Hexahedral AVI detection equipment and detection method thereof

Abstract

The invention discloses six-surface AVI detection equipment and a detection method thereof.The six-surface AVI detection equipment comprises a machine table, a clamping and holding mechanism and a visual detection mechanism, the clamping and holding mechanism comprises two clamping assemblies oppositely arranged on the machine table in the X direction, and each clamping assembly comprises a clamping base, a rotating roller and a clamping piece; the clamping base can move in the X direction, and a rotating roller arranged in the Y direction is rotationally arranged on the clamping base. The clamping piece comprises at least one vacuum suction cup rotationally arranged on the rotating roller. The visual detection mechanism comprises visual detection assemblies arranged in one-to-one correspondence with the clamping assemblies, each visual detection assembly comprises a visual detection part capable of moving in the Y direction and the Z direction under the action of the cross-shaped moving mechanism, and each visual detection part comprises visual cameras arranged in one-to-one correspondence with the vacuum suction cups of the corresponding clamping assembly. According to the invention, the appearance detection effect of irregular products can be effectively improved.

Description

Technical Field

[0001] The present invention relates to the technical field of appearance inspection equipment, and in particular to a six-sided AVI inspection equipment and an inspection method thereof. Background Art

[0002] In the process of automated production, it is often necessary to conduct appearance inspections on multiple surfaces of a product to ensure that the product surface is free of defects. In the prior art, in order to improve the inspection efficiency, appearance inspection equipment has been introduced, which uses a displacement mechanism and a flipping mechanism in conjunction with a visual camera to achieve appearance inspection of each surface of the product. However, for some irregular products, it is difficult for the existing appearance inspection equipment to ensure that the visual camera fully covers the product surface when moving and flipping the product, resulting in poor product appearance inspection results. Summary of the invention

[0003] In order to overcome the above-mentioned shortcomings, the purpose of the present invention is to provide a six-sided AVI detection device and a detection method thereof, which can effectively improve the appearance detection effect of irregular products.

[0004] In order to achieve the above object, one of the technical solutions adopted by the present invention is: a six-sided AVI detection device, comprising Machine; A clamping and gripping mechanism, wherein the clamping and gripping mechanism comprises two groups of clamping assemblies arranged on the machine platform in an X direction, each group of the clamping assemblies comprises a clamping base, a rotating roller, and a clamping member, wherein the clamping base can move in the X direction, and the rotating roller arranged in the Y direction is rotatably arranged on the clamping base; and the clamping member comprises at least one vacuum suction cup rotatably arranged on the rotating roller; A visual inspection mechanism, wherein the visual inspection mechanism includes visual inspection components arranged in a one-to-one correspondence with the clamping components, each group of the visual inspection components includes a visual inspection part that can move along the Y direction and the Z direction under the action of the cross moving mechanism, and the visual inspection part includes a visual camera arranged in a one-to-one correspondence with the vacuum suction cup of the corresponding clamping component.

[0005] The beneficial effects of the six-sided AVI detection device of the present invention are: In the clamping assembly, the movement of the clamping base along the X direction can drive the rotating roller and the vacuum suction cup to move along the X direction, so that the product adsorbed on the vacuum suction cup can be moved along the X direction to the corresponding visual inspection assembly; then, through the rotation of the rotating roller and the rotation of the vacuum suction cup, different parts of the product can enter the inspection range of the visual inspection assembly, thereby improving the inspection effect of the product; in the visual inspection assembly, the cross movement of the visual inspection part facilitates the one-to-one alignment of the visual camera and the vacuum suction cup, ensuring that the visual camera can accurately capture the product on the corresponding vacuum suction cup; Since the clamping assembly holds the product by means of a vacuum suction cup, the side of the product held by the vacuum suction cup cannot be captured by the visual camera. Therefore, the present application adopts two sets of clamping assemblies, and utilizes the rotation of the rotating rollers of the two sets of clamping assemblies so that the vacuum suction cups of the two sets of clamping assemblies can be rotated to a relative setting, and then the clamping bases of the two sets of clamping assemblies are moved toward each other along the X-direction (moved toward each other), so that the vacuum suction cups of the two sets of clamping assemblies are close to each other, and the product directly adsorbed on one set of vacuum suction cups contacts the other set of vacuum suction cups. At this time, the vacuum is released by breaking the vacuum of one set of vacuum suction cups, and the vacuum adsorption of the other set of vacuum suction cups can complete the handover of the product on different clamping assemblies, and the uninspected side of the product can be exposed; then the uninspected side of the product can be inspected by another set of visual inspection components to ensure a comprehensive inspection of the product surface.

