CN106670127A - Full-automatic visual inspection system for screen defects - Google Patents

Abstract

The invention relates to a fully automatic visual detection system for screen defects, the system includes a controller and an automatic feeding unit, an automatic detection unit and an automatic classification and unloading unit respectively connected to the controller, the automatic feeding unit, the automatic detection unit and the automatic sorting and unloading unit are arranged in sequence to form an automatic assembly line; the automatic loading unit transports the screen to be detected to the automatic detection unit, and the automatic detection unit performs automatic defect detection to determine whether the screen is a good product or a defective product, and the automatic sorting and unloading unit Obtain the detected screen from the automatic detection unit and classify and output according to the detection results. Compared with the prior art, the present invention has high degree of automation, simple operation of the whole detection process, reduces labor intensity of workers, saves human capital, and improves production efficiency.

Description

A fully automatic visual inspection system for screen defects

technical field

The invention relates to a screen defect detection system, in particular to a screen defect automatic visual detection system.

Background technique

With the rapid development of science and technology, LCD electronic products, especially smart phones, have become an indispensable part of people's daily life. There are also higher requirements for the quality of the screen. In the production process of thin-plate electronic products such as LCD screens and mobile phone touch screen glass, due to objective factors such as production technology, it is impossible to completely avoid various defects (such as screen scratches, glass screen stains, glass screen size mismatch, etc.) edge chipping, sawtooth, missing corners, etc.). Therefore, the appearance inspection of the screen is required before each process.

The appearance defect detection of traditional LCD screens and mobile phone glass products mainly relies on manual inspection with special light sources or projectors. Due to the many influencing factors of manual inspection, not only the accuracy of inspection and the uniformity of standards cannot be guaranteed, but also cannot meet the requirements. The needs of modern enterprises for batch and rapid production.

Existing automatic detection devices can only detect screens of a certain size, and generally can only detect large defects, and cannot measure the actual size of defects, and cannot set detection standards for actual production needs. The degree of automation is not high. high. Such as patent (publication number CN205643188U, publication number CN205301189U) does not have automatic loading and unloading mechanism, and efficiency is not high. At present, there is an urgent need for an efficient, accurate and reliable detection system to replace manual detection.

Contents of the invention

The object of the present invention is to provide a fully automatic visual inspection system for screen defects in order to overcome the above-mentioned defects in the prior art.

The purpose of the present invention can be achieved through the following technical solutions:

A fully automatic visual detection system for screen defects, the system includes a controller and an automatic feeding unit, an automatic detection unit, and an automatic sorting and unloading unit respectively connected to it, and the automatic feeding unit, the automatic detection unit and the automatic sorting unit The unloading units are arranged in sequence to form an automatic assembly line;

The automatic feeding unit transports the screen to be detected to the automatic detection unit, and the automatic detection unit performs defect automatic detection to determine whether the screen is a good product or a defective product, and the automatic classification and unloading unit obtains the screens that have been detected from the automatic detection unit and according to the detection The results are sorted out.

The automatic loading unit includes a Y-direction full pallet loading mechanism, a first X-direction pallet transport mechanism, a first pallet fixing mechanism, a Y-direction empty pallet unloading mechanism and a loading manipulator respectively connected to the controller , the direction in which the automatic feeding unit, the automatic detection unit and the automatic sorting and unloading unit are arranged sequentially is determined as the Y direction, the direction perpendicular to the Y direction on the horizontal plane is determined as the X direction, and the direction perpendicular to the horizontal plane is the Z direction. The Y-direction full pallet loading mechanism and the Y-direction empty pallet unloading mechanism are arranged side by side along the Y direction and moved along the Y direction. The pallet unloading mechanism, the first pallet fixing mechanism is arranged on the first X-direction pallet conveying mechanism. The manipulator is set above the first X-direction pallet conveying mechanism;

The Y-direction full-load tray feeding mechanism drives the tray full of screens to be detected to move towards the direction of the automatic detection unit and transfers the tray to the first tray fixing mechanism, and the feeding manipulator sucks the screen to be detected from the tray to the automatic detection unit. After all the screens to be detected in the suction cup are sucked up, the first X-direction pallet conveying mechanism drives the first pallet fixing mechanism to move along the X direction to the top of the Y-direction empty pallet unloading mechanism, and the Y-direction empty pallet unloading mechanism outputs the empty pallet .

The automatic detection unit includes a screen front detection mechanism, a flipping mechanism, a screen transport mechanism and a screen back detection mechanism respectively connected to the controller, and the screen front detection mechanism and the screen back detection mechanism are arranged in a diagonal direction , the flipping mechanism is arranged at the end of the screen front detection mechanism, the screen transfer mechanism is arranged between the flip mechanism and the screen reverse detection mechanism, and the end of the screen transfer mechanism is aligned with the front end of the screen reverse detection mechanism.

