Referring to fig. 27, a feeding device 400 includes an upstream feeding unit 410, a middle feeding unit 420, and a downstream feeding unit 430; the middle feeding unit 420 is located between the upstream feeding unit 410 and the downstream feeding unit 430; the middle feeding unit 420 includes an upper feeding device 421 and a lower feeding device 422 for conveying the carrier 100 respectively;

The upstream feeding unit 410 and the downstream feeding unit 430 have lifting functions, so that the upstream feeding unit 410 and the downstream feeding unit 430 can be lifted or lowered to the heights of the upper feeding device 421 and the lower feeding device 422, respectively, and the reflow conveying function of the carrier 100 is realized.

Referring to fig. 26, a positioning device 600 is disposed on the middle feeding unit 420 for positioning the carrier 100 at the moving position of the upper feeding device 421;

The jacking device 500 is connected to the middle feeding unit 420, the jacking device 500 is located at an upstream position of the positioning device 600, and the jacking device 500 is used for pushing the carrier 100 to move up to a set height, and can release the pushing force to enable the carrier 100 to drop onto the upper feeding device 421.

The conveying system provided by the embodiment of the invention has the technical effects that:

1. The upstream feeding unit 410 and the downstream feeding unit 430 can be raised or lowered to the level of the upper feeding device 421 and the lower feeding device 422; the carrier 100 can be returned and conveyed to the upstream material conveying unit 410 through the upstream material conveying unit 410, the upstream material conveying device 421, the downstream material conveying unit 430 and the downstream material conveying device 422 in sequence, so that the function of returning and conveying the carrier 100 is realized, and the production efficiency of products is improved.

2. The positioning device 600 is disposed on the middle feeding unit 420, and can position the carrier 100 at the moving position of the feeding device 421, so as to facilitate the transfer of the product to be detected carried by the carrier 100 to other devices for detection or processing.

3. The jacking device 500 is located at an upstream position of the positioning device 600, after the positioning device 600 positions the carrier 100, the jacking device 500 is used for pushing the carrier 100 to move up to a set height, so that a product to be detected is convenient to transfer, and pushing force can be released to enable the carrier 100 to fall onto the feeding device 421, so that the carrier 100 is retransmitted, and the purpose of improving the production efficiency of the product is achieved.

The structure of each component in the above-described conveying system is described in detail below.

Referring to fig. 27, the upstream feeding unit 410 includes a first feeding device 411 and a first lifting device 412, where the first lifting device 412 is connected to the first feeding device 411 to drive the first feeding device 411 to rise or fall.

Similarly, the downstream feeding unit 430 includes a second feeding device 431 and a second lifting device 432, where the second lifting device 432 is connected to the second feeding device 431 to drive the second feeding device 431 to rise or fall.

In this embodiment, the first lifting device 412 and the second lifting device 432 are respectively provided at least one, and the first lifting device 412 and the second lifting device 432 are respectively provided at two sides of the first feeding device 411 in the length direction, and the second lifting device 432 is respectively provided at two sides of the second feeding device 431 in the length direction, so as to provide stable supporting force for the first feeding device 411 and the second feeding device 431.

The first lifting device 412 and the second lifting device 432 use common elements such as an air cylinder, a hydraulic cylinder, or an electric lifting rod.

The first and second feeding devices 411 and 431 adopt a belt type conveying structure, a chain type conveying structure, or a roller type conveying structure. In this embodiment, a belt conveyor structure is taken as an example, which includes a conveyor belt, a driving motor, a driving wheel, and a frame for supporting the driving wheel, wherein the driving motor drives the conveyor belt to move through the driving wheel, so as to drive the carrier 100 to move along the conveying direction. The conveying belts are arranged in parallel and are respectively positioned at two sides of the frame so as to provide stable support for the carrier.

Referring to fig. 28, the upper feeding device 421 and the lower feeding device 422 may also adopt a belt type conveying structure, a chain type conveying structure or a roller type conveying structure. Preferably, in this embodiment, a belt conveyor structure is adopted, and the specific structure of the belt conveyor structure is described above, and the conveyor belts of the upper feeding device 421 and the lower feeding device 422 are also provided with a parallel pair, which are respectively located at two sides of the frame, so as to provide stable support for the carrier.

Referring to fig. 26 and 29, a positioning device 600 according to an embodiment of the present invention includes: the fixing base 610, the positioning frame 620 and the elastic restoring member 630.

The fixing seat 610 is provided with a supporting body 611, and the positioning frame 620 is connected with the supporting body 611 through a rotating shaft, so that the positioning frame 620 can rotate relative to the supporting body 611;

One side of the positioning frame 620 is configured to contact a working end (a side close to the upstream feeding unit 410) of a product to be detected, and the other side is a connecting end (a side close to the downstream feeding unit 430); one end of the elastic reset piece 630 is connected with the connecting end, and the other end is connected with the fixed seat 610;

when the positioning device 600 is in a non-working state, the height of the upper end surface of the working end is higher than the height of the carrier carried on the feeding device 421.

In specific implementation, the positioning frame 620 can rotate relative to the supporting body 611, and the height of the upper end surface of the working end is higher than the height of the carrier 100 borne by the upper conveying device 421, when the upper conveying device 421 conveys the carrier 100 to the position of the positioning frame 620, the positioning frame 620 can stop the carrier 100, the positioning frame 620 moves downwards under the thrust of the carrier 100, and meanwhile, the elastic reset piece 630 is compressed under the stress; when the carrier 100 is lifted and the product to be detected carried at the same time is taken away, the positioning frame 620 is reset under the action of the elastic reset element 630 and moves to the lower side of the carrier 100, that is, the working end is turned to the lower side of the carrier 100, when the carrier 100 is lifted, the positioning frame 620 can be positioned below the carrier 100, the carrier 100 can not be stopped continuously, and the carrier 100 can be conveyed in the downstream direction continuously; the positioning device 600 not only can position the carrier 100, but also can realize the reflow conveying of the carrier 100, thereby improving the production efficiency.

In an alternative embodiment, the resilient return 630 is a spring.

In an alternative embodiment, the positioning device 600 further includes a guide wheel 640, wherein the guide wheel 640 is rotatably connected to the fixed end.

When the carrier 100 is positioned, the guide wheel 640 plays a role of contacting with the carrier 100, namely, the carrier 100 pushes the guide wheel 640, the guide wheel 640 transmits thrust to the positioning frame 620, and the positioning frame 620 rotates to a corresponding position relative to the rotating shaft; when the positioning frame 620 is located below the carrier 100, the guide wheel 640 plays a role in assisting in guiding and supporting the carrier 100, so that the carrier 100 can smoothly pass through the positioning frame 620 without interfering with the backflow and transportation of the carrier.

In an alternative embodiment, the positioning frame 620 is configured in a U shape, the positioning frame 620 includes two trigger rods 621 disposed in parallel and a fixing rod 622 disposed between the two trigger rods 621, the two trigger rods 621 are disposed on two sides of the supporting body 611 (i.e. perpendicular to the conveying direction of the carrier 100), the trigger rods 621 are respectively rotatably connected to the supporting body 611 through shafts, and the working end of the positioning frame 620 is one end of the trigger rod 621 for contacting a product to be detected.

In this technical scheme, two trigger bars 621 are utilized to make the positioning frame 620 realize two-point positioning to the carrier 100, improve the accuracy to the carrier 100 position location, ensure that the carrier 100's position can not produce the problem of skew, simultaneously, the dead lever 622 can also ensure the intensity between the trigger bars 621 and the synchronism of removal.