[0006] Specifically, the rotation axis of the rotating roller is perpendicular to the rotation axis of the vacuum suction cup, and the rotation angle range of the rotating roller is 0-180°, and the rotation angle range of the vacuum suction cup is 0-360°. The rotation axis of the rotating roller is set to be perpendicular to the rotation axis of the vacuum suction cup, so that the rotation directions of the rotating roller and the vacuum suction cup can be perpendicular to each other, and the rotation trajectory of the product surface can form a three-dimensional shape similar to a sphere, so as to facilitate the comprehensive coverage of the product surface (excluding the surface adsorbed by the vacuum suction cup) by the detection range of the visual inspection component.

[0007] Furthermore, the clamping assembly further includes a transverse driving member, a guide straight rail, and a drag chain arranged on the machine platform, and the clamping base is slidably arranged on the guide straight rail and is respectively connected to the transverse driving member and the drag chain. The moving direction of the clamping base is guided by the setting of the guide straight rail and the drag chain.

[0008] Furthermore, when one of the rotating rollers rotates clockwise and the other rotating roller rotates counterclockwise, the vacuum suction cups on one rotating roller can be aligned one by one with the vacuum suction cups on the other rotating roller, so as to facilitate the handover of the product between the two rotating rollers.

[0009] Furthermore, the cross moving mechanism is located on the detection frame, and includes a transverse moving plate that can move along the Y direction, on which a mounting plate that can move along the Z direction is slidably arranged, and the visual detection part is provided on the mounting plate.

[0010] Furthermore, the cross moving mechanism further comprises a spring arranged vertically, and the two ends of the spring are respectively connected to the transverse moving plate and the mounting plate. The setting of the spring can buffer the vibration during the lifting process of the mounting plate, thereby reducing the influence of the equipment vibration on the visual camera detection.

[0011] Furthermore, a lifting guide rail arranged along the Z direction is arranged on the transverse moving plate, and the mounting plate can slide along the lifting guide rail under the action of the lifting driving member.

[0012] Furthermore, the detection frame is provided with a limit rod corresponding to the visual detection component, the limit rod is arranged along the X direction, one end of which is fixed to the detection frame, and the other end is passed through the corresponding mounting plate; the mounting plate is provided with an opening for the limit rod to pass through, and the size of the opening along the Y direction and the Z direction is larger than the size of the limit rod along the Y direction and the Z direction. Since the Y-direction movement of the visual detection part is to adjust the position deviation between the visual camera and the vacuum suction cup, the adjustment amount is relatively small, and the Z-direction movement of the visual detection part is to make the visual camera enter or leave the detection position, the movement amount is also relatively small; therefore, the movement range of the visual detection part can be limited by the cooperation of the opening and the limit rod.

[0013] The second technical solution adopted by the present invention is: a six-sided AVI detection method, used for any of the above-mentioned six-sided AVI detection devices, setting the two groups of clamping components to be a first clamping component and a second clamping component, and the two groups of visual detection components to be a first visual detection component and a second visual detection component; the six-sided AVI detection method comprises the following steps: The first clamping component absorbs the product to be inspected and moves the product to be inspected into the inspection range of the first visual inspection component, and the first visual inspection component then performs a first visual inspection on the product to be inspected; When the first visual inspection is completed, the rotating roller of the first clamping assembly rotates so that the product to be inspected faces the second clamping assembly, and at the same time, the rotating roller of the second clamping assembly rotates so that the vacuum suction cup of the second clamping assembly faces the product to be inspected; the clamping bases of the first clamping assembly and the second clamping assembly move toward each other so that the vacuum suction cup of the second clamping assembly contacts the product to be inspected; the vacuum suction cup of the second clamping assembly absorbs the product to be inspected, and the vacuum suction cup of the first clamping assembly immediately releases the product to be inspected; The second clamping component absorbs the product to be inspected and moves the product to be inspected into the inspection range of the second visual inspection component, and the second visual inspection component then performs a second visual inspection on the product to be inspected.