The screen front detection mechanism and the screen back detection mechanism have the same structure, and both include a screen transmission tray, a Y-direction transmission module, a detection camera, an illumination light source and a camera bracket, and the detection camera is arranged on the top of the camera bracket. The lighting source is set directly under the detection camera and fixed on the camera bracket, the Y-direction transmission module is arranged horizontally under the lighting source, the screen transmission tray is set on the Y-direction transmission module, and the Y-direction transmission module The transmission module, the detection camera and the lighting source are all connected to the controller.

The turning mechanism includes a screen turning claw and a U-direction servo motor respectively connected to the controller, and the U-direction servo motor is connected to the screen turning suction claw;

The screen flip suction claw sucks and transports the screen to the end of the front detection mechanism, and the U-direction servo motor drives the screen flip suction claw to flip 180° to realize the screen flip.

The screen transfer mechanism includes screen transfer suction claws and an X-direction transmission module respectively connected to the controller, the X-direction transmission module is arranged along the X direction, and the screen transfer suction claws are arranged on the X-direction. To the end of the transmission module close to the turning mechanism.

The automatic sorting and unloading unit includes a Y-direction empty pallet loading mechanism, a second X-direction pallet conveying mechanism, a second pallet fixing mechanism, a good product pallet unloading mechanism, and a defective product pallet unloading mechanism respectively connected to the controller. The feeding mechanism and the unloading manipulator, the Y-direction empty pallet feeding mechanism, the good product pallet unloading mechanism and the defective product pallet unloading mechanism are arranged side by side along the Y direction, and the Y-direction empty pallet feeding mechanism is arranged on the good product pallet Between the unloading mechanism and the defective product tray unloading mechanism, the Y-direction empty pallet unloading mechanism, good product pallet unloading mechanism and defective product pallet unloading mechanism are set to move along the Y direction, and the second X-direction pallet The conveying mechanism spans above the empty pallet feeding mechanism in the Y direction, the good product pallet unloading mechanism and the defective product pallet unloading mechanism, and the second pallet fixing mechanism is arranged on the second X-direction pallet conveying mechanism and moves along the X direction Setting, the described unloading manipulator is set above the middle part of the second X-direction pallet conveying mechanism and the unloading manipulator is above the second pallet fixing mechanism, and the moving direction of the Y-direction empty pallet feeding mechanism is the same as that of the good product pallet unloading mechanism and The movement direction of the defective product tray unloading mechanism is opposite;

In the initial position, the second pallet fixing mechanism is located directly below the end of the Y-direction empty pallet feeding mechanism. The X-direction pallet transport mechanism drives the second pallet fixing mechanism to move along the X direction, and transports the pallet to the good product pallet unloading mechanism or the defective product pallet unloading mechanism, and the unloading manipulator absorbs the detected screen according to the detection result of the automatic detection unit Place it in the tray of the good product tray unloading mechanism or the defective product tray unloading mechanism. The material mechanism moves along the Y direction to discharge the tray.

The Y-direction full pallet loading mechanism, the Y-direction empty pallet discharging mechanism, the Y-direction empty pallet loading mechanism, the good product pallet discharging mechanism and the defective product pallet discharging mechanism have the same structure, and all include brackets and Y-direction conveying cylinders. , Z-direction lifting servo module and Z-direction lifting fork, the Y-direction conveying cylinder is horizontally arranged on the support, the tray is arranged on the Y-direction conveying cylinder, and the Z-direction lifting servo module is vertically arranged on one end of the support , the Z-direction lifting fork hand is fixed on the Z-direction lifting servo module parallel to the Y-direction conveying cylinder, and the Y-direction conveying cylinder and the Z-direction lifting servo module are both connected to the controller.

Both the first X-direction pallet conveying mechanism and the second X-direction pallet conveying mechanism include an X-direction servo motor, a synchronous belt and two linear guide rails arranged in parallel along the X direction. The first pallet fixing mechanism or the second pallet fixing mechanism Respectively across the two linear guide rails, the X-direction servo motor is connected to the timing belt, and the timing belt is connected to the first pallet fixing mechanism or the second pallet fixing machine, and the X-direction servo motor and the timing belt are both Connect the controller as described.

The first pallet fixing mechanism and the second pallet fixing mechanism both include a sliding frame and a clamping cylinder, and the sliding frame is slidably arranged on the first X-direction pallet conveying mechanism or the second X-direction pallet conveying mechanism, and the A plurality of clamping cylinders are arranged and evenly distributed on both sides of the sliding frame. When the tray is fixed, the clamping cylinders move and withstand the side walls on both sides of the tray, and the clamping cylinders are connected to the controller.

