AOI visual inspection equipment and detection method

Abstract

The invention discloses AOI visual inspection equipment and an AOI visual inspection method. The AOI visual inspection equipment comprises a feeding machine and an inspection machine, the feeding machine is provided with a full-tray feeding position, a feeding arm and a first transplanting mechanism; the detection machine is provided with a first detection station, a second transplanting mechanism, a second detection station and a third transplanting mechanism; the feeding arm is used for moving to-be-detected products at the full-tray feeding station to the first transplanting mechanism, the first transplanting mechanism is used for moving the to-be-detected products to the first detection station, and the second transplanting mechanism is used for moving the to-be-detected products at the first detection station to the second detection station. And the third transplanting mechanism is used for moving the to-be-detected product at the second detection station to the next station. Therefore, by designing the full-automatic AOI visual inspection equipment, the automation degree is further improved, so that the detection efficiency is improved, the detection cost is saved, and the detection quality is also ensured; and the discharging machine is further arranged, so that it is guaranteed that feeding and discharging are both completed by equipment, and the risk of secondary damage to products is reduced.

Description

Technical Field

[0001] The present invention relates to the field of AOI visual inspection equipment, and in particular to an AOI visual inspection equipment and an inspection method. Background Art

[0002] With the improvement of living standards, people have higher and higher requirements for the quality of electronic products. For sellers, the appearance of the product often determines whether they can give the best guarantee to customers. For example, the earphone charging shell and the watch shell need to be strictly inspected for appearance before leaving the factory to prevent products with appearance defects from entering the market. The traditional detection method is to detect by human eyes. This detection method not only makes mistakes, but also has high detection costs. Later, visual inspection equipment appeared, but the existing visual inspection equipment is not yet automated enough, and usually loading and unloading are done manually, which cannot further save labor costs and improve detection efficiency. At the same time, there is also an uncontrollable risk factor of secondary damage to the product through manual loading and unloading.

[0003] Therefore, it is necessary to study a new technical solution to solve the above problems. Summary of the invention

[0004] In order to solve the defects and shortcomings of the above-mentioned prior art, the present invention provides an AOI visual inspection equipment and a detection method. By designing a fully automated AOI visual inspection equipment, it basically realizes automatic loading and automatic detection, thereby improving the detection efficiency, saving the detection cost, and ensuring the detection quality; secondly, a feeder is also provided to ensure that the loading and unloading are completed by the equipment, reducing the risk of secondary damage to the product.

[0005] To achieve the above purpose, the present invention adopts the following technical solutions: An AOI visual inspection device comprises a loader and an inspection machine which are arranged in sequence from left to right; the loader is provided with a full tray loading position, a loading arm, and a first transfer mechanism; the inspection machine is provided with a first inspection station, a second transfer mechanism, a second inspection station, and a third transfer mechanism in sequence from left to right; the loading arm is used to move the product to be tested at the full tray loading position to the first transfer mechanism, the first transfer mechanism is used to move the product to be tested to the first inspection station, the second transfer mechanism is used to move the product to be tested at the first inspection station to the second inspection station, and the third transfer mechanism is used to move the product to be tested at the second inspection station to the next station.

[0006] As a preferred solution, the loader is also provided with a first movable platform, a material taking position, and an empty tray receiving position, and the material taking position is located between the empty tray receiving position and the full tray loading position; the first movable platform includes a first receiving plate and a second receiving plate that move synchronously, the first receiving plate moves back and forth between the full tray loading position and the material taking position, and the second receiving plate moves back and forth between the material taking position and the empty tray receiving position.

[0007] As a preferred solution, the first transplanting mechanism includes a first transfer platform. The first transfer platform has a plurality of first positioning fixtures for positioning the product to be tested.

[0008] As a preferred solution, the material taking position is provided with a jacking mechanism and a third clamping mechanism installed on the jacking mechanism; the jacking mechanism includes two vertically arranged jacking cylinders, and the third clamping mechanism includes two horizontally arranged clamping cylinders; the two jacking cylinders are arranged back to back, and the two clamping cylinders are arranged back to back.