In an alternative embodiment, the positioning device 600 further includes a moving support device, which is connected to the bottom of the fixed base 610, and the moving support device can drive the fixed base 610 and the positioning frame 620 to move along the transmission direction of the carrier 100.

In the above technical solution, since the fixing base 610 is connected with the movable supporting device, when the feeding device 421 conveys the carrier 100 to the position of the positioning frame 620, the carrier 100 can push the positioning frame 620, and then the fixing base 610 pushes the movable supporting device to reach the limit position, so that the positioning frame 620 stops stopping the carrier 100, and the accuracy of positioning the carrier 100 is improved.

In an alternative embodiment, the movable supporting means includes a movable base 650, a supporting base 660, and an elastic connection 670;

The top of the movable seat 650 is connected with the fixed seat 610, and the bottom of the movable seat 650 is connected with the supporting seat 660 in a sliding way through a guide structure; preferably, the guiding structure may be in the form of a guide rail matched with the guide groove, a guide groove may be arranged at the bottom of the moving seat 650, and a guide rail is arranged at the upper part of the supporting seat 660, so that the guide groove can move on the guide rail, and the guiding effect of the moving direction of the moving seat 650 is realized.

One side (downstream position) of the supporting seat 660 is provided with a baffle 661, one end of the elastic connecting piece 670 is connected with the baffle 661, and the other end is connected with the moving seat 650, so that the moving seat 650 has a tendency to move towards a direction away from the baffle 661. Preferably, the elastic connection 670 employs a spring.

In specific implementation, the moving seat 650 can slide on the supporting seat 660 through the guide structure, when the carrier 100 pushes the positioning frame 620, the moving seat 650 moves towards the baffle 661 until the moving seat 650 stops moving after moving to the limit position, and the elastic connecting piece 670 compresses to achieve the positioning effect on the carrier 100;

When the lifting device 500 pushes the carrier 100 to lift, the carrier 100 is separated from the positioning frame 620, the elastic connecting piece 670 is reset, and the moving seat 650 moves away from the baffle 661, so that the positioning frame 620 moves below the carrier 100, positioning of the carrier 100 can be realized, and meanwhile, the backflow of the carrier 100 to the feeding device 421 is not influenced to be realized for conveying.

In an alternative embodiment, the positioning device 600 further includes a position sensor 680, where the position sensor 680 is disposed on the support base 660 or the baffle 661, and the position sensor 680 is configured to detect the position of the moving base 650 relative to the sensor.

Preferably, the position sensor 680 is disposed on the baffle 661, and when the moving seat 650 moves to a certain distance towards the position sensor 680, the position sensor 680 can transmit the detected position signal of the moving seat 650 to the upper computer for processing, so that the upper computer can drive other devices to process the carrier 100 and the product to be detected carried by the carrier 100. The position sensor 680 may be a conventional sensing device such as an infrared sensor or a photoelectric sensor.

In an alternative embodiment, the positioning device 600 further includes a first limiting member 690, where the first limiting member 690 is movably connected with the baffle 661, the first limiting member 690 preferably uses a screw, the screw is screwed with the baffle 661, so that the position of the screw can be conveniently adjusted, and the movement stroke of the movement seat 650 can be conveniently limited by using the first limiting member 690, so that the positioning position of the carrier 100 can be accurately adjusted.

In an alternative embodiment, the positioning device 600 further includes a second stopper 691, and the second stopper 691 is disposed perpendicular to the moving direction of the moving seat 650 and contacts the moving seat 650. The second stopper 691 may be provided in a block shape, which is detachably coupled with the supporting base 660 by a screw. The second limiting member 691 can limit the moving direction of the moving seat 650, so as to avoid the moving direction of the moving seat 650 from deviating.

As shown in fig. 30, 31, 32 and 33, a jacking device 500 provided in an embodiment of the present invention includes: a fixed frame 510, a jacking frame 520, a driving device 530 and at least one guiding device 540.

The fixing frame 510 plays a supporting role; the fixing frame 510 is also used for supporting a supporting seat 660 in the positioning device 600.

The driving device 530 is used to drive the lifting frame 520 to rise or fall relative to the fixing frame 510,

The lifting frame 520 is used for carrying a corresponding carrier 100 and a product to be detected of a mobile phone placed on the carrier 100;

The guide 540 plays a role of guiding the moving direction of the jacking frame 520.

Specifically, the driving device 530 is connected to the fixing frame 510, and the driving device 530 has a telescopic rod 531, where the telescopic rod 531 is connected to the lifting frame 520, so that the lifting frame 520 can move relative to the fixing frame 510; as shown in fig. 30, in actual use, the lifting frame 520 moves up and down in the height direction with respect to the fixing frame 510;

The guide 540 includes a fixing member 541 and a guide member 542 connected to each other, the guide member 542 is movable relative to the fixing member 541, the fixing member 541 is connected to the fixing frame 510, the guide member 542 is connected to the jack-up frame 520, and the movement direction of the guide member 542 is the same as the movement direction of the telescopic link 531.

In the jacking device 500 provided in this embodiment, since at least one guiding device 540 is adopted, the guiding piece 542 is connected with the jacking frame 520, and when the driving device 530 drives the jacking frame 520 to move through the telescopic rod 531 thereof, the guiding piece 542 of the guiding device 540 synchronously moves, so as to play a guiding role on the moving direction of the jacking frame 520, improve the moving precision of the jacking frame 520, and ensure the precision of product transportation.

The driving device 530 may be a cylinder, a hydraulic cylinder, an electric push rod, or the like. Preferably, in this embodiment, the driving device 530 is exemplified by a cylinder, the housing of the cylinder is connected to the fixing frame 510, the telescopic rod 531 of the cylinder extends out of a preset through hole on the fixing frame 510 to be connected to the lifting frame 520, and the cylinder drives the lifting frame 520 to move up and down through the telescopic rod 531. It should be noted that, the air cylinder may be installed in the opposite manner, that is, the housing of the air cylinder is connected to the lifting frame 520, and the telescopic rod 531 is connected to the fixing frame 510, so as to adjust the displacement of the lifting frame 520.

In a preferred embodiment, the telescopic rod 531 of the driving unit 530 is connected to the jacking frame 520 through the cushion 550, and the cushion 550 has elasticity.

In use, the cushion 550 may be made of rubber or plastic. The buffer pad 550 can absorb the impact force of the telescopic rod 531 on the lifting frame 520, improve the moving stability of the lifting frame 520, and avoid the vibration caused by the rigid connection of the telescopic rod 531 and the lifting frame 520.

In a preferred embodiment, the cushion 550 is detachably coupled to the telescoping rod 531 and the jacking frame 520, respectively.

In the present application, the cushion pad 550 is fixed on the jacking frame 520 by a screw, and the cushion pad 550 is provided with a connection groove 551, and the connection groove 551 is used for being clamped with a corresponding protrusion structure on the telescopic rod 531 of the driving device 530. By adopting the detachable connection mode, the cushion pad 550, the telescopic rod 531 and the jacking frame 520 can be conveniently detached and replaced.