Compared with prior art, the present invention has following advantage:

(1) The present invention sets the automatic feeding unit to realize the automatic feeding of the screen to be detected, and the automatic detection unit performs automatic detection of defects. After the detection is completed, the automatic classification and unloading unit will classify and output good products and defective products according to the detection results, and the whole process is assembled automatically. Feeding, automatic classification of good and bad products at the back end, and production information statistics are integrated. The entire inspection process is easy to operate, reduces labor intensity, saves human capital, and improves production efficiency;

(2) The automatic loading unit of the present invention is provided side by side with a Y-direction full pallet loading mechanism and a Y-direction empty pallet unloading mechanism, and realizes the cycle transfer of pallets through the first X-direction pallet conveying mechanism and the first pallet fixing mechanism, and has a compact structure , and can realize cyclic operation, realize fully automatic production line, and improve work efficiency;

(3) The automatic detection unit of the present invention is equipped with a turning mechanism, which can continuously complete the detection of both sides of the front and back of the screen, and further improve work efficiency;

(4) The detection mechanism on the front side of the screen and the detection mechanism on the back side of the screen of the present invention are equipped with a detection camera and a lighting source, and the screen moves under the lighting source and takes images, thereby realizing visual inspection, and can simultaneously detect multiple defects, including edge collapse, Chipped corners, scratches, sawtooth, etc., can measure the actual size of defects at the same time, easy to set, high detection accuracy;

(5) The automatic sorting and unloading unit of the present invention is provided with side-by-side Y-direction empty pallet feeding mechanism, good product pallet unloading mechanism and defective product pallet unloading mechanism to realize automatic feeding of empty pallets and automatic discharge of good and defective products , stable and compact structure, easy to implement.

Description of drawings

Fig. 1 is the front view of the automatic visual detection system for screen defects of the present invention;

Fig. 2 is the schematic diagram of the three-dimensional structure of the automatic feeding unit of the present invention;

Fig. 3 is a three-dimensional structural schematic diagram of the Y-direction full pallet loading mechanism of the present invention;

Fig. 4 is a three-dimensional structural schematic diagram of the first X-direction pallet conveying mechanism and the first pallet fixing mechanism of the present invention;

Fig. 5 is a schematic diagram of the three-dimensional structure of the automatic detection unit of the present invention;

Fig. 6 is a schematic diagram of the three-dimensional structure of the automatic classification blanking unit of the present invention;

Fig. 7 is a three-dimensional structural schematic diagram of the Y-direction empty tray feeding mechanism of the present invention;

Fig. 8 is a schematic perspective view of the second X-direction pallet conveying mechanism and the second pallet fixing mechanism.

In the figure, 1 is the Y-direction full pallet loading mechanism, 2 is the first X-direction pallet conveying mechanism, 3 is the Y-direction empty pallet unloading mechanism, 4 is the feeding manipulator, 5 is the first Y-direction conveying cylinder, 6 is The first Z-direction lifting servo module, 7 is the first Z-direction lifting fork hand, 8 is a full pallet, 9 is the first X-direction servo motor, 10 is the first synchronous belt, 11 is the first linear guide rail, 12, 13, 14, 15, 16, 17, 18 and 19 are the first clamping cylinder, 20 is the first screen transfer tray, 21 is the first Y-direction transmission module, 22 is the first detection camera, 23 is the first lighting The light source, 24 is the first camera bracket, 25 is the screen flip suction claw, 26 is the U-direction servo motor, 27 is the screen transport suction claw, 28 is the X-direction transmission module, 29 is the second screen transmission tray, 30 is the second Y-direction transmission module, 31 is the second detection camera, 32 is the second illumination light source, 33 is the second camera bracket, 34 is the Y-direction empty pallet feeding mechanism, 35 is the second X-direction pallet transport mechanism, 36 is good product Pallet unloading mechanism, 37 is the pallet unloading mechanism for defective products, 38 is the unloading manipulator, 39 is the second Y-direction conveying cylinder, 40 is the second Z-direction lifting servo module, 41 is the second Z-direction lifting fork, 42 is an empty pallet, 43 is a second X-direction servo motor, 44 is a second synchronous belt, 45 is a second linear guide, 46, 47, 48, 49, 50 and 51 are a second clamping cylinder.

detailed description

The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

Example

As shown in Figure 1, a fully automatic visual detection system for screen defects, the system includes a controller and an automatic feeding unit, an automatic detection unit, an automatic classification and unloading unit connected to it, an automatic feeding unit, and an automatic detection unit It is arranged in sequence with the automatic sorting and unloading unit to form an automatic assembly line; the automatic loading unit transports the screen to be tested to the automatic detection unit, and the automatic detection unit conducts automatic defect detection to determine whether the screen is a good product or a defective product, and the automatic sorting and unloading unit starts from the automatic detection The unit obtains the detected screen and performs classification output according to the detection results.