[0014] The beneficial effects of the six-sided AVI detection method of the present invention are: The cooperation of the clamping base, rotating roller and vacuum suction cup of the two sets of clamping components enables the handover of the product between the two sets of clamping components, which not only ensures the stability of the product handover process, but also improves the efficiency of product handover; and the cooperation of the two sets of visual inspection components enables comprehensive inspection of the product surface, ensuring the product appearance inspection effect.

[0015] Furthermore, during the first visual inspection process, the first visual inspection component moves to the set inspection position under the action of the cross moving mechanism and inspects the product to be inspected; at the same time, the rotating roller and vacuum suction cup of the first clamping component can rotate separately to allow different surfaces of the product to be inspected to enter the inspection range of the first visual inspection component. BRIEF DESCRIPTION OF THE DRAWINGS Figure 1 It is a structural schematic diagram of a six-sided AVI detection device according to an embodiment of the present invention; Figure 2 It is a structural schematic diagram of another perspective of the six-sided AVI detection device according to an embodiment of the present invention; Figure 3 for Figure 2 A partial enlarged view of the A part; Figure 4 It is a structural schematic diagram of a clamping and gripping mechanism according to an embodiment of the present invention; Figure 5 Schematic diagram of the structure of the visual detection unit according to an embodiment of the present invention; Figure 6 It is a structural schematic diagram of a visual detection mechanism and an auxiliary detection mechanism according to an embodiment of the present invention; Figure 7 for Figure 6 A partial enlarged view of the B area; Figure 8 for Figure 6 A partial enlarged view of area C in the middle.

[0016] In the figure: 1-Machine; 2-clamping and gripping mechanism; 21-clamping base; 22-rotating roller; 23-clamping member; 231-vacuum suction cup; 232-fixed seat; 24-transverse driving member; 25-guide straight rail; 26-drag chain; 3- visual inspection mechanism; 31- visual inspection assembly; 3111- transverse plate; 3112- mounting plate; 3113- lifting drive member; 3114- spring; 3115- opening; 312- visual inspection part; 32- inspection frame; 33- inspection substrate; 331- limit rod; 4- auxiliary detection mechanism; 41- third visual detection component. DETAILED DESCRIPTION The preferred embodiments of the present invention are described in detail below in conjunction with the accompanying drawings so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby making a clearer and more definite definition of the protection scope of the present invention.

[0017] Example See attached Figure 1-3 As shown, a six-sided AVI inspection device of the present invention includes a machine platform 1, a clamping and gripping mechanism 2, and a visual inspection mechanism 3, wherein the clamping and gripping mechanism 2 includes two groups of clamping components relatively arranged on the machine platform 1 along the X direction, each group of clamping components includes a clamping base 21, a rotating roller 22, and a clamping member 23, the clamping base 21 can move along the X direction, and a rotating roller 22 arranged along the Y direction is rotatably arranged on the clamping base 21; the clamping member 23 includes at least one vacuum suction cup 231 rotatably arranged on the rotating roller 22. The visual inspection mechanism 3 includes visual inspection components 31 arranged in a one-to-one correspondence with the clamping components, each group of visual inspection components 31 includes a visual inspection part 312 that can move in the Y direction and the Z direction under the action of the cross moving mechanism, and the visual inspection part 312 includes a visual camera arranged in a one-to-one correspondence with the vacuum suction cup 231 of the corresponding clamping component.

[0018] To facilitate the description of the detection process, one group of clamping components is set as the first clamping component, the other group of clamping components is set as the second clamping component, the visual detection component 31 corresponding to the first clamping component is set as the first visual detection component, and the visual detection component 31 corresponding to the second clamping component is set as the second visual detection component.