In a preferred embodiment, as shown in connection with fig. 30, 31 and 32, the telescopic rod 531 of the driving device 530 is provided at the middle of the jacking frame 520, and the plurality of guide devices 540 are uniformly arranged at the circumferential side of the driving device 530. In this embodiment, taking the rectangular fixing frame 510 and the jacking frame 520 as examples, four guiding devices 540 are provided and are respectively located at four corners of the jacking frame 520, so that the heights of the positions of the jacking frame 520 are balanced;

By disposing the plurality of guide devices 540 at the circumferential side of the driving device 530, it is possible to provide a uniform guide effect to the plurality of connection points of the jacking frame 520, thereby ensuring the accuracy of the movement of the jacking frame 520 and the flatness of the jacking frame 520.

In a preferred embodiment, the guide 540 may be configured with a linear bearing and a guide post, that is, the fixing element 541 is a linear bearing, and the guide 542 is a guide post, where the guide post is disposed through the linear bearing.

The linear bearing is a linear motion system which is commonly adopted at present and is used for matching a linear stroke with a cylindrical shaft. Because the bearing ball is in point contact with the bearing jacket, the steel ball rolls with minimum friction resistance, so that the linear bearing has the characteristic of small friction, is relatively stable, does not change along with the speed of the bearing, and can obtain stable linear motion with high sensitivity and high precision.

In the above embodiment, the flange-type linear bearing is detachably connected to the fixing frame 510 by a screw, so that the flange-type linear bearing is convenient to replace.

In a preferred embodiment, as shown in fig. 32, a plurality of lightening holes 521 are provided on the jacking frame 520. The plurality of weight reducing holes 521 reduce the weight of the lifting frame 520, thereby reducing the load of the driving device 530 and saving energy.

In a preferred embodiment, the jacking device 500 provided in this embodiment further includes at least one buffer device 560, where the buffer device 560 is disposed between the fixing frame 510 and the jacking frame 520. The buffer device 560 can buffer the lifting frame 520 when the lifting frame 520 descends.

In a preferred embodiment, the dampening device 560 employs a pneumatic dampening device or a hydraulic dampening device.

In the specific installation, the fixed end of the buffer device 560 is fixedly connected with the fixed frame 510 or detachably connected, and the telescopic end of the buffer device 560 passes through a preset through hole on the fixed frame 510 to be connected with the jacking frame 520.

Taking the rectangular fixing frame 510 and the lifting frame 520 as an example, the buffer device 560 is disposed on a set of opposite sides of the driving device 530, or on a peripheral side of the driving device 530, to realize a buffer function for the descending force and speed of the lifting frame 520.

In a preferred embodiment, the jacking device 500 provided in this embodiment further includes an inductor 570, where the inductor 570 is disposed on the jacking frame 520 or the fixing frame 510, and a detection hole is disposed on the jacking frame 520, and the inductor 570 can detect whether a product exists above the jacking frame 520 through the detection hole.

Preferably, the sensor 570 may employ an infrared sensor or a photoelectric sensor.

In practical application, the sensor support 580 is further provided on the fixing frame 510 to provide a supporting function for the sensor 570, and the sensor 570 can be used to detect whether the product is placed on the lifting frame 520, so as to control the operation state of the driving device 530 and other transportation mechanisms conveniently.

Compared with the prior art, the jacking device 500 provided by the embodiment of the invention has the following advantages:

1. At least one guiding device 540 is adopted, a guiding piece 542 is connected with the jacking frame 520, and when the driving device 530 drives the jacking frame 520 to move through a telescopic rod 531, the guiding piece 542 of the guiding device 540 synchronously moves, plays a guiding role on the moving direction of the jacking frame 520, and improves the moving precision of the jacking frame 520.

2. The buffer pad 550 can absorb the impact force of the telescopic rod 531 on the lifting frame 520, improve the moving stability of the lifting frame 520, and avoid the vibration caused by the rigid connection of the telescopic rod 531 and the lifting frame 520.

3. The lifting frame 520 is provided with a plurality of lightening holes 521, so that the weight of the lifting frame 520 can be reduced, the load of the driving device 530 can be further reduced, and the energy-saving effect can be achieved.

4. The buffer device 560 can buffer the lifting frame 520 when the lifting frame 520 descends.

As shown in fig. 34, 35 and 36, the carrier 100 provided in the present embodiment includes a base plate 101, a translation structure and at least two clamping structures;

The translation structure is fixed on the bottom plate 101; the clamping structures can be translated through the translation structures;

the at least two clamping structures are respectively used for clamping two corner positions on the diagonal of a product to be detected of the mobile phone.

In the carrier 100 provided in this embodiment, each clamping structure can translate through the translation structure, so as to reduce or enlarge the clamping range of the clamping structure in cooperation with clamping, so that the carrier is suitable for clamping mobile phones with different models and specifications, and has good clamping effect and high universality.

In an alternative scheme of this embodiment, the clamping structure sets up four, and four clamping structures are used for the centre gripping cell-phone respectively and wait four corners of the product that detect.

In an alternative of this embodiment, the translation structure includes a lateral adjustment mechanism and a longitudinal adjustment mechanism;

The transverse adjusting mechanism is used for adjusting the clamping structure to do transverse movement;

The longitudinal adjusting mechanism is used for adjusting the clamping structure to longitudinally move.

The translation structure is used for driving four clamping structures to clamp mobile phone products, and the clamping paths of the four clamping structures can be used for clamping the mobile phone products along the transverse and longitudinal movement and can also be used for moving and clamping along the two diagonal directions of the mobile phone products. In this embodiment, the mobile phone product is preferably clamped by moving along the transverse direction and the longitudinal direction, and in this way, the mobile phone product is clamped by the clamping mechanism, and the transverse adjusting mechanism and the longitudinal adjusting mechanism need to be designed to drive the clamping mechanism to move along the transverse direction and the longitudinal direction.

In the above technical solution, the lateral adjustment mechanism includes two parallel Y-direction sliding rails 102; a slide block 103 is arranged on the Y-direction slide rail 102; the longitudinal adjustment mechanism is connected with the Y-direction slide rail 102 through a slide block 103.

In the above technical solution, the longitudinal adjustment mechanism includes two parallel X-direction sliding rails 104;

Both ends of each X-direction sliding rail 104 are connected with the Y-direction sliding rail 102 through sliding blocks 103;

Two of the clamping structures are slidably connected to one of the X-direction slide rails 104, and the other two clamping structures are slidably connected to the other X-direction slide rail 104.

Specifically, the lateral adjustment mechanism includes two Y-direction rails 102 and the longitudinal adjustment mechanism includes two parallel X-direction rails 104. The two Y-direction slide rails 102 are arranged on the bottom plate 101 in parallel, and two ends of each X-direction slide rail 104 are respectively connected with the two Y-direction slide rails 102 through the slide blocks 103, so that the two X-direction slide rails 104 can move in a lateral direction along the length direction of the Y-direction slide rails 102.

In the above technical solution, the clamping structure includes an L-shaped clamping block 105; the surface of the L-shaped clamping block 105, which is in contact with the X-direction sliding rail 104, is provided with a sliding groove, and the sliding groove is used for guiding the sliding of the L-shaped clamping block 105;

the two faces of the inner side of the L-shaped clamping block 105 are respectively used for abutting against two sides of one corner of the product.

The L-shaped clamping block 105 is provided with a connecting part and an extending part which are perpendicular to each other, wherein the connecting part is used for being connected with the X-direction sliding rail 104, the extending part extends outwards perpendicular to the X-direction sliding rail 104, and the inner side surfaces of the connecting part and the extending part are respectively used for being abutted with two sides on one corner of a mobile phone product. A sliding groove is arranged on the contact surface of the connecting part and the X-direction sliding rail 104, and the sliding groove is matched with the X-direction sliding rail 104 to provide guidance for sliding of the L-shaped clamping block 105.