[0009] As a preferred solution, the first inspection station includes a first rotating platform and a plurality of first inspection cameras, and the first rotating platform is provided with a plurality of second positioning fixtures for positioning the product to be inspected; The second inspection station includes a second rotating platform and a plurality of second inspection cameras. The second rotating platform is provided with a plurality of third positioning fixtures for positioning the product to be inspected.

[0010] As a preferred solution, it also includes a feeder, and the third transfer mechanism transfers the products to be tested at the second testing station to the feeder; the feeder includes an OK product receiving position, an NG product receiving position, a first feeder arm, a second feeder arm, an OK product buffer position, and an NG product buffer position; The first unloading arm is used to move the samples to be tested transmitted from the detection machine to the OK product cache position or the NG product cache position; the second unloading arm is used to move the samples to be tested in the OK product cache position and the NG product cache position to the OK product receiving position and the NG product receiving position respectively.

[0011] As a preferred solution, the unloading machine also includes an OK tray loading position, an NG tray loading position, a second mobile platform, and a third mobile platform; There is a first material receiving position between the OK tray upper material position and the OK product receiving position, and there is a second material receiving position between the NG tray upper material position and the NG product receiving position; The second mobile platform is used to transfer the OK material tray from the upper material position of the OK tray to the first material receiving position and the OK product receiving position in sequence; the third mobile platform is used to transfer the NG material tray from the upper material position of the NG tray to the second material receiving position and the NG product receiving position in sequence.

[0012] A detection method, using the aforementioned AOI visual inspection device, also includes a main control system; and also includes the following steps: Step 1: The first moving platform of the loader transfers the full tray at the loading position to the picking position, and the loading arm absorbs the product to be tested on the tray at the first picking position, and places the product to be tested on the first transfer platform of the first transplanting mechanism; Step 2: The first transport arm of the first transfer mechanism moves the product to be tested on the first transfer platform to the second positioning fixture of the first rotating platform of the first testing station; Step 3: The first rotating platform drives the second positioning fixture to swing left and right and rotate the second positioning fixture. At the same time, the first detection camera takes a picture of the product to be tested on the second positioning fixture and uploads it to the host computer; Step 4: The second transfer mechanism moves the product to be tested on the second positioning fixture to the third positioning fixture on the second rotating platform. The second rotating platform drives the product to be tested on the third positioning fixture to swing and rotate. At the same time, the second detection camera takes a picture of the product to be tested on the second rotating platform and uploads it to the main control system.

[0013] As a preferred solution, the method further includes step 5: in the unloading machine, the second mobile platform transfers the OK material tray at the upper material position of the OK tray to the first material receiving position, and the third mobile platform transfers the NG material tray at the upper material position of the NG tray to the second material receiving position; Step 6: The third transfer mechanism transports the samples to be tested on the second rotating platform to the unloading position of the unloading machine, and the first unloading arm classifies the samples to be tested at the unloading position according to the feedback information of the main control system, and places them in the corresponding OK product buffer position and NG product buffer position; Step 7: The second unloading arm puts the samples to be tested on the OK product buffer and the NG product buffer into the OK material tray of the first receiving position and the NG material tray of the second receiving position according to the feedback system of the main control system; Step 8: After the OK tray is fully loaded with samples, the second mobile platform transfers the OK tray at the first receiving position to the OK product receiving position; after the NG tray is fully loaded with samples, the third mobile platform transfers the NG tray at the second receiving position to the NG product receiving position.

[0014] Compared with the prior art, the present invention has obvious advantages and beneficial effects. Specifically, it can be seen from the above technical scheme that it mainly realizes automatic loading and automatic detection by designing a fully automated AOI visual inspection equipment, thereby improving the detection efficiency, saving the detection cost, and ensuring the detection quality; secondly, a feeder is also provided to ensure that the loading and unloading are completed by the equipment, reducing the risk of secondary damage to the product.