As shown in Figure 2, the automatic loading unit includes a Y-direction full pallet loading mechanism 1 connected to the controller, a first X-direction pallet transport mechanism 2, a first pallet fixing mechanism, a Y-direction empty pallet unloading mechanism 3 and The feeding manipulator 4 determines the direction in which the automatic feeding unit, the automatic detection unit, and the automatic sorting and unloading unit are arranged sequentially as the Y direction, the direction perpendicular to the Y direction on the horizontal plane is determined as the X direction, and the direction perpendicular to the horizontal plane is the Z direction , the Y-direction full pallet loading mechanism 1 and the Y-direction empty pallet unloading mechanism 3 are arranged side by side along the Y direction and move along the Y direction. The empty pallet unloading mechanism 3, the first pallet fixing mechanism is arranged on the first X-direction pallet conveying mechanism 2, in the initial working state, the first pallet fixing mechanism is located above the Y-direction full pallet loading mechanism 1, the feeding manipulator 4. Set above the first X-direction pallet conveying mechanism 2; Y-direction full-load pallet feeding mechanism 1 drives the pallet full of screens to be detected to move towards the direction of the automatic detection unit and conveys the pallet to the first pallet fixing mechanism for loading The manipulator 4 sucks the screen to be detected from the tray to the automatic detection unit. After all the screens to be detected in the suction cup are sucked up, the first X-direction pallet transfer mechanism 2 drives the first pallet fixing mechanism to move along the X direction to the Y-direction empty pallet Above the unloading mechanism 3, the Y-direction empty tray unloading mechanism 3 outputs the empty tray 42.

As shown in Figure 3, the Y-direction full pallet loading mechanism 1 includes a first bracket, a first Y-direction conveying cylinder 5, a first Z-direction lifting servo module 6 and a first Z-direction lifting fork 7, the first Y-direction The conveying cylinder 5 is arranged horizontally on the first support, the fully loaded pallet 8 is arranged on the Y-direction conveying cylinder, the first Z-direction lifting servo module 6 is vertically arranged on one end of the first support, and the first Z-direction lifting fork hand 7 is parallel to the second A Y-direction transport cylinder 5 is fixed on the first Z-direction lift servo module 6, and the first Y-direction transport cylinder 5 and the first Z-direction lift servo module 6 are both connected to the controller. The Y-direction empty pallet unloading mechanism 3 has the same structure as the Y-direction full-load pallet feed mechanism 1, except that their movement directions along the Y direction are opposite, one of them moves along the Y positive direction, and the other moves along the Y negative direction.

As shown in Figure 4, the first X-direction pallet transfer mechanism 2 includes a first X-direction servo motor 9, a first synchronous belt 10, and two first linear guide rails 11 arranged in parallel along the X direction. Striding on two linear guide rails, the first X-direction servo motor 9 is connected to the first synchronous belt 10, the first synchronous belt 10 is connected to the first pallet fixing mechanism, and the first X-direction servo motor 9 and the first synchronous belt 10 are connected to control device. The first pallet fixing mechanism includes a sliding frame and a first clamping cylinder. The first clamping cylinder includes 12, 13, 14, 15, 16, 17, 18 and 19 in the figure. On mechanism 2, multiple first clamping cylinders are arranged and evenly distributed on both sides of the sliding frame. When the tray is fixed, the first clamping cylinder moves and withstands the side walls on both sides of the tray. The first clamping cylinder is connected to the controller.

As shown in Figure 5, the automatic detection unit includes a screen front detection mechanism, a flip mechanism, a screen transfer mechanism, and a screen back detection mechanism that are respectively connected to the controller. It is arranged at the end of the detection mechanism on the front of the screen, and the screen conveying mechanism is arranged between the turning mechanism and the detection mechanism on the reverse side of the screen, and the end of the screen conveying mechanism is aligned with the front end of the detection mechanism on the reverse side of the screen.

The screen front detection mechanism and the screen reverse detection mechanism have the same structure, including a screen transmission tray, a Y-direction transmission module, a detection camera, a lighting source and a camera bracket. The detection camera is set on the top of the camera bracket, and the lighting source is set directly below the detection camera. Fixed on the camera bracket, the Y-direction transmission module is arranged horizontally under the lighting source, the screen transmission tray is arranged on the Y-direction transmission module, and the Y-direction transmission module, the detection camera and the lighting source are all connected to the controller. Specifically, the screen front detection mechanism includes a first screen transmission tray 20, a first Y-direction transmission module 21, a first detection camera 22, a first illumination light source 23 and a first camera bracket 24, and the screen reverse detection mechanism includes a second screen The transfer tray 29 , the second Y-direction transmission module 30 , the second detection camera 31 , the second illumination light source 32 and the second camera bracket 33 are all connected in the same way, as described above. The overturning mechanism includes screen overturning suction claws 25 and U-direction servo motors 26 respectively connected to the controller. The U-direction servo motor 26 is connected to the screen overturning suction claws 25; The servo motor 26 drives the screen flip suction claw 25 to flip 180° to realize the screen flip. The screen transfer mechanism includes screen transfer suction claws 27 and X-direction transmission modules 28 respectively connected to the controller. The X-direction transmission modules 28 are arranged along the X direction. one end.