[0019] In the initial state, the clamping base 21 of the first clamping assembly moves to a position away from the visual inspection mechanism 3; the rotating roller 22 rotates to move the vacuum suction cup 231 to the material picking position; the products to be inspected (not shown in the figure) are adsorbed on the vacuum suction cup 231 one by one, and then the clamping base 21 moves along the X direction toward the visual inspection mechanism 3, and the rotating roller 22 rotates synchronously to make the products on the vacuum suction cup 231 enter the inspection range of the first visual inspection assembly; the visual inspection part 312 of the first visual inspection assembly then moves to the designated inspection position under the action of the cross moving mechanism, at this time, the visual camera on the visual inspection part 312 can be aligned with the corresponding vacuum suction cup 231 one by one; the visual camera enters the visual inspection state, and at the same time, the rotating roller 22 and the vacuum suction cup 231 start to rotate so that multiple surfaces of the product are exposed to the inspection range of the visual camera; when the first visual inspection assembly has completed the inspection After completion, the visual inspection part 312 of the first visual inspection component is reset under the action of the cross moving mechanism, the rotating roller 22 of the first clamping component rotates clockwise, and the rotating roller 22 of the second clamping component rotates counterclockwise, so that the vacuum suction cup 231 of the first clamping component can be aligned one by one with the vacuum suction cup 231 of the second clamping component; the clamping base 21 of the first clamping component moves toward the direction close to the second clamping component, and at the same time, the clamping base 21 of the second clamping component also moves toward the direction close to the first clamping component until the product adsorbed on the vacuum suction cup 231 of the first clamping component contacts the vacuum suction cup 231 of the second clamping component; the vacuum suction cup 231 of the second clamping component adsorbs the product, and the vacuum suction cup 231 of the first clamping component releases the product; the second clamping component immediately drives the product into the detection range of the second visual inspection component, and the second visual inspection component immediately inspects the product.

[0020] It should be noted that the process of the second clamping assembly driving the product into the detection range of the second visual inspection assembly and the second visual inspection assembly inspecting the product can refer to the cooperation between the first clamping assembly and the first visual inspection assembly, and will not be described in detail in this embodiment. When the vacuum suction cup 231 of the second clamping assembly adsorbs the product, it should be ensured that the vacuum suction cup 231 of the second clamping assembly is in surface contact with the product to ensure the adsorption stability of the second clamping assembly on the product.

[0021] In the clamping assembly, the movement of the clamping base 21 along the X direction can drive the rotating roller 22 and the vacuum suction cup 231 to move along the X direction, so that the product adsorbed on the vacuum suction cup 231 can be moved along the X direction to the corresponding visual inspection assembly 31; and then through the rotation of the rotating roller 22 and the rotation of the vacuum suction cup 231, different parts of the product can enter the inspection range of the visual inspection assembly 31, thereby improving the inspection effect of the product; in the visual inspection assembly 31, the cross movement of the visual inspection part 312 is conducive to the one-to-one alignment of the visual camera and the vacuum suction cup 231, ensuring that the visual camera can accurately capture the product on the corresponding vacuum suction cup 231.

[0022] Furthermore, the rotation axis of the rotating roller 22 and the rotation axis of the vacuum suction cup 231 are perpendicular to each other, and the rotation angle range of the rotating roller 22 is 0-180°, and the rotation angle range of the vacuum suction cup 231 is 0-360°.

[0023] The rotation axis of the rotating roller 22 is set to be perpendicular to the rotation axis of the vacuum suction cup 231, so that the rotation directions of the rotating roller 22 and the vacuum suction cup 231 can be perpendicular to each other, and the rotation trajectory of the product surface can form a three-dimensional shape similar to a sphere, so as to facilitate the comprehensive coverage of the product surface (excluding the surface adsorbed by the vacuum suction cup) by the detection range of the visual inspection component. The rotation angle of the rotating roller 22 is limited by the stopper of the machine 1, so it can only rotate within 180°.

[0024] Since the clamping assembly adsorbs the product by means of the vacuum suction cup 231, the side of the product adsorbed by the vacuum suction cup 231 cannot be captured by the visual camera. Therefore, the present application adopts two groups of clamping assemblies, and utilizes the rotation of the rotating rollers 22 of the two groups of clamping assemblies so that the vacuum suction cups 231 of the two groups of clamping assemblies can be rotated to a relative setting, and then the clamping bases 21 of the two groups of clamping assemblies are moved toward each other along the X direction (moved in a direction approaching each other) so that the vacuum suction cups 231 of the two groups of clamping assemblies are approached to each other until the product adsorbed on one group of vacuum suction cups 231 contacts the other group of vacuum suction cups 231. At this time, the vacuum is released by breaking the vacuum of one group of vacuum suction cups 231, and the vacuum adsorption of the other group of vacuum suction cups 231 can complete the handover of the product on different clamping assemblies, and the undetected side of the product can be exposed; then the undetected side of the product can be inspected by another group of visual inspection components 31 to ensure a comprehensive inspection of the product surface.