[0015] In order to more clearly illustrate the structural features and effects of the present invention, the present invention is described in detail below in conjunction with the accompanying drawings and specific embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 A schematic diagram of a three-dimensional structure of an embodiment of the present invention; Figure 2 It is a schematic diagram of the three-dimensional structure of the embodiment of the present invention without the protective cover; Figure 3 A schematic top view of an embodiment of the present invention; Figure 4 for Figure 3 A partial enlarged view of the middle A; Figure 5 for Figure 3 A partial enlarged view of point B in the middle; Figure 6 for Figure 3 A partial enlarged view of point C in the middle; Figure 7 It is a schematic diagram of a first partial structure of a loading machine in an embodiment of the present invention; Figure 8 for Figure 7 A partial enlarged view of Fig. 9 It is a second partial structural schematic diagram of the loading machine in the embodiment of the present invention; Fig.10 for Fig. 9 A partial enlarged view of Fig.11 It is a schematic diagram of the partial structure of the detection machine in the embodiment of the present invention; Fig.12 It is a partial structural schematic diagram of a feeder in an embodiment of the present invention; Fig.13 It is another partial structural schematic diagram of the detection machine in the embodiment of the present invention; Fig.14 It is a structural schematic diagram of the first rotating platform in an embodiment of the present invention; Fig.15 for Fig.14 A partial enlarged view of Fig.16 It is a schematic diagram of the third partial structure of the loading machine in the embodiment of the present invention.

[0017] Description of the accompanying drawings: 10. Loading machine; 11. Full tray loading position; 111. First clamping mechanism; 12. Loading arm; 13. First transfer mechanism; 131. First transfer platform; 132. First handling arm; 14. First mobile platform; 141. First receiving plate; 142. Second receiving plate; 15. Material taking position; 151. Third clamping mechanism; 152. Lifting mechanism; 16. Empty tray receiving position; 161. Second clamping mechanism; 20. Inspection machine; 21. First inspection station; 211. First rotating platform; 2111. Mounting plate; 2112. First motor; 2113. Second motor; 212. First inspection camera Camera; 213, second positioning fixture; 2131, positioning block; 2132, profiling fixture; 2133, product to be tested; 22, second transfer mechanism; 23, second inspection station; 231, second rotating platform; 232, second inspection camera; 24, third transfer mechanism; 30, unloading machine; 31, OK tray loading position; 311, first material receiving position; 32, NG tray loading position; 321, second material receiving position; 33, OK product receiving position; 34, NG product receiving position; 35, first unloading arm; 36, second unloading arm; 37, OK product buffer position; 38, NG product buffer position; 39, unloading position. DETAILED DESCRIPTION

[0018] The technical solution in this embodiment of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiment is only a preferred embodiment of the present invention.

[0019] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only and do not represent the only implementation method.

[0020] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which the present invention belongs. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0021] See attached Figures 1 to 16In an embodiment of the present invention, an AOI visual inspection device and an inspection method include a loading machine 10, an inspection machine 20, and a feeding machine 30 arranged from left to right; the loading machine 10 is provided with a full tray loading position 11, a loading arm 12, and a first transfer mechanism 13, and the inspection machine 20 is provided with a first inspection station 21, a second transfer mechanism 22, a second inspection station 23, and a third transfer mechanism 24 from left to right; The loading arm 12 is used to move the products to be tested at the full tray loading position 11 to the first transfer mechanism 13, the first transfer mechanism 13 is used to move the products to be tested to the first inspection station 21, the second transfer mechanism 22 is used to move the products to be tested at the first inspection station 21 to the second inspection station 23, and the third transfer mechanism 24 is used to move the products to be tested at the second inspection station 23 to the unloading machine 30.

[0022] Specifically, the feeder 10 is further provided with a first mobile platform 14, a material taking position 15, and an empty tray receiving position 16. The first transplanting mechanism 13 includes a first transfer platform 131 and a first transport arm 132. The empty tray receiving position 16 and the full tray loading position 11 are respectively arranged at the rear side and the front side of the feeder 10. The material taking position 15 is located between the empty tray receiving position 16 and the full tray loading position 11. Fig.16 As shown, the first mobile platform 14 includes a first receiving plate 141 and a second receiving plate 142 that move synchronously. The first receiving plate 141 reciprocates between the full tray loading position 11 and the material removal position 15, and the second receiving plate 142 reciprocates between the material removal position 15 and the empty tray receiving position 16.