As shown in Figure 6, the automatic sorting and unloading unit includes a Y-to-empty tray 42 loading mechanism 34, a second X-to-pallet transport mechanism 35, a second tray fixing mechanism, a good product tray unloading mechanism 36, Defective product tray unloading mechanism 37 and unloading manipulator 38, Y-direction empty tray 42 loading mechanism 34, good product tray unloading mechanism 36 and defective product tray unloading mechanism 37 are arranged side by side along the Y direction, Y-direction empty tray 42 loading The mechanism 34 is set between the good product tray unloading mechanism 36 and the defective product tray unloading mechanism 37, and the Y-direction empty tray 42 loading mechanism 34, good product tray unloading mechanism 36 and defective product tray unloading mechanism 37 are set to move along the Y direction , the second X-direction pallet transfer mechanism 35 spans above the Y-direction empty pallet 42 loading mechanism 34, the good product pallet unloading mechanism 36 and the defective product pallet unloading mechanism 37, and the second pallet fixing mechanism is arranged on the second X-direction pallet The conveying mechanism 35 is arranged to move along the X direction, the unloading manipulator 38 is set above the middle part of the second X-direction pallet conveying mechanism 35 and the unloading manipulator 38 is above the second pallet fixing mechanism, and the Y-direction empty pallet 42 loading mechanism 34 moves The direction is opposite to the movement direction of the good product tray unloading mechanism 36 and the defective product tray unloading mechanism 37; in the initial position, the second tray fixing mechanism is located directly below the end of the Y-direction empty tray 42 loading mechanism 34, and the Y-direction empty tray 42 loading mechanism 34 drives the empty tray 42 to move below the second tray fixing mechanism, the second tray fixing mechanism fixes the empty tray 42, and the second X-direction pallet transport mechanism 35 drives the second tray fixing mechanism to move along the X direction, and transports the tray to the good product tray On the feeding mechanism 36 or the defective product tray discharging mechanism 37, the discharging manipulator 38 absorbs the detected screen according to the detection result of the automatic detection unit and places it in the tray in the good product tray discharging mechanism 36 or the defective product tray discharging mechanism 37 , after the tray in the good product tray blanking mechanism 36 or the defective product tray blanking mechanism 37 is filled with screens, the pallet blanking mechanism or the defective product tray blanking mechanism 37 moves along the Y direction to discharge the tray.

As shown in Figure 7, the Y-direction empty pallet loading mechanism includes a second bracket, a second Y-direction transport cylinder 39, a second Z-direction lifting servo module 40 and a second Z-direction lifting fork hand 41, the second Y-direction The conveying cylinder 39 is horizontally arranged on the second support, the empty tray 42 is arranged on the Y-direction conveying cylinder, the second Z-direction lifting servo module 40 is vertically arranged on one end of the second support, and the second Z-direction lifting fork 41 is parallel to the first Two Y-direction transport cylinders 39 are fixed on the second Z-direction lift servo module 40, and the second Y-direction transport cylinder 39 and the second Z-direction lift servo module 40 are both connected to the controller. Good product pallet unloading mechanism 36 and defective product pallet unloading mechanism 37 have the same structure as the Y-direction empty pallet loading mechanism, except that the Y-direction unloaded pallet loading mechanism is the same as the good product pallet unloading mechanism 36 and the defective product pallet unloading mechanism 37 direction of movement is different.

As shown in Figure 8, the second X-direction pallet transfer mechanism 35 includes a second X-direction servo motor 43, a second synchronous belt 44 and two second linear guide rails 45 arranged parallel to the X direction, and the second pallet fixing mechanism spans On the two linear guide rails, the second X-direction servo motor 43 is connected to the second synchronous belt 44, and the second synchronous belt 44 is connected to the second tray fixing mechanism, and both the second X-direction servo motor 43 and the second synchronous belt 44 are connected to the controller . The second pallet fixing mechanism includes a sliding frame and a second clamping cylinder, the second clamping cylinder includes 46, 47, 48, 49, 50 and 51, the sliding frame is slidably arranged on the second X-direction pallet transport mechanism 35, and the second Multiple clamping cylinders are arranged and evenly distributed on both sides of the sliding frame. When the pallet is fixed, the second clamping cylinder moves and withstands the side walls on both sides of the pallet, and the second clamping cylinder is connected to the controller.