[0025] In some embodiments, see Appendix Figure 3-4As shown, the clamping member includes a fixed seat 232 fixedly connected to the rotating roller 22 along the Y direction, and a plurality of vacuum suction cups 231 arranged along the Y direction are evenly distributed on the fixed seat 232, and the vacuum suction cups 231 are rotatably arranged on the fixed seat 232 through a rotating platform. Correspondingly, the visual inspection unit 312 includes a plurality of visual cameras arranged along the Y direction, and the spacing between two adjacent visual cameras is adapted to the spacing between two adjacent vacuum suction cups 231, so that when the visual camera and the corresponding vacuum suction cup 231 have position deviations in the Y direction, the axis of the visual camera can be adjusted to align with the axis of the vacuum suction cup 231 one by one by using the overall movement of the visual inspection unit 312.

[0026] In some embodiments, see Appendix Figure 4 As shown, the clamping assembly also includes a transverse driving member 24, a guide straight rail 25, and a drag chain 26 arranged on the machine 1, and the clamping base 21 is slidably arranged on the guide straight rail 25 and is respectively connected to the transverse driving member 24 and the drag chain 26. The transverse driving member 24 can provide power for the clamping base 21 to move, and the setting of the guide straight rail 25 and the drag chain 26 can guide the moving direction of the clamping base 21.

[0027] In actual application scenarios, if there are many defects to be detected on a certain side of the product, a single visual inspection of the side may be difficult to detect all defects. Therefore, in some embodiments, multiple visual inspections can be performed on specific sides of the product through additional clamping components and visual inspection components. Specifically, along the Y direction, at least one group of auxiliary inspection mechanisms 4 is also arranged on one side of the visual inspection mechanism 3, and each group of the auxiliary inspection mechanisms 4 includes a third clamping component and a third visual inspection component 41 for use in conjunction. The third clamping component is arranged on the machine 1, and its structure is the same as the second clamping component, and it can cooperate with the second clamping component to achieve the handover of the product between the second clamping component and the third clamping component. The structure of the third visual inspection component 41 is the same as that of the second visual inspection component, and the third visual inspection component is used to perform visual inspection on the product on the third clamping component. During the inspection, the product is handed over to the second clamping component via the first clamping component, and then handed over to the third clamping component via the second clamping component. Therefore, the surface of the product to be inspected on the third clamping component can be consistent with the surface to be inspected when the first clamping component clamps the product. Then, the third visual inspection component 41 can perform a secondary inspection on these surfaces to be inspected to detect defects on the surface of the product. It should be noted that the number of auxiliary inspection mechanisms 4 can be set according to the requirements of the product to be inspected.

[0028] In some embodiments, see Appendix Figure 5-7As shown, the visual inspection mechanism 3 also includes an inspection frame 32 installed on the machine 1, and a detection substrate 33 that can move along the Z direction is slidably provided on the inspection frame 32, and two groups of visual inspection components 31 are respectively arranged on both sides of the inspection substrate 33 along the X direction. The cross moving mechanism is located on the inspection substrate, which includes a transverse plate 3111 that can move along the Y direction, and a mounting plate 3112 that can move along the Z direction is slidably provided on the transverse plate 3111, and a visual inspection unit 312 is provided on the mounting plate 3112. The lifting and lowering movement of the inspection substrate 33 can drive the cross moving mechanism and the visual inspection unit 312 to move synchronously, so that the visual inspection unit 312 can move quickly to a position close to the inspection; then, the cross moving mechanism drives the visual inspection unit 312 to move slightly along the Y direction and the Z direction, so that the visual inspection unit 312 can move accurately to the inspection position.