In the above technical solution, the clamping structure further includes a supporting block 106; the support block 106 extends from the bottom of the L-shaped clamp block 105 toward the inside of the L-shaped clamp block 105.

The four L-shaped clamping blocks 105 clamp the four corners of the mobile phone product, however, the mobile phone product has friction force between the surfaces which are contacted with the L-shaped clamping blocks 105 due to the influence of self gravity, once the clamping force is insufficient, the mobile phone product is easy to fall down, so the invention arranges the supporting blocks 106 at the bottom of the L-shaped clamping blocks 105, the supporting blocks 106 can be used for supporting the mobile phone product, and in particular, the supporting blocks 106 extend from the bottom of the L-shaped clamping blocks 105 to the inside of the L-shaped clamping blocks 105 for a certain distance.

In the above-described embodiment, the first buffer members 107 are provided on both inner sides of the L-shaped holding block 105.

In the above-described embodiment, the second buffer member 108 is provided on the supporting surface of the supporting block 106.

In this embodiment, the first buffer members 107 are disposed on two sides of the inner side of the L-shaped clamping block 105, and the first buffer members 107 can provide buffering for the edges of the mobile phone product, so as to avoid damaging the edges of the mobile phone product due to excessive clamping force. The supporting surface of the supporting block 106 is provided with a second buffer member 108, and the second buffer member 108 provides buffering for the bottom surface of the mobile phone product.

In an alternative of this embodiment, the bottom plate 101 is a hollow structure.

The bottom plate 101 is used for supporting the translation structure and the holding structure, and besides the connection part, the bottom plate 101 can be designed into a hollow structure so as to reduce the overall weight of the carrier 100 and reduce the load of the movement of the conveyor belt.

Referring to fig. 9 to 15, the present invention provides an appearance data acquisition device, which includes a surface inspection module 801, a line scanning module 802, an angle inspection module 803, an edge inspection module 804 and an arc surface inspection module 805; the line scanning module 802, the angle detecting module 803, the arc surface detecting module 805 and the edge detecting module 804 are distributed around the surface detecting module 801, and the angle detecting module 803 is positioned between the line scanning module 802 and the edge detecting module 804; the surface inspection module 801 includes a first camera 808, a first lens 809, and a first annular light source 810 arranged in order from top to bottom; the line scan module 802 includes a second camera 820 and two linear light sources 821 located on opposite sides of the second camera; the angle inspection module 803, the edge inspection module 804 and the arc inspection module 805 all include a third camera 811, a third lens 812 and a third light source 813. The third light source may be a coaxial light source.

Specifically, the wire sweep module 802 further includes a second lens 822 connected to the second camera; the third light source 813 may be a circular ring light source. The appearance data acquisition device is used for acquiring images of products such as mobile phones. When the mobile phone is located under the surface detection module, the surface detection module is used for photographing the appearance of the mobile phone so as to acquire the front image of the mobile phone, so that other equipment such as an image analysis device can acquire the size, the shape and the front image data of the mobile phone, and the image analysis device is in the prior art and is not specifically described. And the mobile phone is photographed through the line scanning module 802 so as to photograph the display screen of the mobile phone. And each corner of the mobile phone can be photographed through the corner detection module 803; the edge inspection module 804 can take a photograph of the surface of each side of the cell phone. The cambered surface detecting module 805 can take a picture of a cambered surface between the front surface and the side surface of the mobile phone so as to take a picture of a cambered surface between the back surface and the side surface of the mobile phone. It should be noted that, the appearance data acquisition device only relates to the acquisition of the image of the mobile phone, but does not relate to the analysis of the image, and is the prior art.

According to the appearance data acquisition device provided by the embodiment, the line scanning module 802, the angle detection module 803, the cambered surface detection module 805 and the edge detection module 804 are distributed around the surface detection module 801, and the angle detection module 803 is positioned between the line scanning module 802 and the edge detection module 804; after the surface detection module 801 is used for collecting images of products to be detected (such as mobile phones), the line scanning module 802, the angle detection module 803, the cambered surface detection module 805 and the edge detection module 804 are used for collecting images in sequence, so that the products to be detected can be subjected to linear motion or rotary motion to achieve comprehensive image collection, the carrying times of the mobile phones can be reduced, and new bruise of the mobile phones can be avoided.

In an alternative to this embodiment, the appearance data acquisition device further includes a mounting bracket including a top plate 806 and a leg 807 connected to the top plate 806; the first lens 809 is mounted at the mounting through hole of the top plate 806, the first camera 808 is connected with the first lens 809, and the first camera 808 is located above the first lens 809.

Specifically, the legs 807 are secured to the lower surface of the top plate 806; the first camera 808 may be a 2900 ten thousand pixel industrial camera, such as a CCD camera; the second camera and the third camera 811 may also each be an industrial camera, such as a CCD camera. The first lens 809 is a double telecentric lens. The first ring light source 810 may have a square shape.

In the alternative of this embodiment, the number of the legs 807 is three, and the connection line between the top ends of the three legs 807 forms an isosceles triangle, that is, the three legs 807 are distributed at the three outer vertices of the isosceles triangle; a beam plate 819 is connected between the two legs 807 at the vertices of the isosceles triangle, the first annular light source 810 is fixed in the middle of the beam plate, and the first annular light source 810 is located right below the mounting through hole, so that the first annular light source 810 can illuminate a mobile phone located right below it, and the first camera 808 photographs the mobile phone right below the first annular light source 810 through the first lens 809.

Specifically, the length direction of the three legs 807 is perpendicular to the top plate 806.

In an alternative solution of this embodiment, the wire sweep module 802 further includes a first support frame, the second camera and the linear light source are both fixed on the first support frame, and the first support frame is fixedly connected with the top plate 806.

Specifically, the second camera of the wire sweep module 802 is disposed at an angle bottom with respect to the vertical direction, and the second camera of the wire sweep module 802 is inclined downward. The length directions of the two linear light sources are parallel, so that the parallel light emitted between the two linear light sources is facilitated. The first support frame comprises a vertical part 814 and a horizontal part 815, and the length direction of the vertical part 814 is parallel to the length direction of the horizontal part 815; the length direction of the vertical portion 814 is perpendicular to the plate surface of the top plate 806. One end of the vertical part 814 is connected with one end of the horizontal part 815; one of the linear light sources is installed at the other end of the vertical portion 814, the other linear light source is installed at the other end of the horizontal portion 815, and the second camera is installed at a junction of one end of the vertical portion 814 and one end of the horizontal portion 815. It should be noted that the linear light source may be mounted on a slide block of a linear slide rail, and the linear slide rail is fixed on the first support frame, so that the distance between the linear light source and the mobile phone is convenient to be adjusted; in addition, the second camera can also be installed on the slider of a linear slide rail, and the linear slide rail is fixed on the first support frame, so that the distance between the second camera and the mobile phone can be conveniently adjusted.

In an alternative to this embodiment, the edge inspection module 804 is mounted by a second support frame 816 to a leg 807 at the apex of the isosceles triangle.

Specifically, the number of the edge inspection modules 804 is two, and the cambered surface inspection module 805 is located between the two edge inspection modules 804.