Controllers include industrial computers and programmable logic controllers. The industrial computer is used to process the digital images collected by the camera module. Various detection parameters can be set for different batches or varieties, and according to the operation results of the visual detection algorithm, it can be judged whether the part to be tested is good or not; defects can be displayed in real time Image, record defect position (x, y coordinates), and can perform defect statistics (defective product type, quantity and pass rate, etc.) and report printing, with SPC statistical analysis function. In summary, the visual inspection system and visual inspection method of the present invention can realize the automatic loading and unloading of the parts to be tested, and can quickly detect the front and back of various types of parts to be tested, and can classify defects according to the set parameters Filtration, the overall system is stable, precise, efficient, highly repeatable, and the equipment is easy to operate and maintain.

The working principle of the present invention is: the full-loaded pallet 8 filled with the screen is placed on the Y-direction full-loaded pallet feeding mechanism 1, and the pallet is raised to the working position through the first Y-direction conveying cylinder 5 and the first Z-direction lifting servo module 6, The first clamping cylinders of the first X-direction pallet transfer mechanism 2 , including 12 , 13 , 14 , 15 , 16 , 17 , 18 and 19 in the figure, fix the full pallet 8 . The feeding manipulator 4 picks up the screens one by one from the full pallet 8 and puts them on the first screen transfer pallet of the detection section. After the screen in the full pallet 8 is captured, the first X-direction servo motor 9 drives the first synchronous belt 10 to move, and the first X-direction pallet transfer mechanism 2 will transfer the full pallet 8 to the Y-direction empty pallet unloading mechanism 3, The empty tray 42 is discharged by the Y-to-empty-tray unloading mechanism 3, and the cycle goes on like this. As shown in Figure 5, the screen picked up by the feeding manipulator 4 is placed on the first screen transfer tray 20, the front of the screen passes through the first illumination light source 23 at a constant speed from the starting position, and reaches the end position of the front detection of the screen, and is detected by the first detection camera 22. Collect a uniform image of the front of the screen to be tested, and obtain information such as image length and width. According to the operation result of the detection algorithm, record the defect type, size and position on the front of the workpiece. Then enter the screen back detection process. The U-direction servo motor 26 drives the screen flip suction claw 25 to suck the screen. After turning it over 180°, the X-direction module drives the screen transfer suction claw 27 to suck the back of the screen and place it on the second screen transfer tray 29. The back of the screen starts from the beginning. The position passes through the second illumination light source 32 at a constant speed, and reaches the detection end position of the back of the screen, and the second detection camera 31 collects a uniform image of the back of the screen to be tested. According to the operation result of the detection algorithm, record the defect type, size and position on the front of the workpiece. According to the defects detected by the front and back detection algorithm, the unloading device sends the parts to be tested to the good product area and the defective product area respectively. As shown in Figures 6, 7, and 8, the empty pallet 42 is placed on the Y-direction empty pallet 42 loading mechanism 34, and the empty pallet 42 rises to the Working position, clamped by the second clamping cylinder, the second clamping cylinder includes 46, 47, 48, 49, 50 and 51, the second X-direction servo motor 43 drives the second timing belt 44, and the second X-direction pallet transport The mechanism 35 transports the empty tray 42 to the good product tray unloading mechanism 36 or the defective product tray unloading mechanism 37 respectively. The blanking manipulator 38 sucks the screen from the second screen delivery tray 29, and puts the screen in the pallet in the good product pallet blanking mechanism 36 or the defective product pallet blanking mechanism 37 according to the test result. After the tray is filled with the screen, it is discharged by the good product tray unloading mechanism 36 or the defective product tray unloading mechanism 37. The image collected by the camera is processed, and the specific steps are as follows: through threshold segmentation, the part of the image to be tested is extracted. The divided graph is a graph. Preliminarily judge whether the acquired image is correct according to the area of the segmented graphic, if it is wrong, a warning message will pop up, if it is correct, go to the next step. Perform expansion and corrosion operations on the extracted part of the image to be tested, fill in the small holes inside the image, and filter noise interference. Extract the outer edge contour of the image to be tested. Convert the part of the image to be tested into a convex polygon. Calculate the difference between the convex polygon and the image of the part to be tested. Erosion operation is performed on the difference to remove small noise parts. Calculate the connectivity and divide it into different regions according to the connectivity. Calculate the area of each part, and judge whether there is a defect according to the preset threshold. If there is a defect, it will be marked as a defective product, and the actual length and width of the defect will be marked at the defect, and the position and type of the defect will be recorded. If there is no defect, it is marked as a good product. After the overall image detection is completed, in order to ensure the accuracy of the detection, it is necessary to focus on the defect-prone parts (the four sides and four corners of the DUT). Take the lower left corner as an example to illustrate the detection steps. Firstly, according to the length and width of the image to be tested, select the area in the lower left corner of the image to be sequenced, and calculate the area, length, width, etc. of the area; then calculate the inscribed circle of the image to be tested in the lower left corner, and find the radius of the inscribed circle; according to For actual product requirements, select the area and radius thresholds to determine whether there is a defect in the lower left corner. In the same way, the remaining key detection areas of the workpiece are processed to determine whether there are defects.