[0023] During operation, the first receiving plate 141 moves to the full tray loading position 11 to take the first tray. At this time, the second receiving plate 142 is located at the taking position 15. After the first receiving plate 141 has taken the first tray, the first receiving plate 141 moves the first tray to the taking position 15. Then, the first loading arm 12 takes out the product to be tested from the first tray to the first transfer platform 131, and the first transport arm 132 moves the product to be tested from the first transfer platform 131 to the first inspection station 21. The first transfer platform 131 has a plurality of first positioning fixtures for positioning the product to be tested. It should be added that: the material taking position 15 is also provided with a lifting mechanism 152. When the first receiving plate 141 moves the first material tray to the material taking position 15, the lifting mechanism 152 lifts the first material tray, so that the first material tray and the first receiving plate 141 are separated. Then, the first receiving plate 141 is reset to the full tray loading position 11 to wait for the second material tray. At this time, the second receiving plate 142 is located at the material taking position 15, and the lifting mechanism 152 puts the first material tray down into the second receiving plate 142. When the first receiving plate 141 takes the second material tray to the material taking position 15, the second receiving plate 142 moves the first material tray (the product to be tested has been taken out) to the empty tray receiving position 16; and this reciprocating cycle is repeated. The full tray loading position 11 has a first clamping mechanism 111, and the empty tray receiving position 16 has a second clamping mechanism 161. The first clamping mechanism 111 is used to clamp the second to last tray in the tray bin of the full tray loading position 11, so that the bottom tray is separated and falls on the first receiving plate 141; the second clamping mechanism 161 is used to clamp the empty tray on the second receiving plate 142, so that the empty tray is separated from the second receiving plate 142, and the empty tray falls into the empty tray bin of the empty tray receiving position 16. The lifting mechanism 152, the first clamping mechanism 111, and the second clamping mechanism 161 are mainly formed by cylinder assembly; of course, the lifting mechanism 152 is also equipped with a third clamping mechanism 151. When working, the third clamping mechanism 151 first clamps the first tray, and then the lifting mechanism 152 lifts the third clamping mechanism 151, so that the first tray and the first receiving plate 141 are separated. The lifting mechanism 152 includes two vertically arranged lifting cylinders, and the third clamping mechanism 151 includes two horizontally arranged clamping cylinders; the two lifting cylinders are arranged opposite to each other, and the two clamping cylinders are arranged opposite to each other; the specific setting method of the first clamping mechanism 111 and the second clamping mechanism 161 is basically the same as that of the third clamping mechanism 151, and is a conventional technology, which will not be elaborated here.

[0024] The first inspection station 21 includes a first rotating platform 211 and a plurality of first inspection cameras 212 . The first rotating platform 211 has a plurality of second positioning fixtures 213 for positioning the products to be inspected. The first transport arm 132 transports the products to be inspected from the first transfer platform 131 to the first rotating platform 211 .

[0025] The second inspection station 23 includes a second rotating platform 231 and a plurality of second inspection cameras 232 . The second rotating platform 231 has a plurality of third positioning fixtures for positioning the products to be inspected. The second transfer mechanism 22 transports the products to be inspected from the first inspection station 21 to the second rotating platform 231 .

[0026] The second transfer mechanism 22 includes a second transfer platform and a second transport arm, and the third transfer mechanism 24 includes a third transfer platform and a third transport arm. The second transfer platform, the third transfer platform and the first transfer platform 131 have basically the same structure, and are all provided with a positioning fixture for positioning the product to be tested on the transfer platform, and are used to transmit the positioning to the right movement of the product to be tested on the fixture to facilitate the transport arm to grab it to the next workstation; in addition, the left and right movement of the first transfer platform 131, the second transfer platform, and the third transfer platform can be achieved by a cylinder and a guide rod, and can also be achieved by a motor and a screw rod structure. This is a conventional technology and is not the focus of protection of the present invention, so it will not be elaborated here.