[0029] Since the Y-axis movement of the visual inspection unit 312 is to adjust the position deviation between the visual camera and the vacuum suction cup 231, the adjustment amount is relatively small, and the Z-axis movement of the visual inspection unit 312 is to make the visual camera enter or leave the inspection position, the movement amount is also relatively small. Therefore, the cross moving mechanism only needs to drive the visual inspection unit 312 to move slightly. For details, see the attached Figure 7-8 As shown, the traverse plate 3111 is provided with a lifting rail arranged along the Z direction, and the mounting plate 3112 can slide along the lifting rail under the action of the lifting drive member 3113. Furthermore, the cross moving mechanism also includes a spring 3114 arranged along the vertical direction, and the two ends of the spring 3114 are respectively connected to the traverse plate 3111 and the mounting plate 3112. The setting of the spring 3114 can buffer the vibration of the mounting plate 3112 during the lifting process, thereby reducing the influence of the equipment vibration on the visual camera detection.

[0030] It should be noted that the lifting drive member 3113 and the transverse driving member 24 can adopt linear modules in the prior art.

[0031] In some embodiments, see Appendix Figure 5 , 7 As shown, in order to ensure the synchronous lifting and lowering movement of the mounting plate 3112 and the detection substrate 33, a limit rod 331 is provided on the detection substrate 33, which is arranged one-to-one with the visual detection component 31. The limit rod 331 is arranged along the X direction, one end of which is fixed to the detection frame 32, and the other end is passed through the corresponding mounting plate 3112.

[0032] Furthermore, in order to ensure that the cross moving mechanism can adjust the mounting plate 3112 and the visual detection unit 312 by a small amount of movement, in some embodiments, the mounting plate 3112 is provided with an opening 3115 for the limiting rod 331 to pass through, and the size of the opening 3115 along the Y direction and the Z direction is respectively larger than the size of the limiting rod 331 along the Y direction and the Z direction. Furthermore, the opening 3115 is also connected to a second opening, and the size of the second opening along the Z direction matches the size of the limiting rod 331 along the Z direction.

[0033] In some embodiments, the visual camera can be detachably fixed to the mounting plate 3112 to facilitate maintenance or replacement of the visual camera.

[0034] Based on the above six-sided AVI detection device, the present invention also provides a six-sided AVI detection method, comprising the following steps: The first clamping component absorbs the product to be inspected and moves the product to be inspected into the inspection range of the first visual inspection component, and the first visual inspection component then performs a first visual inspection on the product to be inspected; When the first visual inspection is completed, the rotating roller 22 of the first clamping assembly rotates so that the product to be inspected faces the second clamping assembly, and at the same time, the rotating roller 22 of the second clamping assembly rotates so that the vacuum suction cup 231 of the second clamping assembly faces the product to be inspected; the clamping bases 21 of the first clamping assembly and the second clamping assembly move toward each other so that the vacuum suction cup 231 of the second clamping assembly contacts the product to be inspected; the vacuum suction cup 231 of the second clamping assembly absorbs the product to be inspected, and the vacuum suction cup 231 of the first clamping assembly immediately releases the product to be inspected; The second clamping component absorbs the product to be inspected and moves the product to be inspected into the inspection range of the second visual inspection component, and the second visual inspection component then performs a second visual inspection on the product to be inspected.

[0035] Furthermore, during the first visual inspection process, the first visual inspection component moves to the set inspection position under the action of the cross moving mechanism and inspects the product to be inspected; at the same time, the rotating roller 22 and the vacuum suction cup 231 of the first clamping component can rotate separately to allow different surfaces of the product to be inspected to enter the inspection range of the first visual inspection component. The above implementation modes are only for illustrating the technical concept and features of the present invention, and their purpose is to enable people familiar with this technology to understand the content of the present invention and implement it, and they cannot be used to limit the protection scope of the present invention. Any equivalent changes or modifications made according to the spirit of the present invention should be included in the protection scope of the present invention.