Claims (10)

1. a kind of screen defect full-automatic vision detecting system, it is characterised in that the system includes controller and respectively therewith The automatic charging unit of connection, automatic detection unit and blanking unit of classifying automatically, described automatic charging unit, automatic detection Unit and automatic classification blanking unit are arranged in order to form automatic production line；

Screen to be detected is transported to automatic detection unit by described automatic charging unit, and automatic detection unit carries out defect certainly Dynamic detection determines that screen belongs to non-defective unit or defective products, and automatic classification blanking unit obtains the screen that detection is finished from automatic detection unit Curtain simultaneously carries out classification output according to testing result.

2. a kind of screen defect full-automatic vision detecting system according to claim 1, it is characterised in that described is automatic Feeding unit material includes Y-direction loaded pallets feed mechanism (1), the X that are connected with described controller respectively to tray conveying machine Structure (2), the first pallet fixed mechanism, Y-direction empty pallet cutting agency (3) and feeding manipulator (4), by automatic charging unit, certainly The direction that dynamic detection unit and automatic classification blanking unit are arranged in order is defined as Y-direction, the side vertical with Y-direction on horizontal plane It is Z-direction, described Y-direction loaded pallets feed mechanism (1) and the empty support of Y-direction perpendicular to the direction of horizontal plane to X-direction is defined as Disk cutting agency (3) is set up in parallel along Y-direction and moves setting along Y-direction, and a described X is horizontal to tray conveying mechanism (2) Across Y-direction loaded pallets feed mechanism (1) and Y-direction empty pallet cutting agency (3), the first described pallet fixed mechanism are arranged on To in tray conveying mechanism (2), under the original state that works, the first pallet fixed mechanism is located at Y-direction loaded pallets feeder to one X Structure (1) top, described feeding manipulator (4) is arranged on an X to tray conveying mechanism (2) top；

Y-direction loaded pallets feed mechanism (1) drive the pallet for filling screen to be detected to be transported near automatic detection unit direction Dynamic and by tray conveying to the first pallet fixed mechanism, feeding manipulator (4) draws screen to be detected to automatic from pallet Detection unit, after screen to be detected in sucker has all been drawn, an X drives the first pallet to tray conveying mechanism (2) Fixed mechanism moves to Y-direction empty pallet cutting agency (3) top in X direction, and Y-direction empty pallet cutting agency (3) is by empty pallet (42) export.

3. a kind of screen defect full-automatic vision detecting system according to claim 1, it is characterised in that described is automatic Detection unit include be connected with described controller respectively screen front testing agency, switching mechanism, screen transport mechanism and Screen reverse side testing agency, described screen front testing agency and screen reverse side testing agency are in diagonally opposed distribution, described Switching mechanism be arranged on screen front testing agency end, described screen transport mechanism is arranged on switching mechanism and screen is anti- Between the testing agency of face, screen transport mechanism end alignment screen reverse side testing agency front end.

4. a kind of screen defect full-automatic vision detecting system according to claim 3, it is characterised in that described screen Front testing agency is identical with screen reverse side testing agency structure, including annotating display pallet, Y-direction transmission module, detection phase Machine, lighting source and camera support, described detection camera are arranged on camera support top, and described lighting source is arranged on inspection Survey immediately below camera and be fixed on camera support, described Y-direction transmission module is horizontally installed on lighting source lower section, described Screen transmission pallet is arranged on Y-direction transmission module, and described Y-direction is driven module, detection camera and lighting source and is all connected with institute The controller stated.

5. a kind of screen defect full-automatic vision detecting system according to claim 3, it is characterised in that described upset Mechanism includes screen be connected with described controller respectively upset suction pawl (25) and U to servomotor (26), and described U is to watching Take motor (26) connection screen upset and inhale pawl (25)；

Screen upset is inhaled pawl (25) and draws the screen for being delivered to front testing agency end, and U drives screen to servomotor (26) Upset is inhaled 180 ° of pawl (25) upset and realizes that screen overturns.