[0027] The first transport arm 132, the second transport arm, the third transport arm and the first unloading arm 35 and the second unloading arm 36 described below have roughly the same structure, and all include multiple vacuum adsorption cylinders, which adsorb and move the products to be tested by vacuum adsorption; similarly, the left and right movement of the first transport arm 132, the second transport arm, the third transport arm, the first unloading arm 35 and the second unloading arm 36 can be achieved by structures such as cylinders, guide rods, and gantries, or by structures such as motors, gantries, and transmission screws; these moving structures are conventional technologies and are not the focus of protection of the present invention, and will not be described in detail here.

[0028] It can be supplemented that: the first positioning jig, the second positioning jig 213, and the third positioning jig are roughly the same, and the second positioning jig 213 is used as an example here: the second positioning jig 213 usually includes a positioning block 2131 and a profiling jig 2132, and the profiling jig 2132 is installed on the equipment through the positioning block 2131, and the profiling jig 2132 is preferably made of Teflon; preferably, the profiling jig 2132 and the positioning block 2131 are provided with adsorption airways, and the adsorption airways are connected to air pipes, and the product to be tested is adsorbed and stabilized by vacuum adsorption. Preferably, the surface of the profiling jig 2132 is coated with silicone to avoid scratching the product to be tested.

[0029] Further, the specific structures of the first rotating platform 211 and the second rotating platform 231 are roughly the same. Here, the first rotating platform 211 is used as an example: the first rotating platform 211 includes a mounting plate 2111, a first motor 2112, and a second motor 2113. A plurality of the second positioning fixtures 213 are installed on the mounting plate 2111 at intervals along the length direction of the mounting plate 2111. The first motor 2112 is used to drive the entire mounting plate 2111 to swing left and right (usually, its swing range is 270 degrees); the second motor 2113 is installed on the mounting plate 2111, and is used to drive the second positioning fixture 213 to rotate around its vertical axis, and its rotation angle is usually 360 degrees; here, it can be supplemented that the second motor 2113 is connected to a rotating shaft through a transmission wheel drive, and the rotating shaft drives a plurality of second positioning fixtures 213 in series; the second positioning fixture 213 is installed and connected to a "cross steering device" to achieve 360-degree rotation of the second positioning fixture 213. The "cross steering gear" is a prior art, and is also called a "high-precision cross steering gear" by those skilled in the art. For example, Chinese patent CN218625366U and other documents also disclose a specific structure of a cross steering gear, which will not be described in detail here.

[0030] Furthermore, the unloading machine 30 includes an OK tray loading position 31, an NG tray loading position 32, an OK product receiving position 33, an NG product receiving position 34, a first unloading arm 35, a second unloading arm 36, an OK product buffer position 37, and an NG product buffer position 38.

[0031] Specifically: the OK tray loading position 31 and the NG tray loading position 32 are arranged on the unloader 30 along the left-right direction, and the OK product receiving position 33 and the NG product receiving position 34 are correspondingly arranged on the front side of the OK tray loading position 31 and the NG product receiving position 32; there is a first material receiving position 311 between the OK tray loading position 31 and the OK product receiving position 33, and there is a second material receiving position 321 between the NG tray loading position 32 and the NG product receiving position 34.

[0032] The feeder 10 also includes a second mobile platform for transmitting OK trays and a third mobile platform for transmitting NG trays. The specific structures of the second mobile platform and the third mobile platform are basically the same as the structure and principle of the first mobile platform 14, and are not described in detail here. The second mobile platform transfers the OK tray from the OK tray loading position 31 to the first receiving position 311 for receiving materials. After the OK materials are fully collected, the OK tray is transferred to the OK product receiving position 33; the third mobile platform transfers the NG tray from the NG tray loading position 32 to the second receiving position 321 for receiving materials. When the tray is fully loaded, the NG tray is transferred to the NG product receiving position 34.

[0033] In actual application, the unloading machine 30 is further provided with an unloading position 39, and the third transfer mechanism 24 transports the tested samples to the unloading position 39, and the first unloading arm 35 classifies the tested samples at the unloading position 39 according to the feedback information of the detector, and moves them to the OK product buffer position 37 and the NG product buffer position 38. The second unloading arm 36 transports the tested samples at the OK product buffer position 37 and the NG product buffer position 38 to the OK material tray at the first receiving position 311 and the NG material tray at the second receiving position 321, respectively.