Claims

1. A six-sided AVI detection device, characterized in that: include Machine; A clamping and gripping mechanism, wherein the clamping and gripping mechanism comprises two groups of clamping assemblies arranged on the machine platform in an X direction, each group of the clamping assemblies comprises a clamping base, a rotating roller, and a clamping member, wherein the clamping base can move in the X direction, and the rotating roller arranged in the Y direction is rotatably arranged on the clamping base; and the clamping member comprises at least one vacuum suction cup rotatably arranged on the rotating roller; A visual inspection mechanism, wherein the visual inspection mechanism includes visual inspection components arranged in a one-to-one correspondence with the clamping components, each group of the visual inspection components includes a visual inspection part that can move along the Y direction and the Z direction under the action of the cross moving mechanism, and the visual inspection part includes a visual camera arranged in a one-to-one correspondence with the vacuum suction cup of the corresponding clamping component.

2. The six-sided AVI detection device according to claim 1, characterized in that: The rotation axis of the rotating roller and the rotation axis of the vacuum suction cup are perpendicular to each other, and the rotation angle range of the rotating roller is 0-180°, and the rotation angle range of the vacuum suction cup is 0-360°.

3. The six-sided AVI detection device according to claim 1, characterized in that: The clamping assembly also includes a transverse driving member, a guide straight rail, and a drag chain arranged on the machine platform. The clamping base is slidably arranged on the guide straight rail and is respectively connected to the transverse driving member and the drag chain.

4. The six-sided AVI detection device according to claim 1, characterized in that: When one of the rotating rollers rotates clockwise and the other rotating roller rotates counterclockwise, the vacuum suction cups on one of the rotating rollers can be aligned one by one with the vacuum suction cups on the other rotating roller.

5. The six-sided AVI detection device according to claim 1, characterized in that: The cross moving mechanism comprises a transverse moving plate which can move along the Y direction, a mounting plate which can move along the Z direction is slidably arranged on the transverse moving plate, and the visual detection part is arranged on the mounting plate.

6. The six-sided AVI detection device according to claim 5, characterized in that: The cross moving mechanism also includes a spring arranged vertically, and two ends of the spring are respectively connected to the transverse moving plate and the mounting plate.

7. The six-sided AVI detection device according to claim 6, characterized in that: The transverse moving plate is provided with a lifting guide rail arranged along the Z direction, and the mounting plate can slide along the lifting guide rail under the action of the lifting driving member.

8. The six-sided AVI detection device according to claim 5, characterized in that: The detection frame is provided with a limit rod which is arranged one-to-one with the visual detection component, and the limit rod is arranged along the X direction, one end of which is fixed to the detection frame, and the other end is passed through the corresponding mounting plate; the mounting plate is provided with an opening for the limit rod to pass through, and the dimensions of the opening along the Y direction and the Z direction are respectively larger than the dimensions of the limit rod along the Y direction and the Z direction.

9. A six-sided AVI detection method, used for the six-sided AVI detection device according to any one of claims 1 to 8, characterized in that: The two groups of clamping components are respectively a first clamping component and a second clamping component, and the two groups of visual detection components are respectively a first visual detection component and a second visual detection component; the six-surface AVI detection method comprises the following steps: The first clamping component absorbs the product to be inspected and moves the product to be inspected into the inspection range of the first visual inspection component, and the first visual inspection component then performs a first visual inspection on the product to be inspected; When the first visual inspection is completed, the rotating roller of the first clamping assembly rotates so that the product to be inspected faces the second clamping assembly, and at the same time, the rotating roller of the second clamping assembly rotates so that the vacuum suction cup of the second clamping assembly faces the product to be inspected; the clamping bases of the first clamping assembly and the second clamping assembly move toward each other so that the vacuum suction cup of the second clamping assembly contacts the product to be inspected; the vacuum suction cup of the second clamping assembly absorbs the product to be inspected, and the vacuum suction cup of the first clamping assembly immediately releases the product to be inspected; The second clamping component absorbs the product to be inspected and moves the product to be inspected into the inspection range of the second visual inspection component, and the second visual inspection component then performs a second visual inspection on the product to be inspected.

10. The six-surface AVI detection method according to claim 9, characterized in that: During the first visual inspection process, the first visual inspection component moves to the set inspection position under the action of the cross moving mechanism and inspects the product to be inspected; at the same time, the rotating roller and vacuum suction cup of the first clamping component can rotate separately to allow different surfaces of the product to be inspected to enter the inspection range of the first visual inspection component.

Images