6. a kind of screen defect full-automatic vision detecting system according to claim 3, it is characterised in that described screen Transport mechanism includes that the screen conveyance being connected with described controller respectively inhales pawl (27) and X to transmission module (28), described X Set in X direction to transmission module (28), described screen conveyance is inhaled pawl (27) and is arranged on X to transmission module (28) near upset Mechanism one end.

7. a kind of screen defect full-automatic vision detecting system according to claim 2, it is characterised in that described is automatic Classification blanking unit includes Y-direction empty pallet feed mechanism (34), the 2nd X that are connected with described controller respectively to tray conveying Mechanism (35), the second pallet fixed mechanism, non-defective unit pallet cutting agency (36), defective products pallet cutting agency (37) and blanking machine Tool hand (38), described Y-direction empty pallet feed mechanism (34), non-defective unit pallet cutting agency (36) and defective products pallet cutting agency (37) it is set up in parallel along Y-direction, described Y-direction empty pallet feed mechanism (34) is arranged on non-defective unit pallet cutting agency (36) and not Between non-defective unit pallet cutting agency (37), described Y-direction empty pallet feed mechanism (34), non-defective unit pallet cutting agency (36) and not Non-defective unit pallet cutting agency (37) moves setting along Y-direction, and it is empty that the 2nd described X is across Y-direction to tray conveying mechanism (35) Pallet feed mechanism (34), non-defective unit pallet cutting agency (36) and defective products pallet cutting agency (37) top, described second Pallet fixed mechanism is arranged on the 2nd X and is set in tray conveying mechanism (35) and in X direction motion, described blanking mechanical hand (38) the 2nd X is arranged on to top in the middle part of tray conveying mechanism (35) and blanking mechanical hand (38) is on the second pallet fixed mechanism Side, described Y-direction empty pallet feed mechanism (34) direction of motion and non-defective unit pallet cutting agency (36) and defective products pallet blanking Mechanism (37) direction of motion is opposite；

Initial position, the second pallet fixed mechanism is located at immediately below Y-direction empty pallet feed mechanism (34) end, on Y-direction empty pallet Material mechanism (34) drives empty pallet (42) to move to the second pallet fixed mechanism lower section, and the second pallet fixed mechanism fixes empty pallet (42), the 2nd X drives the second pallet fixed mechanism to move in X direction to tray conveying mechanism (35), and pallet is transported into non-defective unit On pallet cutting agency (36) or defective products pallet cutting agency (37), blanking mechanical hand (38) is detected according to automatic detection unit Result is drawn the screen for having detected and is placed in non-defective unit pallet cutting agency (36) or defective products pallet cutting agency (37) Pallet in, after screen is filled in the pallet in non-defective unit pallet cutting agency (36) or defective products pallet cutting agency (37), Pallet cutting agency or defective products pallet cutting agency (37) are moved along Y-direction and discharge pallet.

8. a kind of screen defect full-automatic vision detecting system according to claim 7, it is characterised in that described Y-direction Loaded pallets feed mechanism (1), Y-direction empty pallet cutting agency (3), Y-direction empty pallet feed mechanism (34), non-defective unit pallet blanking machine Structure (36) is identical with defective products pallet cutting agency (37) structure, including support, Y-direction conveyance cylinder, Z-direction lift servo module Cupped one hand in the other before the chest with Z-direction lifting, described Y-direction conveyance cylinder is horizontally set on support, and pallet is arranged on Y-direction conveyance cylinder, described Z-direction lift servo module be vertically set on support one end, described Z-direction lifting to be cupped one hand in the other before the chest and be fixed on Z parallel to Y-direction conveyance cylinder To on lift servo module, described Y-direction conveyance cylinder and Z-direction lift servo module are all connected with described controller.

9. a kind of screen defect full-automatic vision detecting system according to claim 7 a, it is characterised in that X is to support Disk transport mechanism (2) and the 2nd X put down in X direction including X to tray conveying mechanism (35) to servomotor, Timing Belt and two The line slideway that row is set, the first described pallet fixed mechanism or the second pallet fixed mechanism are led across in two straight lines respectively On rail, described X connects Timing Belt to servomotor, and described Timing Belt connects the first pallet fixed mechanism or the second pallet is solid Determine machine, described X is all connected with described controller to servomotor and Timing Belt.

10. a kind of screen defect full-automatic vision detecting system according to claim 7, it is characterised in that described One pallet fixed mechanism and the second pallet fixed mechanism include travelling carriage and gripper cylinder, and described travelling carriage is slidably arranged in To tray conveying mechanism (2) or the 2nd X in tray conveying mechanism (35), described gripper cylinder sets multiple and equal first X Even to be distributed in travelling carriage both sides, during fixed tray, gripper cylinder is moved and withstands pallet both sides side wall, and described gripper cylinder connects Connect described controller.