[0034] Below, the workflow of the present invention is roughly described: Step 1: The first mobile platform 14 of the loader 10 transfers the full tray of the loading position 11 to the material extraction position 15, and the loading arm 12 absorbs the product to be tested on the tray of the first material extraction position 15 and places it on the first transfer platform 131 of the first transfer mechanism 13; Step 2: The first transport arm 132 of the first transfer mechanism 13 moves the product to be tested on the first transfer platform 131 to the second positioning fixture 213 of the first rotating platform 211 of the first testing station 21; Step 3: As mentioned above, the second positioning fixture 213 is installed on the first rotating platform 211, and the first rotating platform 211 drives the second positioning fixture 213 to swing left and right and rotate 360 ​​degrees; the first detection camera 212 takes pictures of the product to be tested on the second positioning fixture 213 and uploads them to the main control system; Step 4: The second transfer mechanism 22 transfers the product to be tested on the second positioning fixture 213 to the third positioning fixture on the second rotating platform 231, the second rotating platform 231 drives the product to be tested on the third positioning fixture to swing and rotate, and the second detection camera 232 takes a photo of the product to be tested on the second rotating platform 231 and uploads it to the main control system; Step 5: In the unloading machine 30, the second mobile platform transfers the OK tray at the OK tray loading position 31 to the first receiving position 311, and the third mobile platform transfers the NG tray at the NG tray loading position 32 to the second receiving position 321; Step 6: The third transfer mechanism 24 transports the samples to be tested on the second rotating platform 231 to the unloading position 39 of the unloading machine 30, and the first unloading arm 35 classifies the samples to be tested at the unloading position 39 according to the feedback information of the main control system, and places them in the corresponding OK product buffer position 37 and NG product buffer position 38; Step 7: According to the feedback system of the main control system, the second unloading arm 36 puts the samples to be tested on the OK product buffer position 37 and the NG product buffer position 38 into the OK material tray of the first receiving position 311 and the NG material tray of the second receiving position 321 respectively; Step 8: After the OK tray is fully loaded with samples, the second mobile platform transfers the OK tray at the first receiving position 311 to the OK product receiving position 33; after the NG tray is fully loaded with samples, the third mobile platform transfers the NG tray at the second receiving position 321 to the NG product receiving position 34.

[0035] The design focus of the present invention is that it mainly realizes automatic loading and automatic detection by designing a fully automated AOI visual inspection equipment, thereby improving the detection efficiency, saving the detection cost, and ensuring the detection quality; secondly, a feeder is also provided to ensure that the loading and unloading are completed by the equipment, thus realizing the full automation of product appearance detection and reducing the risk of secondary damage to the product.

[0036] The above description is only a preferred embodiment of the present invention and does not limit the technical scope of the present invention. Therefore, any slight modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention are still within the scope of the technical solution of the present invention.

Claims

1. An AOI visual inspection device, characterized in that: It includes a loader and a detection machine arranged from left to right; the loader is provided with a full tray loading position, a loading arm, and a first transfer mechanism; the detection machine is provided with a first detection station, a second transfer mechanism, a second detection station, and a third transfer mechanism; the loading arm is used to move the products to be tested at the full tray loading position to the first transfer mechanism, the first transfer mechanism is used to move the products to be tested to the first detection station, the second transfer mechanism is used to move the products to be tested at the first detection station to the second detection station, and the third transfer mechanism is used to move the products to be tested at the second detection station to the next station.

2. The AOI visual inspection equipment according to claim 1, characterized in that: The loading machine is also provided with a first moving platform, a material taking position, and an empty tray receiving position, wherein the material taking position is located between the empty tray receiving position and the full tray loading position; the first moving platform includes a first receiving plate and a second receiving plate which move synchronously, wherein the first receiving plate moves back and forth between the full tray loading position and the material taking position, and the second receiving plate moves back and forth between the material taking position and the empty tray receiving position.