In an alternative of this embodiment, the arc inspection module 805 is mounted on the leg 807 at the vertex of the isosceles triangle by a third support 817. The third camera 811 of the arc surface inspection module 805 is disposed at an angle to the vertical direction, and the third camera 811 of the arc surface inspection module 805 is inclined downward. The third camera 811 of the edge inspection module 804 and the third camera 811 of the corner inspection module 803 are all horizontally arranged.

In an alternative embodiment, the corner detection module 803 is mounted on the fourth support frame 818. The third camera 811 of the angle detection module 803 is arranged at an angle with the second camera of the edge detection module 804, so that the angle detection module 803 can conveniently shoot four corners of the mobile phone.

Referring to fig. 19 to 21, the appearance data acquisition device in this embodiment further includes a product bearing positioning table, a product turning device, and a transfer device.

Referring to fig. 1 to 3, in this embodiment, the appearance data acquisition device further includes a product bearing positioning table 200, for bearing a product to be detected and driving the product to be detected to move; the product bearing and positioning table is positioned below the surface inspection module 801.

In an alternative scheme of the embodiment, the product bearing and positioning table comprises a moving mechanism and a bearing mechanism, and the bearing mechanism is arranged at the output end of the moving mechanism;

The bearing mechanism comprises a fixed frame 201 and a sucker 202 arranged inside the fixed frame 201; the suction end 2022 of the suction cup 202 is higher than the upper table 2011 of the fixed frame 201, and the suction end 2022 of the sucked product can be flush with the upper table 2011 of the fixed frame 201;

the motion mechanism is used for driving the bearing mechanism to move so that the product reaches the detection position.

According to the product bearing and positioning table provided by the invention, the initial position of the absorption end 2022 of the sucker 202 is higher than the upper table top 2011 of the fixed frame 201, after the sucker 202 absorbs the bottom surface of a product, the absorption end 2022 is flush with the upper table top 2011 of the fixed frame 201, and the fixed frame 201 realizes the bearing function. The motion mechanism drives the bearing mechanism to move to the detection position, so that the detection of four edges and four corner positions of a product is realized.

Based on this, compared with the prior art, the invention has the advantage of being convenient for detecting four sides or four corners of the product.

As shown in fig. 1 to 3, in an alternative of the present embodiment, the movement mechanism includes an X-direction movement stage 203, a Y-direction movement stage 204, and a Z-direction rotation stage 205;

the X-direction moving table 203 is used for driving the bearing mechanism to move in the X-direction;

the Y-direction moving table 204 is used for driving the bearing mechanism to move in the Y-direction;

the Z-direction rotating table 205 is used to drive the bearing mechanism to rotate around the Z-axis.

Specifically, the motion mechanism includes an X-direction motion table 203 capable of driving the carrying mechanism to move in the X-direction, a Y-direction motion table 204 capable of driving the carrying mechanism to move in the Y-direction, and a motion driving the carrying mechanism to rotate around the Z-axis. The X-direction moving table 203 and the Y-direction moving table 204 have higher precision, and ensure that the products on the bearing table reach the detection position. The Z-direction rotating table 205 is connected to the output end of the X-direction moving table 203 or the Y-direction moving table 204, and when the product is carried to the detection position by the X-direction moving table 203 and the Y-direction moving table 204, the external detection device detects detection points such as edges or corners of the product, and the four edges and the four corners of the product are sequentially located at the detection points by the rotation of the Z-direction rotating table 205, so that the four edges and the four corners of the product are comprehensively detected under the condition that the detection device does not move.

In the above technical solution, further, the fixing frame 201 is a square box body;

the bottom of the fixing frame 201 is provided with a mounting hole 2012.

The center position of the bottom of the fixed frame 201 coincides with the rotation axis of the Z-direction rotating table 205, a plurality of mounting holes 2012 are circumferentially arrayed around the center position of the bottom of the fixed frame 201, a plurality of threaded holes are formed in the Z-direction rotating table 205 at positions corresponding to the plurality of mounting holes 2012, and the fixed frame 201 is fixed to the Z-direction rotating table 205 by screws.

In the above technical solution, further, a fixing step of the suction cup 202 is provided at the bottom of the fixing frame 201;

The connection end 2021 of the suction cup 202 is fixed on the fixing step of the suction cup 202, and the suction end 2022 extends out of the upper table 2011 of the fixing frame 201.

The fixing step of the suction cup 202 is used for installing the suction cup 202, and the installation mode of directly fixing the suction cup 202 on the bottom surface of the fixing frame 201 is difficult, and the types of the suction cup 202 which can be used are limited. Therefore, in this embodiment, the bottom surface of the fixed frame 201 is provided with the fixing step of the suction cup 202, and the suction cup 202 does not need to be dismounted and mounted to extend into the bottom of the fixed frame 201. The suction cup 202 has the types of common suction cup 202, vacuum suction cup and the like, different suction cup 202 types are installed in different modes, and corresponding connecting structures can be processed on the fixed steps of the suction cup 202 according to different suction cup 202 types.

In the above technical solution, further, the number of the suction cups 202 is four, and the four suction cups 202 are uniformly distributed on the fixing steps of the suction cups 202.

In the above technical solution, further, the fixing step of the suction cup 202 includes two symmetrically arranged bosses 2013;

two of the suction cups 202 are fixed to one of the bosses 2013, and the other two suction cups 202 are fixed to the other two bosses 2013.

To achieve stable adsorption, the number of the suction cups 202 is preferably four, and the four suction cups 202 are uniformly distributed near the four corners of the fixing frame 201, wherein two suction cups 202 are fixed on one boss 2013, and the other two suction cups 202 are fixed on the other two bosses 2013.

In the above technical solution, further, the suction cup 202 is a vacuum suction cup;

a vacuum air passage 2014 is provided on the boss 2013, and the vacuum air passage 2014 is connected to the fixed frame 201 by the suction cup 202.

In this embodiment, the suction cup 202 is a vacuum suction cup, the vacuum suction cup is fixed on the boss 2013, the boss 2013 is provided with a vacuum air passage 2014, and the vacuum air passage 2014 is connected to the fixed frame 201 by the suction cup 202 and then connected to the vacuum pump by the fixed frame 201.

In an alternative of the present embodiment, a robot mounting hole 2015 is provided at a center position of the bottom of the fixed frame 201.

A robot may be mounted on the robot mounting hole 2015 and may pick up the product and place it on the suction end 2022 of the suction cup 202.

In an alternative to this embodiment, the X-direction motion stage 203 and the Y-direction motion stage 204 are positioned by a grating scale 2031.

In this embodiment, the X-direction movement stage 203 and the Y-direction movement stage 204 are positioned by the grating scale 2031, and the positioning accuracy is high. During detection, the product bearing positioning table is used for positioning, the sucking disc 202 in the fixed frame 201 adsorbs the bottom surface of the mobile phone, the adsorption end 2022 of the sucking disc 202 after adsorbing the mobile phone is flush with the upper table top 2011 of the fixed frame 201, and the moving mechanism drives the bearing mechanism to move to the detection position, so that the detection of four sides and four corner positions of the mobile phone is realized.

In an alternative scheme of this embodiment, the appearance data acquisition device further includes a product turning device 300, configured to turn over a product to be detected.

As shown in fig. 22 to 24, the product turning device includes a rotating mechanism and a clamping mechanism; the clamping mechanism is connected with an external mechanism through a rotating mechanism; the rotating mechanism can drive the clamping mechanism to perform concentric overturning movement; the clamping range of the clamping mechanism is adjustable.

The product turning device provided by the invention has the advantages that the clamping range of the clamping mechanism is adjustable, products to be detected with different sizes can be clamped, and the rotating mechanism can drive the clamping mechanism to rotate coaxially, so that the requirement of turning the products to be detected is met.

Based on the above, compared with the prior art, the invention has the advantages of simple and compact structure.

As shown in fig. 22, in an alternative of the present embodiment, the clamping mechanism includes parallel jaw cylinders 301;

Two clamping arms 3011 of the parallel clamping jaw cylinder 301 are provided with adjusting structures; the adjusting structure is used for adjusting the length range of the clamping.

Specifically, the parallel jaw cylinder 301 includes a cylinder and two clamp arms 3011. The pushing force and the pulling force on the piston rod of the cylinder are determined according to the magnitude of the force required for working, so that the output force of the cylinder is slightly allowance when the cylinder is selected. If the cylinder diameter is selected to be small, the output force is insufficient, and the cylinder cannot work normally; but the cylinder diameter is too large, so that equipment is heavy and high in cost, and meanwhile, the air consumption is increased, so that energy waste is caused. In design, a force increasing mechanism should be adopted as much as possible to reduce the size of the cylinder. The driving of the clamp arm 3011 is realized by a cylinder driver; the left and right independent pistons are arranged in the cylinder body, each piston is connected with the outer clamping arm 3011, so that the movement of each piston represents the movement of a single air jaw clamping arm 3011, the two clamping arms 3011 can move towards the direction perpendicular to the clamping arms 3011 to realize the adjustment of the width range, and the clamping arms 3011 are provided with an adjusting structure for adjusting the length range, so that the clamping range of the clamping mechanism is adjustable.

In the above technical solution, further, the adjusting structure includes two adjusting blocks 3013;

two adjusting blocks 3013 are arranged at the bottom of the clamping arm 3011;

The adjusting block 3013 is provided with an oblong mounting hole 3014, and a plurality of threaded holes 3012 are arranged along the length direction of the clamping arm 3011; the threaded holes 3012 mate with oblong mounting holes 3014 and fasten the adjustment block 3013 to the clamp arm 3011 by means of screws.

In the above technical solution, further, the plurality of screw holes 3012 are uniformly distributed along the length direction of the clip arms 3011.

The adjusting structure is used for adjusting the length range of clamping, and the adjusting structure of this example comprises two adjusting blocks 3013, and the two adjusting blocks 3013 are arranged at the bottom of the clamping arm 3011 and can slide relative to the clamping arm 3011. A plurality of screw holes 3012 are arrayed along the length direction of the clamp arm 3011; the adjusting block 3013 is provided with an oblong mounting hole 3014, and a screw is matched with the threaded hole 3012 through the oblong mounting hole 3014. When adjusting the length, confirm according to the length of the product to be detected and adjust the screw hole 3012 (carry out coarse adjustment) of obround mounting hole 3014 complex on the regulating block 3013, adjust the position (carry out fine adjustment) of regulating block 3013 through obround mounting hole 3014 to realize the centre gripping of four limits or four angles of the product to be detected, the centre gripping is firm be difficult for dropping.

In the above technical solution, further, a protective glue block 3015 is disposed on the inner side of the adjusting block 3013.

In order to prevent the contact position of the product to be detected and the clamping mechanism from being damaged due to overlarge clamping force, the embodiment is provided with a protective rubber block 3015 at the inner side of the adjusting block 3013, and the protective rubber block 3015 can be a polyurethane buffer block.

In the above technical solution, further, the adjusting block 3013 is provided with a first clamping groove 3016, the clamping arm 3011 is provided with a second clamping groove 3017 at a position opposite to the first clamping groove 3016, and two sides of the protective glue block 3015 are respectively embedded into the first clamping groove 3016 and the second clamping groove 3017.

The protection glue block 3015 is arranged at the inner side of the connection position of the adjusting block 3013 and the clamping arm 3011, a first clamping groove 3016 is formed in the adjusting block 3013, a second clamping groove 3017 is formed in the clamping arm 3011, and the first clamping groove 3016 and the second clamping groove 3017 are arranged oppositely. The rubber protector has a sliding structure that mates with the first and second locking grooves 3016 and 3017, and thus can slide along the longitudinal direction of the clip arms 3011. Specifically, as shown in fig. 23, the first slot 3016 and the second slot 3017 are both stepped slots, and the rubber protection block is not easy to be separated from the slots.

In the above technical solution, further, the clamping surface of the protective glue block 3015 is an arc surface.

The exposed part of the protection rubber block 3015 is provided with a clamping surface, the clamping surface is directly contacted and matched with a product to be tested, the contact position of the product to be tested is subjected to clamping force, and in order to further prevent the product to be tested from being damaged due to overlarge clamping force, the clamping surface of the protection rubber block 3015 is designed into an arc surface, and compared with a plane, the contact area of the arc surface and the product to be tested is increased, so that the pressure intensity of the product to be tested is reduced.

In an alternative to this embodiment, the rotary mechanism includes a rotary cylinder 302;

The output end of the rotary cylinder 302 is provided with a connecting plate 3021; the clamping mechanism is connected to the rotary cylinder 302 by a connection plate 3021.

The clamping mechanism is connected with the direct rotary cylinder 302 through the connecting plate 3021, and compared with the existing eccentric connecting structure, the structure is simple, the volume is small, and the installation is convenient. The rotary cylinder 302 directly drives the rotary cylinder to rotate, so that the reliability is high.

In an alternative scheme of the embodiment, a sensing piece 3018 is arranged on the clamping arm 3011;

The sensing piece 3018 is in signal connection with the parallel clamping jaw cylinder 301 and is used for sensing whether materials exist between the two clamping arms 3011.

When a material exists between the two clamping arms 3011, the sensing piece 3018 transmits a signal to the parallel clamping jaw cylinder 301, so that the parallel clamping jaw cylinder 301 performs clamping action; when there is no material between the two clamp arms 3011, then the parallel jaw cylinder 301 does not perform a clamping action.

The specific working principle of the product turning device is that a mobile phone is placed between two clamping arms 3011 of a clamping mechanism, a sensing piece 3018 detects that a material exists between the two clamping arms 3011 and transmits a signal to a parallel clamping jaw cylinder 301, the parallel clamping jaw cylinder 301 executes clamping action, and then a rotating cylinder 302 drives the clamping mechanism to rotate, so that the mobile phone is turned over.

In this embodiment, the appearance data collection device further includes a transfer device 700, which is configured to take down a product to be detected (such as a mobile phone) from another process (such as a conveying system), place the product to be detected on a product bearing positioning table, and transfer the product to be detected onto the conveying system after the surface detection module 801, the line scanning module 802, the angle detection module 803, the edge detection module 804 and the arc detection module 805 complete image acquisition of the product to be detected.

Referring to fig. 4 to 8, an embodiment of the present invention provides a transfer device including a first direction moving mechanism 701, a second direction moving mechanism 702, a transfer rotating mechanism 703, and a transfer jaw mechanism 704; the transferring clamping jaw mechanism 704 is arranged on the transferring rotating mechanism 703, and the transferring rotating mechanism 703 is used for enabling the transferring clamping jaw mechanism 704 to perform rotating motion; the transfer rotation mechanism 703 is mounted on a second direction movement mechanism 702, and the second direction movement mechanism 702 is used for moving the transfer rotation mechanism 703 along the second direction; the second direction moving mechanism 702 is mounted on the first direction moving mechanism 701, and the first direction moving mechanism 701 is used for moving the second direction moving mechanism 702 along the first direction; the transfer jaw mechanism 704 includes a plurality of jaw assemblies and the jaw assemblies include a jaw drive for gathering and separating the plurality of transfer jaws, that is, the jaw drive in each jaw assembly is capable of causing the plurality of transfer jaws to together perform a gathering action to grip a workpiece or causing the plurality of transfer jaws to together perform a separating action to release the gripped workpiece.