3. The AOI visual inspection equipment according to claim 2, characterized in that: The first transfer mechanism includes a first transfer platform having a plurality of first positioning fixtures for positioning the product to be tested.

4. The AOI visual inspection equipment according to claim 3, characterized in that: The material taking position is provided with a lifting mechanism and a third clamping mechanism installed on the lifting mechanism; the lifting mechanism includes two vertically arranged lifting cylinders, and the third clamping mechanism includes two horizontally arranged clamping cylinders; the two lifting cylinders are arranged back to back, and the two clamping cylinders are arranged back to back.

5. The AOI visual inspection equipment according to claim 4, characterized in that: The first inspection station includes a first rotating platform and a plurality of first inspection cameras, and the first rotating platform is provided with a plurality of second positioning fixtures for positioning the product to be inspected; The second inspection station includes a second rotating platform and a plurality of second inspection cameras. The second rotating platform is provided with a plurality of third positioning fixtures for positioning the product to be inspected.

6. The AOI visual inspection equipment according to claim 5, characterized in that: It also includes a feeder, and the third transfer mechanism transfers the products to be tested at the second testing station to the feeder; the feeder includes an OK product receiving position, an NG product receiving position, a first feeder arm, a second feeder arm, an OK product buffer position, and an NG product buffer position; The first unloading arm is used to move the samples to be tested transmitted from the detection machine to the OK product cache position or the NG product cache position; the second unloading arm is used to move the samples to be tested in the OK product cache position and the NG product cache position to the OK product receiving position and the NG product receiving position respectively.

7. The AOI visual inspection equipment according to claim 6, characterized in that: The unloading machine also includes an OK tray loading position, an NG tray loading position, a second mobile platform, and a third mobile platform; There is a first material receiving position between the OK tray upper material position and the OK product receiving position, and there is a second material receiving position between the NG tray upper material position and the NG product receiving position; The second mobile platform is used to transfer the OK material tray from the upper material position of the OK tray to the first material receiving position and the OK product receiving position in sequence; the third mobile platform is used to transfer the NG material tray from the upper material position of the NG tray to the second material receiving position and the NG product receiving position in sequence.

8. A detection method, characterized in that: The AOI visual inspection device according to claim 7 is applied, and further includes a main control system; and further includes the following steps; Step 1: The first moving platform of the loader transfers the full tray at the loading position to the picking position, and the loading arm absorbs the product to be tested on the tray at the first picking position, and places the product to be tested on the first transfer platform of the first transplanting mechanism; Step 2: The first transport arm of the first transfer mechanism moves the product to be tested on the first transfer platform to the second positioning fixture of the first rotating platform of the first testing station; Step 3: The first rotating platform drives the second positioning fixture to swing left and right and rotate the second positioning fixture. At the same time, the first detection camera takes a picture of the product to be tested on the second positioning fixture and uploads it to the host computer; Step 4: The second transfer mechanism moves the product to be tested on the second positioning fixture to the third positioning fixture on the second rotating platform. The second rotating platform drives the product to be tested on the third positioning fixture to swing and rotate. At the same time, the second detection camera takes a picture of the product to be tested on the second rotating platform and uploads it to the main control system.

9. A detection method according to claim 8, characterized in that: The method further includes step 5: in the unloading machine, the second moving platform transfers the OK material tray at the upper material position of the OK material tray to the first material receiving position, and the third moving platform transfers the NG material tray at the upper material position of the NG material tray to the second material receiving position; Step 6: The third transfer mechanism transports the samples to be tested on the second rotating platform to the unloading position of the unloading machine, and the first unloading arm classifies the samples to be tested at the unloading position according to the feedback information of the main control system, and places them in the corresponding OK product buffer position and NG product buffer position; Step 7: The second unloading arm puts the samples to be tested on the OK product buffer and the NG product buffer into the OK material tray of the first receiving position and the NG material tray of the second receiving position according to the feedback system of the main control system; Step 8: After the OK tray is fully loaded with samples, the second mobile platform transfers the OK tray at the first receiving position to the OK product receiving position; after the NG tray is fully loaded with samples, the third mobile platform transfers the NG tray at the second receiving position to the NG product receiving position.

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