According to the transfer device provided by the embodiment, a plurality of clamping jaw assemblies are arranged to clamp a plurality of workpieces, so that transfer efficiency is improved, and the transfer rotating mechanism 703 can change the clamping jaw assemblies so as to clamp the plurality of workpieces; the first direction moving mechanism 701 and the second direction moving mechanism 702 can realize space movement on the clamped work, so that better operation is facilitated.

In an alternative to this embodiment, the number of jaw assemblies is two, so that gripping of two workpieces can be achieved. The number of transfer jaws in each jaw assembly is two.

Specifically, the two transfer clamping jaws are arranged oppositely so as to be capable of clamping the workpiece through clamping the two opposite sides of the workpiece. The workpiece can be a mobile phone, a tablet computer, glass or a display, etc.

In an alternative to this embodiment, the jaw drive 712 is a jaw cylinder and the transfer jaw is mounted on a moving block of the jaw cylinder.

Specifically, two transporting clamping jaws in each clamping jaw assembly are respectively fixed on two different moving blocks of a clamping jaw air cylinder through screws, and when the clamping jaw air cylinder works, the distance between the two moving blocks can be reduced or increased, so that the distance between the two transporting clamping jaws is reduced or increased, and the purpose of clamping or releasing a workpiece is achieved. It should be noted that the movement of the two moving blocks driven by the clamping jaw cylinder can be adjusted, and the adjustment mode is the prior art, which is not described in detail in this embodiment.

In an alternative to this embodiment, the transfer jaw includes a position adjustment plate 706 and a gripping portion; the position adjusting plate 706 is provided with a plurality of adjusting hole groups; the clamping part is fixed at the position of the adjusting hole group. By arranging a plurality of adjusting hole groups, workpieces with different sizes can be clamped.

Specifically, the plurality of adjustment hole groups on the position adjustment plate 706 are equally spaced along the length direction of the position adjustment plate 706, and the length direction of the position adjustment plate 706 is parallel to the moving direction of the moving block on the jaw cylinder. Each adjustment aperture set includes a plurality of adjustment apertures 711, optionally three in number, through which the clamping portion is conveniently secured in different positions on the position adjustment plate 706. The clamping portion is connected with the adjusting hole nut through a screw to fix the clamping portion on the position adjusting plate 706.

In an alternative to this embodiment, the gripping portion comprises a transverse arm 707 and two vertical arms 708; the length direction of the transverse arm 707 is perpendicular to the length direction of the vertical arm 708; two vertical arms 708 are fixed to both ends of the lateral arm 707, respectively. The transverse arm 707 is fixedly connected to the position adjustment. Two vertical arms 708 are used to clamp the workpiece.

In an alternative scheme of the embodiment, a buffer positioning block 709 is fixed on the clamping part; the buffer positioning block 709 is provided with a positioning groove 710. By the buffer positioning block 709, damage to the workpiece when the workpiece is clamped can be avoided.

Specifically, the buffer positioning block 709 is fixed to the vertical arm 708 of the gripping portion by a screw. The cross section of the positioning groove 710 in the length extending direction is trapezoidal, so that the clamping of the workpiece is facilitated. The buffer positioning block 709 may be made of rubber or silica gel.

In an alternative to this embodiment, the first direction is perpendicular to the second direction. The second direction is a vertical direction, and the first direction is a horizontal direction. Thus, the first direction moving mechanism 701 can realize the horizontal movement of the clamped workpiece, and the second direction moving mechanism 702 can realize the vertical movement of the clamped workpiece, so that the three-dimensional transfer of the clamped workpiece in space is realized.

In an alternative aspect of this embodiment, the transfer rotation mechanism 703 is a rotary cylinder, and the transfer jaw mechanism 704 further includes a first fixing base 711, where a plurality of jaw assemblies are mounted on the first fixing base 711, and the first fixing base 711 is mounted on a rotary table of the rotary cylinder.

Specifically, the two jaw assemblies are fixed to two opposite surfaces of the first fixing base 711 by screws, respectively, and the longitudinal direction of the vertical arm 708 of the gripping portion is perpendicular to the rotation axis of the rotary table of the rotary cylinder. The first fixing base 711 is fixed on the rotary table of the rotary cylinder through a screw, so that after one clamping jaw assembly clamps a workpiece, the other clamping jaw assembly clamps the workpiece through the rotary cylinder rotating 180 degrees. The transport rotation mechanism 703 may be a motor, or a motor-driven member.

In an alternative scheme of the embodiment, the second direction moving mechanism 702 is a linear sliding table, and the transferring and rotating mechanism 703 is mounted on a sliding block of the linear sliding table. The first direction moving mechanism 701 is a linear sliding table, and the second direction moving mechanism 702 is mounted on a slider of the linear sliding table. The first direction moving mechanism 701 may be an electric cylinder, an air cylinder, a synchronous belt driving device, or the like; the second direction moving mechanism 702 may be an electric cylinder, an air cylinder, a synchronous belt drive, or the like.

Specifically, in order to facilitate distinguishing between the two linear sliding tables, the two linear sliding tables are a first linear sliding table and a second linear sliding table, respectively, and the transfer rotation mechanism 703 is mounted on a slider of the second linear sliding table (i.e., the second direction movement mechanism 702); the second direction moving mechanism 702 (i.e., the second linear slide) is mounted on the slider of the first linear slide (i.e., the first direction moving mechanism 701).

In this embodiment, the product turning device is fixed to the leg 807 at the apex of one base angle of the isosceles triangle, and the product turning device is close to the line scanning module; the transfer device is fixed to a leg 807 at the apex of the other base angle of the isosceles triangle, i.e. the product turning device and the transfer device are fixed to two different legs.

It should be noted that, the mobile phone appearance detection system may further include a control device, where the control device includes an upper computer and/or a PLC, so as to control the surface detection module 801, the line scanning module 802, the angle detection module 803, the edge detection module 804, the arc detection module 805, the transfer device, the product turning device, and the product bearing positioning table, that is, control the feeding device, the conveying system, the appearance data collecting device, and the discharging device through the upper computer and/or the PLC.

In this embodiment, the working principle of the appearance data acquisition device is:

The transfer device takes down the product to be detected from the conveying system and places the product on the product bearing and positioning table; the product bearing positioning table moves the mobile phone to the position right below the first annular light source 810, and the surface detection module 801 photographs the front surface of the mobile phone; then the product bearing and positioning platform approaches the mobile phone to the line scanning module 802, and after the mobile phone reaches a set position, the line scanning module 802 photographs the mobile phone; the product bearing and positioning table moves the mobile phone to the corner detection module 803, photographs one corner of the mobile phone, then the product bearing and positioning table moves the mobile phone to the side detection module 804, the side detection module 804 photographs the surface of one side of the mobile phone, and then the cambered surface detection module 805 photographs the cambered surface between the surface of the side of the mobile phone and the front surface. Then the Z-direction rotating table of the product bearing positioning table rotates 90 degrees to realize 90-degree rotation of the mobile phone; then, photographing the other corner, the surface of the other side and the cambered surface of the mobile phone in sequence, and repeating the actions to photograph the four corners, the surfaces of the four sides and the cambered surface of the mobile phone, see table 1. Finally, the mobile phone on the product bearing and positioning table is taken down through the product turning device to turn over the mobile phone, namely, the back of the mobile phone faces upwards, after the mobile phone is turned over, the mobile phone is put back to the product bearing and positioning table, after the line scanning module 802 photographs, the product bearing and positioning table brings the mobile phone to the transferring device, and the transferring device transfers the product to be detected to the carrier on the conveying system. The mobile phone can be prevented from being scratched to the greatest extent by turning once through the product turning device.

The following table one shows the detection sequence of the sides and the cambered surfaces of the four corners and the four sides of the mobile phone.

In table one, for convenience of description, the four corners, the sides of the four sides, and the arc surface are respectively named. In addition, the start and stop of the movement of each moving part in the system can be controlled by a photoelectric sensor, a grating ruler and the like.

In this embodiment, the blanking device includes a second carrying mechanism and a second storage mechanism; the second carrying mechanism is used for placing the detected product on the conveying system in the second storage mechanism; the second storage mechanism includes a rotating frame 921 driven by a rotating motor. The rotating frame is provided with a plurality of storage bins; the second handling mechanism places the inspected product on the storage bin 922. The second conveyance mechanism is a six-axis mechanism hand 920.

After the conveying system receives the detected product conveyed by the conveying device, the conveying system conveys the detected product to the blanking device, and then the second conveying mechanism takes down the detected product on the conveying system and places the product on the storage bin.

Claims

1. The mobile phone appearance detection system is characterized by comprising a conveying system and an appearance data acquisition device, wherein the conveying system is used for conveying a product to be detected to the appearance data acquisition device, and comprises a conveying device and a carrier; the carrier is placed on the material conveying device and used for carrying a product to be detected; the material conveying device comprises an upstream material conveying unit, a middle material conveying unit and a downstream material conveying unit; the middle material conveying unit comprises an upper material conveying device and a lower material conveying device, and the upstream material conveying unit and the downstream material conveying unit can ascend or descend to the heights of the upper material conveying device and the lower material conveying device;

The appearance data acquisition device comprises a surface inspection module, a line scanning module, an angle inspection module, an edge inspection module and a cambered surface inspection module; the line scanning module, the angle detection module, the cambered surface detection module and the edge detection module are distributed around the surface detection module, and the angle detection module is positioned between the line scanning module and the edge detection module;

The conveying system also comprises a jacking device and a positioning device; the positioning device is arranged on the middle material conveying unit and used for positioning the moving position of the carrier on the material feeding and conveying device; the jacking device is connected with the middle material conveying unit, is positioned at the upstream position of the positioning device, is used for pushing the carrier to move up to a set height, and can release pushing force to enable the carrier to fall onto the upper material conveying unit;

The appearance data acquisition device further comprises a product bearing and positioning table which is used for bearing a product to be detected and driving the product to be detected to move; the product bearing and positioning table is positioned below the surface inspection module;

The product bearing and positioning table comprises a moving mechanism and a bearing mechanism, and the bearing mechanism is arranged at the output end of the moving mechanism; the bearing mechanism comprises a fixed frame and a sucker arranged in the fixed frame; the adsorption end of the sucker is higher than the upper table top of the fixed frame, and the adsorption end of the adsorbed product can be flush with the upper table top of the fixed frame; the motion mechanism is used for driving the bearing mechanism to move;

The motion mechanism comprises an X-direction motion table, a Y-direction motion table and a Z-direction rotation table; the X-direction moving table is used for driving the bearing mechanism to move in the X direction, the Y-direction moving table is used for driving the bearing mechanism to move in the Y direction, and the Z-direction rotating table is used for driving the bearing mechanism to move in the rotation direction around the Z axis;

the mobile phone appearance detection system further comprises a control device, wherein the control device controls the surface detection module, the line scanning module, the angle detection module, the edge detection module, the cambered surface detection module and the product bearing positioning table, so that the appearance data acquisition device is controlled;

the working principle of the appearance data acquisition device is as follows:

Taking down the product to be detected from the conveying system and placing the product on the product bearing and positioning table; the product bearing and positioning table moves the product to be detected to the position right below the first annular light source of the surface detection module, and the surface detection module shoots the front surface of the product to be detected; then the product bearing and positioning table approaches the product to be detected to the line scanning module, and after the product bearing and positioning table reaches a set position, the line scanning module photographs a display screen of the product to be detected; the product bearing positioning table moves the product to be detected to the corner detection module, photographs one corner of the product to be detected, then moves the product to be detected to the side detection module, photographs the surface of one side of the product to be detected, and photographs the cambered surface between the surface of the side of the product to be detected and the front surface; then the Z-direction rotating table of the product bearing and positioning table rotates 90 degrees to realize 90-degree rotation of the product to be detected; and then photographing the other corner, the surface of the other side and the cambered surface of the product to be detected in sequence, repeating the actions, and photographing the four corners, the surfaces of the four sides and the cambered surface of the product to be detected.

2. The mobile phone appearance detection system according to claim 1, wherein the appearance data acquisition device further comprises a product turning device for turning over a product to be detected; the product turning device comprises a rotating mechanism and a clamping mechanism; the clamping mechanism is connected with an external mechanism through the rotating mechanism; the rotating mechanism can drive the clamping mechanism to perform concentric overturning movement.

3. The system of claim 1, wherein the appearance data acquisition device further comprises a transfer device for removing the product to be detected from the carrier and placing the product to be detected on a product bearing positioning table.

4. The system of claim 3, wherein the transfer device comprises a first directional movement mechanism, a second directional movement mechanism, a transfer rotation mechanism, and a transfer jaw mechanism; the transferring and rotating mechanism is used for enabling the transferring clamping jaw mechanism to perform rotating motion; the second direction moving mechanism is used for enabling the transferring rotating mechanism to move along a second direction, and the first direction moving mechanism is used for enabling the second direction moving mechanism to move along a first direction; the transfer jaw mechanism comprises a plurality of jaw assemblies, and the jaw assemblies comprise a jaw driving device and a plurality of transfer jaws, wherein the jaw driving device is used for gathering or separating a plurality of transfer jaws.

5. The mobile phone appearance detection system of claim 1, further comprising: a feeding device and a discharging device; the feeding device is used for conveying the product to be detected to the conveying system so that the appearance data acquisition device can detect the product to be detected conveyed by the conveying system; the blanking device is used for storing the product detected by the appearance data acquisition device.

6. The mobile phone appearance detection system according to claim 1, wherein the surface detection module comprises a first camera, a first lens and a first annular light source which are sequentially arranged from top to bottom; the line scanning module comprises a second camera and two linear light sources, wherein the two linear light sources are positioned on two opposite sides of the second camera; the angle detection module, the edge detection module and the cambered surface detection module all comprise a third camera, a third lens and a third light source.

7. The mobile phone appearance detection system of claim 1, wherein the jacking device comprises a fixed frame, a jacking frame, a driving device and at least one guiding device;

the driving device is connected with the fixing frame and provided with a telescopic rod, and the telescopic rod is connected with the jacking frame so that the jacking frame can move relative to the fixing frame;